CN112373591B - A climbing robot - Google Patents
A climbing robot Download PDFInfo
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- CN112373591B CN112373591B CN202011215072.XA CN202011215072A CN112373591B CN 112373591 B CN112373591 B CN 112373591B CN 202011215072 A CN202011215072 A CN 202011215072A CN 112373591 B CN112373591 B CN 112373591B
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- lifting
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- swing
- climbing robot
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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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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
- E01D19/10—Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
- E01D19/106—Movable inspection or maintenance platforms, e.g. travelling scaffolding or vehicles specially designed to provide access to the undersides of bridges
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- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
本申请实施例公开了一种攀爬机器人，用于提供一种以上栏杆绳和下栏杆绳为攀爬对象的机器人解决方案。本申请攀爬机器人包括：侧挂轮组件和控制模块，侧挂轮组件包括本体杆和攀爬模块；攀爬模块包括V型轮和V型轮安装支架；V型轮可转动地安装在V型轮安装支架；本体杆的长度方向并列安装两组攀爬模块，一组攀爬模块的V型轮向上适配上栏杆绳、另外一组攀爬模块的V型轮向下适配下栏杆绳，以实现沿着上下栏杆绳攀爬；至少一组攀爬模块还包括驱动电机、驱动电机安装支架以及驱动传动部件；驱动电机通过驱动电机安装支架固定安装在V型轮安装支架，驱动电机通过驱动传动部件驱动V型轮旋转；控制模块用于对驱动电机的转动进行控制。
The embodiment of the present application discloses a climbing robot, which is used to provide a robot solution for climbing upper railing ropes and lower railing ropes. The climbing robot of the present application includes: a side-hanging wheel assembly and a control module, the side-hanging wheel assembly includes a main body rod and a climbing module; the climbing module includes a V-shaped wheel and a V-shaped wheel mounting bracket; the V-shaped wheel is rotatably mounted on the V-shaped wheel mounting bracket; two groups of climbing modules are installed in parallel in the length direction of the main body rod, the V-shaped wheels of one group of climbing modules are adapted to the upper railing rope upward, and the V-shaped wheels of the other group of climbing modules are adapted to the lower railing rope downward, so as to achieve climbing along the upper and lower railing ropes; at least one group of climbing modules also includes a drive motor, a drive motor mounting bracket and a drive transmission component; the drive motor is fixedly mounted on the V-shaped wheel mounting bracket through the drive motor mounting bracket, and the drive motor drives the V-shaped wheel to rotate through the drive transmission component; the control module is used to control the rotation of the drive motor.
Description
Technical Field
The application belongs to the technical field of detection equipment, and particularly relates to a climbing robot.
Background
In a suspension bridge, the main cable of the suspension bridge bears the weight of the whole bridge and is a core stress component of the whole suspension bridge. In a suspension bridge, a main cable of the suspension bridge bears the weight of the bridge for a long time, and the main cable is easy to have the problems of surface corrosion, cable clamp sliding, internal steel wire fracture and the like in the process of complex tests of natural environments such as wind, rain, sun and the like. Therefore, in order to ensure the safety and normal use of the suspension bridge, according to the related requirements in the maintenance standards of bridge and culvert, technicians need to detect the suspension bridge, especially the main cable of the suspension bridge, regularly.
In the prior art, in order to facilitate the technician to walk and detect the main cable on the suspension cable device, a plurality of layers of ropes parallel to the main cable are usually arranged above two sides of the length direction of the main cable, usually two ropes which are relatively horizontal are arranged as one layer, the transverse distance between the ropes on two sides of the main cable is kept at intervals by using a transverse rod, the vertical distance between the ropes on two sides of the main cable is kept at intervals by using a stand column at intervals by using a length distance between the ropes, the ropes are kept at intervals from the main cable by using the transverse rod and the stand column and are fixedly connected by rope clamps, so that a walking structure with the main cable as a bottom and the ropes on two sides of the main cable along the length direction of the main cable is realized, and a walking structure with three layers of ropes is generally arranged on the main cable, wherein two ropes on the uppermost layer are called handrail ropes, the middle layer is an upper handrail rope, and the lowermost layer is a lower handrail rope.
With the development of robot technology, a climbing robot using two parallel ropes perpendicular to the gravity direction as climbing objects is lacking in the prior art, such as a robot using more than one railing rope and a lower railing rope as climbing objects.
Disclosure of Invention
The embodiment of the application provides a climbing robot which is used for providing a robot solution with more than one railing rope and lower railing ropes as climbing objects.
The application relates to a climbing robot, comprising: a side gear assembly (100) and a control module;
The side gear assembly (100) comprises a body bar (110) and a climbing module (120);
the climbing module (120) comprises a V-shaped wheel (121) and a V-shaped wheel mounting bracket (122); the V-shaped wheel (121) is rotatably arranged on the V-shaped wheel mounting bracket (122);
two groups of climbing modules (120) are installed in parallel in the length direction of the body rod (110), wherein the V-shaped wheels (121) of one group of climbing modules (120) are upwards matched with the upper railing rope, and the V-shaped wheels (121) of the other group of climbing modules (120) are downwards matched with the lower railing rope, so that the climbing robot climbs along the upper railing rope and the lower railing rope;
Wherein at least one group of climbing modules (120) further comprises a driving motor (123), a driving motor mounting bracket (124) and a driving transmission part (125); the driving motor (123) is fixedly arranged on the V-shaped wheel mounting bracket (122) through the driving motor mounting bracket (124), and the driving motor (123) drives the V-shaped wheel (121) to rotate through the driving transmission part (125);
The control module comprises a controller, wherein the controller is electrically connected with the driving motor (123), and the controller is used for controlling the rotation of the driving motor (123).
Optionally, the climbing module (120) comprises at least two of the V-wheels (121);
The V-shaped wheel mounting bracket (122) comprises an inner side plate (1221), a V-shaped wheel mounting shaft (1222), a V-shaped wheel mounting shaft bearing seat (1223) and an outer side plate (1224), wherein through holes are oppositely formed between the outer side plate (1224) and the inner side plate (1221); the V-shaped wheel mounting shaft (1222) rotatably penetrates through the through hole between the outer side plate (1224) and the inner side plate (1221) through the V-shaped wheel mounting shaft bearing seat (1223), and the V-shaped wheel (121) and the V-shaped wheel mounting shaft (1222) are coaxially and fixedly connected between the outer side plate (1224) and the inner side plate (1221).
Optionally, the drive transmission component (125) comprises a turbine (1251), a worm (1252); the V-shaped wheel mounting shaft (1222) penetrates through one end of the outer side plate (1224) and one end of a turbine shaft of the turbine (1251) to be fixedly connected, a worm shaft of the worm (1252) is fixedly connected with an output shaft of the driving motor (123), and the turbine (1251) is meshed and connected with the worm (1252).
Optionally, the body pole (110) length direction still fixed mounting has linear guide (130), install two sliders (140) on linear guide (130) slidable, each slider (140) fixed mounting climbing module (120), still install telescopic machanism (150) on slider (140), telescopic machanism (150) are used for controlling slider (140) are in the position on linear guide (130).
Optionally, the telescopic mechanism (150) comprises: a telescopic motor (151), a ball screw (152), a ball screw bearing, a ball screw mounting bracket (153), a ball screw nut (154) and a link mechanism (155);
The ball screw (152) is rotatably mounted on the ball screw mounting bracket (153) through the ball screw bearing, the ball screw mounting bracket (153) is fixedly mounted on the body rod (110), one end of the ball screw (152) is fixedly connected with an output shaft of the telescopic motor (151), the other end of the ball screw (152) is adaptively mounted with the ball screw nut (154), the ball screw nut (154) is hinged with an input end of the link mechanism (155), an output end of the link mechanism (155) is hinged with the sliding block (140), so that rotation of the telescopic motor (151) drives rotation of the ball screw (152), the rotation of the ball screw (152) forces the ball screw nut (154) to ascend or descend on the ball screw (152), the ball screw nut (154) drives the link mechanism (155) to move, and the link mechanism (155) drives the sliding block (140) to slide on the guide rail (130), and when the telescopic motor (151) stops rotating, the sliding block (140) is locked at the position (130);
the telescopic motor (151) is electrically connected with the controller, and the controller is used for controlling rotation of the telescopic motor (151).
Optionally, the telescopic mechanism (150) separates two sliding blocks (140) on two sides of the linear guide rail (130); the telescopic mechanism (150) comprises two sets of connecting rod mechanisms (155), the ball screw nuts (154) are respectively hinged with the input ends of the two connecting rod mechanisms (155), and the output ends of the two connecting rod mechanisms (155) are respectively hinged with the two sliding blocks (140).
Optionally, the device further comprises two frame crossbars (200), and a plurality of groups of side change gear assemblies (100) are rotatably arranged between the two frame crossbars (200).
Optionally, a swinging assembly (300) is further included, wherein the swinging assembly (300) is used for controlling the swing of the side change wheel assembly (100) relative to the frame cross bar (200).
Optionally, the swing assembly (300) includes: a swing shaft (301), a swing shaft bearing (302), a swing turbine (303), a swing worm (304), a swing motor (305) and a swing motor mounting bracket (306);
The swing shaft (301) is rotatably installed on the frame cross rod (200) in a penetrating mode through the swing shaft bearing (302), one end of the swing shaft (301) penetrates through the frame cross rod (200) and is fixedly connected with the body rod (110) of the side change gear assembly (100), the other end of the swing shaft (301) is fixedly connected with the swing turbine (303) in a coaxial mode, the swing turbine (303) is connected with the swing worm (304) in a meshed mode, the swing worm (304) is fixedly connected with an output shaft of the swing motor (305), and the swing motor (305) is fixedly installed on the frame cross rod (200) through the swing motor installation support (306);
The swing motor (305) is electrically connected with the controller, and the controller is used for controlling the rotation of the swing motor (305).
Optionally, a detection device (400) is also included;
the detection device (400) is used for detecting the main cable (810), and the detection device (400) is installed on the frame cross bar (200).
Optionally, the detection device (400) is one or more of a magnetic induction detection device, an optical detection device and a camera detection device.
Optionally, a lifting assembly (500) is also included; the lifting assembly (500) is fixedly connected with the frame cross rod (200), the lifting movable end of the lifting assembly (500) is connected with the detection device (400), and the lifting assembly (500) is further electrically connected with the controller, so that the controller controls the lifting of the lifting movable end of the lifting assembly (500).
Optionally, the lifting assembly (500) comprises a lifting bracket (501), a lifting motor (502), a lifting transmission component (503), a lifting guide rail (504) and a lifting movable end (505);
The lifting support (501) is fixedly connected with the frame cross bar (200), a lifting guide rail (504) is arranged on the lifting support (501), a lifting movable end (505) is fixedly arranged on a sliding block of the lifting guide rail (504), an input shaft of the lifting guide rail (504) is fixedly connected with one end of a lifting transmission part (503), the other end of the lifting transmission part (503) is fixedly connected with an output shaft of a lifting motor (502), and the lifting motor is fixedly arranged on the lifting support (501);
The lifting motor (502) is electrically connected with the controller, and the controller is used for controlling the rotation of the lifting motor (502).
Optionally, a rotating assembly (600); the rotating assembly (600) is fixedly connected with the lifting movable end of the lifting assembly (500), the rotating movable end of the rotating assembly (600) is fixedly connected with the detecting device (400), and the rotating assembly (600) is further electrically connected with the controller, so that the controller controls the rotation of the rotating movable end of the rotating assembly (600).
Optionally, the rotating assembly (600) comprises a rotating bracket (601), a rotating motor (602), a rotating transmission component (603) and a rotating movable end (604);
the rotary support (601) is fixedly connected with the lifting movable end of the lifting assembly (500), the rotary transmission component (603) is rotatably arranged on the rotary support (601), one end of the rotary transmission component (603) is fixedly connected with an output shaft of the rotary motor (602), and the other end of the rotary transmission component (603) is fixedly connected with the rotary movable end (604);
the rotating motor (602) is electrically connected with the controller, and the controller is used for controlling the rotation of the rotating motor (602).
Optionally, the detection device (400) is a semi-ring detection mechanism (410) with a semi-ring shape, and the semi-ring detection mechanism (410) comprises a detection semi-ring (411), a supporting wheel (412) and a supporting wheel bracket (413);
A plurality of sensors for detecting the main cable are arranged on the inner side of the semi-annular shape on the detection semi-annular ring (411);
The supporting wheel (412) is rotatably mounted on the supporting wheel support (413), the supporting wheel support (413) is used for mounting the supporting wheel (412) on the detection semi-ring (411), and the supporting wheel (412) faces to the center of the detection semi-ring (411).
Optionally, a support wheel adjustment mechanism (420) is also included; the supporting wheel adjusting mechanism (420) comprises a screw rod (421), a screw rod mounting bracket (422), a screw rod mounting bearing, a screw rod nut, a guide rail shaft (423) and an adjusting motor (424);
The screw rod (421) is rotatably mounted on the screw rod mounting support (422) through the screw rod mounting bearing, the screw rod mounting support (422) is fixedly connected with the detection semi-ring (411), one end of the screw rod (421) is fixedly connected with an output shaft of the adjusting motor (424), the other end of the screw rod (421) is in matched connection with the screw rod nut, the screw rod nut is fixedly connected with the supporting wheel support (413), the guide rail shaft (423) is fixedly connected with the supporting wheel support (413) and slidably penetrates through the detection semi-ring (411) and the screw rod mounting support (422), so that the supporting wheel support (413) drives the screw rod (421) to rotate positively and negatively under the positive and negative rotation of the adjusting motor (424), the screw rod nut is forced to be far away from or towards the semi-ring center of the detection semi-ring (411), and the guide rail nut drives the supporting wheel support (413) to slide on the guide rail shaft (423);
the adjusting motor (424) is electrically connected with the controller, and the controller is used for controlling the rotation of the adjusting motor (424).
Optionally, a spring (425) is further sleeved in the guide rail shaft (423), one end of the spring (425) acts on the detection semi-ring (411), and the other end of the spring (425) acts on the supporting wheel bracket (413).
Optionally, the climbing robot comprises two climbing robots which are symmetrically distributed.
Optionally, the climbing robot further comprises an electromagnet (700), wherein the electromagnet (700) is arranged at the tail end of the detection semi-ring so as to be in matched connection with the electromagnet at the tail end of the detection semi-ring of the other climbing robot.
From the above technical solutions, the embodiment of the present application has the following advantages:
The two groups of climbing modules for climbing are arranged in parallel in the length direction of the body rod, the V-shaped wheels of one group of climbing modules are upwards matched with the upper railing rope, the V-shaped wheels of the other group of climbing modules are downwards matched with the lower railing rope, and at least one group of climbing modules comprises a driving motor for providing power for the V-shaped wheels, so that the climbing robot can adapt to climbing scenes of two railing ropes vertically arranged on a main cable of a suspension bridge, and climbing of the climbing robot by depending on the upper railing rope and the lower railing rope on the main cable of the suspension bridge under the control of the control module is realized.
Drawings
FIG. 1 is a schematic view of an embodiment of the climbing robot of the present application climbing by means of an upper rail rope and a lower rail rope;
FIG. 2 is a schematic structural view of one embodiment of a climbing robot of the present application;
FIG. 3 is a schematic structural view of one embodiment of a climbing robot telescoping mechanism of the present application;
FIG. 4 is a schematic structural view of another embodiment of the climbing robot of the present application;
FIG. 5 is a schematic structural view of another embodiment of the climbing robot of the present application;
FIG. 6 is a schematic diagram of one embodiment of a climbing robot lifting assembly, rotating assembly, and detection apparatus of the present application;
FIG. 7 is a schematic structural view of an embodiment of a climbing robot detection apparatus of the present application;
FIG. 8 is a view of the climbing robot of FIG. 1 along the length of an upper or lower railing string;
FIG. 9 is a schematic diagram of one embodiment of the climbing robot of the present application being straddled a column.
Detailed Description
The embodiment of the application provides a climbing robot which is used for providing a robot solution with more than one railing rope and lower railing ropes as climbing objects.
First, the working environment of the climbing robot according to the embodiment of the present application will be described, referring to fig. 1, a scene of an embodiment in which the climbing robot according to the present application performs climbing by means of an upper railing rope and a lower railing rope. The main cable 810 is a core bearing structure for connecting two cable towers in a suspension bridge, a cable clamp 910 is fixedly installed on the main cable 810 at intervals through high-strength bolts, the cable clamp 910 is downwards provided with lugs 920, the lugs 920 are used for installing slings 930, and a bridge deck is hoisted through the slings 930, so that the suspension bridge is formed. Because the main cable 810 has one cable clamp 910 at intervals, the traditional cable climbing robot taking the main cable 810 as a climbing object is difficult to span the main cable with the cable clamp 910 obstacle, and can not smoothly climb from one cable tower to another cable tower along the trend of the main cable 910 of the suspension bridge. In view of the difficult problem that the suspension bridge main cable 810 has the obstacle of the cable clamp 910, the detection work of the suspension bridge main cable 810 at present mainly adopts the scheme of installing multiple layers of ropes on the main cable 810, so that a walking structure with the main cable 810 as a base and multiple layers of ropes on two sides of the main cable 810 along the length direction of the main cable 810 is realized, and a technician can walk in the walking structure on the main cable 810 more safely to detect the main cable 810.
As shown in fig. 1, a so-called multi-layer rope-on-main-cable solution is provided with 3 layers of ropes parallel to the main cable 810, typically one layer of two relatively horizontal ropes, above both sides of the main cable length, and with transverse rods 940 at regular rope length distances to fix the transverse distances of the ropes on both sides of the main cable, and posts 960 at regular rope length distances to fix the vertical distances of the ropes above both sides of the main cable. Specifically, the rope clamps 950 on the two upright posts 960 are used for respectively fixing 3 layers of ropes on two sides of the main cable in the vertical direction, then the cross bars 840 are used for fixing the two upright posts in the transverse direction, and then the cross bars 940, the upright posts 960 and the rope clamps 910 of the main cable are kept at a fixed distance, so that a walking structure with the main cable 810 as a bottom is realized, the ropes on the two sides of the 3 layers above the main cable 810 are along the length direction of the main cable 810, wherein the two ropes on the uppermost layer are called handrail ropes 840, the middle layer is the upper handrail rope 830, the lower layer is the lower handrail rope 820, and a technician can relatively safely hold the handrail ropes 840 on two sides of the main cable and walk on the main cable 810 to detect the main cable 810.
Aiming at the structure that the multi-layer ropes are arranged on the main cable of the suspension bridge, the embodiment of the application provides a technical scheme of a climbing robot by taking the upper railing rope 830 and the lower railing rope 820 as climbing objects, wherein the climbing robot can realize climbing along the upper railing rope 830 and the lower railing rope 820, and further, the climbing robot can realize that a detection instrument for the main cable is carried along the trend of the main cable of the suspension bridge to smoothly climb from one cable tower to the other cable tower. It is to be understood that, although the upper railing rope 830 and the lower railing rope 820 are climbing objects, the climbing robot of the present application may be applicable to other climbing situations under the same two rope climbing conditions, that is, the upper railing rope 830 and the lower railing rope 820 of the present application should be regarded as two parallel ropes perpendicular to the gravity direction. The present application is described with respect to climbing robots by way of example only and not limitation of the present application with respect to upper and lower railing strings 830 and 820.
Referring to fig. 2, one embodiment of the climbing robot of the present application may be implemented to climb along an upper rail rope 830 and a lower rail rope 820. This climbing robot includes: side gear assembly 100 and control module. Wherein the side gear assembly 100 further comprises a body bar 110 and a climbing module 120. Wherein climbing module 120 specifically includes a V-wheel 121 and a V-wheel mounting bracket 122, V-wheel 121 being rotatably mounted to V-wheel mounting bracket 122. Two groups of climbing modules 120 are installed in parallel in the length direction of the body rod 110, wherein the V-shaped wheels 121 of one group of climbing modules 120 are upwards matched with the upper railing rope 830, and the V-shaped wheels 121 of the other group of climbing modules 120 are downwards matched with the lower railing rope 820, so that the climbing robot can climb along the upper railing rope 830 and the lower railing rope 820; wherein at least one set of climbing modules 120 further comprises a drive motor 123, a drive motor mounting bracket 124, and a drive transmission member 125; the driving motor 123 is fixedly arranged on the V-shaped wheel mounting bracket 122 through a driving motor mounting bracket 124, and the driving motor 123 drives the V-shaped wheel 121 to rotate through a driving transmission part 125; the control module includes a controller electrically connected to the driving motor 123, and the controller is used for controlling the rotation of the driving motor 123. When the climbing robot is required to climb along the railing rope 830 and the lower railing rope 820, the V-shaped wheels 121 of one group of climbing modules 120 of the climbing robot are required to be arranged below the upper railing rope 830, the V-shaped wheels 121 of the other group of climbing modules 120 are required to be arranged on the lower railing rope 820, the climbing robot is clamped between the upper railing rope 830 and the lower railing rope 820 through the V-shaped wheels 121, the controller controls the driving motor 123 to rotate to drive the V-shaped wheels 121 through the driving transmission part 125, and then the climbing robot can climb back and forth along the upper railing rope 830 and the lower railing rope 820 under the control of the controller.
Specifically, at least one set of climbing modules 120 should include two V-wheels 121 to avoid the climbing robot from contacting both the upper and lower railing strings 830 and 820 in a point-to-point manner, i.e., to avoid the climbing robot from contacting both the upper and lower railing strings 830 and 820 in a line-to-line manner, where the climbing robot may rotate about the two points of contact, which is detrimental to the climbing robot from firmly resting on both the upper and lower railing strings 830 and 820. When at least one set of climbing modules 120 includes two V-wheels 121, the contact of the climbing robot with the upper and lower railing strings 830 and 820 corresponds to a surface contact, facilitating the climbing robot to more securely rely on the upper and lower railing strings 830 and 820. The V-wheel mounting bracket 122 includes an inner plate 1221, a V-wheel mounting shaft 1222, a V-wheel mounting shaft bearing block 1223, and an outer plate 1224, a plurality of pairs of through holes are oppositely disposed between the outer plate 1224 and the inner plate 122, the plurality of V-wheel mounting shafts 1222 are rotatably installed between the outer plate 1224 and the inner plate 1221 through the plurality of pairs of through holes of the V-wheel mounting shaft bearing block 1223, and the V-wheel 121 and the V-wheel mounting shaft 1222 are fixedly connected between the outer plate 1224 and the inner plate 1221.
Specifically, the driving transmission member 125 may be driven by various transmission methods, and may be a mechanical transmission scheme such as a gear-to-chain, a gear-to-synchronous belt, a gear-to-gear, or a direct coupling, which is not particularly limited herein. When a gear-to-gear mechanical transmission scheme is employed, the drive transmission 125 may include a worm gear 1251, a worm screw 1252. One end of the V-shaped wheel mounting shaft 1222 penetrating the outer side plate 1224 is fixedly connected with one end of a turbine shaft of the turbine 1251, a worm shaft of the worm 1252 is fixedly connected with an output shaft of the driving motor 123, and the turbine 1251 is meshed with the worm 1252.
Further, the linear guide rail 130 is fixedly mounted in the length direction of the body rod 110, two sliding blocks 140 are slidably mounted on the linear guide rail 130, each sliding block 140 is fixedly mounted with the climbing module 120, a telescopic mechanism 150 is further mounted on each sliding block 140, and the telescopic mechanism 150 is used for controlling the position of the sliding block 140 on the linear guide rail 130. Or, two linear guide rails 130 are fixedly mounted on the body rod 110 in a head-to-tail manner along the length direction, a sliding block 140 is slidably mounted on each of the two linear guide rails 130, each sliding block 140 is fixedly mounted with the climbing module 120, a telescopic mechanism 150 is further mounted on each sliding block 140, and the telescopic mechanism 150 is used for controlling the position of the sliding block 140 on the linear guide rail 130.
Specifically, referring to fig. 3 in combination, one embodiment of the telescopic mechanism 150 includes: a telescopic motor 151, a ball screw 152, a ball screw bearing, a ball screw mounting bracket 153, a ball screw nut 154, and a link mechanism 155. The ball screw 152 is rotatably mounted on the ball screw mounting bracket 153 through a ball screw bearing, the ball screw mounting bracket 153 is fixedly mounted on the body rod 110, the ball screw mounting bracket 153 may be integrally formed with the body rod 110, and one end of the ball screw 152 is fixedly connected with the output shaft of the telescopic motor 151. In order to increase the output torque of the telescopic motor 151, the output shaft of the telescopic motor 151 may be connected to the input shaft of the reduction gearbox 1511 before the output shaft of the reduction gearbox 1511 is fixedly connected to one end of the ball screw 152. The other end of the ball screw 152 is provided with a ball screw nut 154 in an adapting way, the ball screw nut 154 is hinged with the input end of a connecting rod mechanism 155, the output end of the connecting rod mechanism 155 is hinged with the sliding block 140, so that the rotation of the telescopic motor 151 drives the ball screw 152 to rotate, the rotation of the ball screw 152 forces the ball screw nut 154 to ascend or descend on the ball screw 152, the ball screw nut 154 drives the connecting rod mechanism 155 to move, the connecting rod mechanism 155 drives the sliding block 140 to slide on the guide rail 130, when the telescopic motor 151 stops rotating, the sliding block 140 is locked at the position of the guide rail 130, the telescopic motor 151 is electrically connected with a controller, and the controller is used for controlling the rotation of the telescopic motor 151. In particular, the link mechanism 155 can be implemented in various forms, so long as the power of the ball screw nut 154 can be transmitted to the slider 140, and the specific structure of the link mechanism 155 is not limited herein. For example, linkage 155 may include a linkage arm 1551, a first linkage 1552, and a second linkage 1553; one end of the first link 1552 is hinged to one end of the second link 1553, the other end of the first link 1552 is hinged to the body bar 110, the other end of the second link 1553 is hinged to the slider 140 as an output end of the link mechanism 155, one end of the link arm 1551 is hinged to the ball screw nut 154 as an input end of the link mechanism 155, and the other end of the link arm 1551 is hinged to the first link 1552, so that the link arm 1551 transmits power of lifting or retreating the ball screw nut 154 along the ball screw 152 to the first link 1552, and then the first link 1552 transmits power to the second link 1553, and further transmits power to the slider 140.
Specifically, as shown in fig. 3, the telescopic mechanism 150 separates two sliding blocks 140 on two sides of the linear guide rail 130, the telescopic mechanism 150 may include two sets of link mechanisms 155, the ball screw nuts 154 are respectively hinged to the input ends of the two link mechanisms 155, and the output ends of the two link mechanisms 155 are respectively hinged to the two sliding blocks 140, so as to realize that one telescopic mechanism 150 simultaneously controls the positions of the two groups of climbing modules 120 on the linear guide rail 130.
Further, referring to fig. 4, the climbing robot according to the above embodiment of the present application may further include two frame rails 200, and the plurality of sets of side-gear assemblies 100 are rotatably installed between the two frame rails 200, so as to implement a climbing robot formed by combining a plurality of side-gear assemblies 100, where the climbing robot has a larger contact area with the upper rail rope 830 and the lower rail rope 820, and the climbing stability of the climbing robot is higher.
Further, referring to fig. 4, the climbing robot according to the above embodiment of the present application may further include a swing assembly 300, where the swing assembly 300 is used to control the swing of each set of side gear assemblies 100 relative to the frame rail 200. That is, each side-gear assembly 100 is correspondingly provided with a swinging assembly 300, so that the swinging assembly 300 can independently control the swinging of each side-gear assembly, and the swinging assemblies 300 can realize climbing along the upper railing rope 830 and the lower railing rope 820 by matching with the telescopic mechanism 150 and span the column 960 serving as a barrier, and the specific spanning process is described in the following part of the cross-domain column of the climbing robot.
Specifically, in one embodiment of the swing assembly 300, the swing assembly 300 includes: swing shaft 301, swing shaft bearing 302, swing turbine 303, swing worm 304, swing motor 305, swing motor mounting bracket 306. The swing shaft 301 is rotatably installed on the frame cross bar 200 in a penetrating manner through the swing shaft bearing 302, one end of the swing shaft 301 penetrating through the frame cross bar 200 is fixedly connected with the body bar 110 of the side change gear assembly 100, the other end of the swing shaft 301 is fixedly connected with the swing worm 303 in a coaxial and fixed manner, the swing worm 303 is connected with the swing worm 304 in a meshed manner, the worm shaft of the swing worm 304 is fixedly connected with the output shaft of the swing motor 305, the swing motor 305 is fixedly installed on the frame cross bar 200 through the swing motor installation support 306, the swing motor 305 is electrically connected with the controller, and the controller is used for controlling rotation of the swing motor 305. Thus, the rotation angle of the output shaft of the swing motor 305 is controlled by the controller, so that the contra-lateral change gear assembly 100 can rotate at a certain angle relative to the frame cross bar 200.
Further, referring to fig. 5 and 6, the climbing robot of the present application further includes a detection device 400. The detection device 400 is used for detecting the main cable 810, and the detection device 400 can be directly installed on the frame cross bar 200, or can be installed on the frame cross bar 200 by means of some adjusting components, so that parameters such as the position and the direction of the detection device 400 can be adjusted, and the detection device 400 can have better angles and positions for detecting the main cable 810. Wherein the detection device 400 may be one or more of a magnetic induction detection device, an optical detection device, and a camera detection device.
Further, the climbing robot of the present application further includes a lifting assembly 500. The lifting assembly 500 is used for adjusting the parameter of the position of the detection device 400 relative to the main cable 810 of the detection object. It can be appreciated that when the climbing robot of the present application climbs between the upper rail rope 830 and the lower rail rope 820, since the climbing robot is at a high altitude, the main cable 810 of the detection object of the climbing robot is also at a high altitude, the wind direction in the high altitude is changeable and the wind speed is strong, the climbing robot can still generate a certain swing along with the upper rail rope 830 and the lower rail rope 820 although climbing between the upper rail rope 830 and the lower rail rope 820 in a relatively stable posture, the swing of the climbing robot may make the detection device 400 carried by the climbing robot not align with the main cable 810 well for detection, and at this time, the position posture of the detection device 400 needs to be adjusted. The climbing robot of the present application aims to solve the technical problem that the detection apparatus 400 is more accurately aligned with the main cable 810 of the detection object, and introduces the structure of the lifting assembly 500. Generally, the lifting assembly 500 is fixedly connected with the frame rail 200, the lifting movable end of the lifting assembly 500 is connected with the detecting device 400, and the lifting assembly 500 is further electrically connected with the controller, so that the controller controls the lifting of the lifting movable end of the lifting assembly 500.
Specifically, one embodiment of the lift assembly 500 is as follows: comprises a lifting bracket 501, a lifting motor 502, a lifting transmission part 503, a lifting guide rail 504 and a lifting movable end 505. The lifting transmission component 503 may be a mechanical transmission component such as a coupling, a reduction gearbox, a bevel gear and the like. The lifting support 501 is fixedly connected with the frame cross bar 200, the lifting support 501 is provided with a lifting guide rail 504, a lifting movable end 505 is fixedly installed on a sliding block of the lifting guide rail 504, an input shaft of the lifting guide rail 504 is fixedly connected with one end of a lifting transmission part 503, the other end of the lifting transmission part 503 is fixedly connected with an output shaft of a lifting motor 502, the lifting motor is fixedly installed on the lifting support 501, the lifting motor 502 is electrically connected with a controller, and the controller is used for controlling rotation of the lifting motor 502. Wherein the lifting support 501 can be formed by mutually perpendicular connection of a lifting cross bar and a lifting longitudinal bar, the lifting cross bar can supplement the length distance of the transverse direction of the climbing robot so that the detection device 400 can not touch the upright post when the subsequent climbing robot passes over the upright post, and the lifting longitudinal bar is used for installing the lifting guide rail 504. The lifting guide rail 504 is composed of a screw rod, a sliding block and a linear guide rail, the sliding block is slidably arranged on the linear guide rail, a threaded hole matched with the screw rod is further formed in the sliding block so as to be matched with the screw rod, the screw rod is rotatably arranged on the linear guide rail, forward and backward rotation of the screw rod is further realized, the sliding block is driven to slide up and down on the linear guide rail, one end of the screw rod of the lifting guide rail 504 is used as an input end of the lifting guide rail 504, and the sliding block of the lifting guide rail 504 is used as a lifting movable end.
Further, the climbing robot of the present application further includes a selection assembly 600. The rotation assembly 600 is used to effect parameter adjustment of the angular orientation of the detection device 400. The swivel assembly 600 may be used in conjunction with the lifting assembly 500 described above or may be used separately to connect the frame rail 200 to the detection device 400. The following description will be given by taking the example of the rotation assembly 600 used in conjunction with the lifting assembly 500 mentioned above. The rotating assembly 600 is fixedly connected with the lifting movable end of the lifting assembly 500, the rotating movable end of the rotating assembly 600 is fixedly connected with the detecting device 400, and the rotating assembly 600 is further electrically connected with the controller, so that the controller controls the rotation of the rotating movable end of the rotating assembly 600.
Specifically, one embodiment of the rotating assembly 600 includes: a rotary bracket 601, a rotary motor 602, a rotary transmission member 603, and a rotary movable end 604. The rotation transmission member 603 may be a mechanical transmission member such as a coupling, a reduction gearbox, a bevel gear, etc. The rotating bracket 601 is fixedly connected with the lifting movable end of the lifting assembly 500, the rotating transmission component 603 is rotatably arranged on the rotating bracket 601, one end of the rotating transmission component 603 is fixedly connected with the output shaft of the rotating motor 602, the other end of the rotating transmission component 603 is fixedly connected with the rotating movable end 604, the rotating motor 602 is electrically connected with the controller, and the controller is used for controlling the rotation of the rotating motor 602. Wherein the rotating movable end 604 is typically the output shaft of the rotating electric machine 602 or a component fixedly coupled to the output shaft of the rotating electric machine 602.
More specifically, referring to fig. 5, 6 and 7 in combination, the detection device 400 of the climbing robot according to the embodiment of the application may be a semi-ring detection mechanism 410 with a semi-ring shape, and the semi-ring detection mechanism 410 includes a detection semi-ring 411, a support wheel 412 and a support wheel bracket 413. The semi-ring detection mechanism 410 with a semi-ring shape is more fit with the detection object to be the appearance feature of the main cable 810, which is beneficial to the detection device 400 to realize rapid adaptation with the detection object. The inner side of the semi-ring on the detection semi-ring 411 is provided with a plurality of sensors for detecting the main cable. The supporting wheel 412 is rotatably installed on the supporting wheel bracket 413, the supporting wheel bracket 413 installs the supporting wheel 412 on the detecting semi-ring 411, the supporting wheel 412 faces the center of the detecting semi-ring 411, and the rotation axis of the supporting wheel 412 is perpendicular to the length direction of the main cable, that is, the supporting wheel 412 is guaranteed to be in rolling contact with the main cable. The supporting wheel 412 is used to keep the detection device 400 away from the main cable, so as to avoid the climbing robot carrying the detection device 400 from colliding with the relatively stationary main cable 810, which causes damage to the detection device 400 or affects the detection accuracy.
More specifically, the climbing robot of the present embodiment further includes a supporting wheel adjusting mechanism 420 for adjusting the supporting wheel 412, and the supporting wheel adjusting mechanism 420 includes a screw 421, a screw mounting bracket 422, a screw mounting bearing, a screw nut, a rail shaft 423, and an adjusting motor 424. The lead screw 421 is rotatably mounted on the lead screw mounting support 422 through a lead screw mounting bearing, the lead screw mounting support 422 is fixedly connected with the detection semi-ring 411, one end of the lead screw 421 is fixedly connected with an output shaft of the adjusting motor 424, the other end of the lead screw 421 is in matched connection with a lead screw nut, the lead screw nut is fixedly connected with the supporting wheel support 413, the guide rail shaft 423 is fixedly connected with the supporting wheel support 413 and slidably penetrates through the detection semi-ring 411 and the lead screw mounting support 422, so that the supporting wheel support 413 drives the lead screw 421 to rotate forward and backward under the forward rotation of the adjusting motor 424, the lead screw nut is forced to move away from or towards the semi-ring center of the detection semi-ring 411, the lead screw nut drives the supporting wheel support 413 to slide on the guide rail shaft 423, the adjusting motor 424 is electrically connected with the controller, and the controller is used for controlling rotation of the adjusting motor 424. It can be seen that the purpose of maintaining the distance between the detection half ring 411 and the main cable 810 can be further achieved by adjusting the distance of the support wheel 412 near the center of the half ring by the controller.
Further, the guide rail shaft 423 of the climbing robot in the embodiment is further sleeved with a spring 425, one end of the spring 425 acts on the detection semi-ring 411, the other end of the spring 425 acts on the supporting wheel bracket 413, and the spring 425 realizes that the supporting wheel 412 contacts the main cable 810 more flexibly, so that contact damage to the main cable 810 is reduced.
It should be noted that the climbing robot of the above embodiment realizes the detection of the entire length direction of the main cable along the upper railing rope 830 and the lower railing rope 820 of the main cable 810, but only one side of the main cable 810 can be detected, and in order to realize the detection of both sides of the main cable 810, two groups of climbing robots of the above embodiment may be used to detect the main cable 810. For example, two sets of climbing robots of the above embodiment are symmetrically arranged and simultaneously placed on both sides of the same main cable with the upper and lower railing strings 830 and 820, and then the two sets of climbing robots are controlled by a controller to detect the main cable 810.
Further, in order to realize that the climbing robot simultaneously inspects both sides of the main cable 810, and further realize that the climbing robot climbs one time along the upper railing rope 830 and the lower railing rope 820 to realize the detection of one main cable 810, some sensors for enabling the climbing robots climbing the upper railing rope 830 and the lower railing rope 820 on both sides of the main cable 810 to realize the synchronization of the detection of the main cable 810 may be provided. In order to further stabilize the connection between the two detection half rings 411 of the two-side climbing robot, so that the two detection half rings 411 on two sides can be relatively stable in structure to detect two sides of the same section of main cable at the same time, so that detection data of the detection half rings 411 on two sides can be spliced to form detection data of the whole main cable. The butt joint structure 700 is connected with the butt joint structure 700 at the tail end of the detection semi-ring of the climbing robot at two sides, and two sides of the same section of main cable are detected simultaneously.
It will be appreciated that the climbing robot of the present embodiment of the present application may further need to have a battery or a power source for providing electric power to the driving motor 123, the telescopic motor 151, the swing motor 305, the lifting motor 502, the rotating motor 602, the adjusting motor 242, the electromagnet, and the electric appliances such as the controller of the climbing robot, and when the climbing robot is powered by the battery, the battery may be fixedly mounted on the frame rail 200.
Referring to fig. 8 and 9 in combination, the climbing robot of the present application climbs along the upper rail rope 830 and the lower rail rope 820 on both sides of the main cable 810, realizes the fixing device column 960 passing over the upper rail rope 830 and the lower rail rope 820, and realizes the detection of the main cable 810 during the climbing process, and the process is briefly described as follows:
Firstly, the controller controls the rotation of the telescopic motors 151 of all telescopic mechanisms 150 of the climbing robot, so that the V-shaped wheels 121 of two groups of climbing modules 120 on the side change wheel assembly 100 are close to the middle of the body rod 110 until the V-shaped wheels 121 of the two groups of climbing modules 120 can be placed between the upper railing rope 830 and the lower railing rope 820, and then controls the telescopic motors 151 to reversely rotate until the V-shaped wheels 121 of the two groups of climbing modules 120 are clamped between the upper railing rope 830 and the lower railing rope 820, and the climbing robot is symmetrically placed between the upper railing rope 830 and the lower railing rope 820 on two sides of the main cable 810. The lifting motor 502 of the lifting assembly 500, the rotating motor 602 of the rotating assembly 600 and the adjusting motor 142 of the supporting wheel adjusting mechanism 420 are controlled by the controller to rotate and adjust, so that the detection semi-rings 411 of the climbing robots on two sides of the main cable 810 are coaxial with the main cable 810, the electromagnets are started, the detection semi-rings 411 of the climbing robots on two sides of the main cable 810 are adsorbed to form a circular detection ring, at the moment, the driving motor 123 can be controlled to rotate, and the climbing robots can climb along the upper railing rope 830 and the lower railing rope 820 on two sides of the main cable 810 and detect the main cable 810. because the climbing robots on both sides are similar in motion, only one side of the climbing robot is described herein, the climbing robot has at least three sets of side-gear assemblies 100, when the climbing robot approaches an obstacle of the upright 960, the V-wheels 121 of the two sets of climbing modules 120 on the first set of side-gear assemblies 100 closest to the upright 960 are controlled to approach the middle of the body bar 110, so that the V-wheels 121 of the two sets of climbing modules 120 are separated from contact with the upper rail rope 830 and the lower rail rope 820, at this time the climbing robot is clamped between the upper rail rope 830 and the lower rail rope 820 by means of two or more sets of side-gear assemblies 100 far from the upright 960, Then controlling the swing motors 305 corresponding to the first group of side-gear assemblies 100 to rotate so that the first group of side-gear assemblies 100 rotate 180 degrees, at this time, the first group of side-gear assemblies 100 are far away from the upright 960 towards the outer side of the travelling mechanism on the main cable 810, controlling the driving motor 123 to rotate so that the climbing robot advances a certain distance so that the first group of side-gear assemblies 100 completely cross the upright, controlling the first group of side-gear assemblies 100 to rotate 180 degrees so that the first group of side-gear assemblies 100 return between the upper railing rope 830 and the lower railing rope 820 again, controlling the V-shaped wheels 121 of the two groups of climbing modules 120 on the first group of side-gear assemblies 100 to contact the upper railing rope 830 and the lower railing rope 820, the spanning of the columns 960 of the first set of side gear assemblies 100 is completed. It will be appreciated that several subsequent sets of side gear assemblies of the climbing robot may span the upright 960 one by one according to the method described above, and will not be described in detail herein. It should be noted that, in the process that the side gear assembly spans the upright 960, the detection device 400 is also gradually close to the rope clamp 910 of the main cable 810, so as to avoid the detection device 400 touching the upright 960, the cross bar 940, the rope clamp 910, etc., the electromagnet 700 can be controlled to temporarily discard the connection of the detection semi-rings 411 on both sides, the lifting motor 502 and the rotating motor 602 are controlled to adjust the position and angle of the detection semi-rings 411, avoid the climbing robot touching, and the robot to be climbed passes over the rope clamp 910, etc., and resume the detection of the main cable 810.
The above description of the application in connection with the embodiments should not be construed as limiting the practice of the application to only those embodiments. It should be understood that the present application is not limited to the embodiments described herein, but is capable of modification and variation without departing from the spirit and scope of the present application.
Claims (17)
1. A climbing robot, comprising: a side change gear assembly (100), a control module and two frame rails (200);
The side change gear assemblies (100) are rotatably arranged between the two frame cross bars (200), and each side change gear assembly (100) comprises a body rod (110) and a climbing module (120);
the climbing module (120) comprises a V-shaped wheel (121) and a V-shaped wheel mounting bracket (122); the V-shaped wheel (121) is rotatably arranged on the V-shaped wheel mounting bracket (122);
two groups of climbing modules (120) are installed in parallel in the length direction of the body rod (110), wherein the V-shaped wheels (121) of one group of climbing modules (120) are upwards matched with an upper railing rope, and the V-shaped wheels (121) of the other group of climbing modules (120) are downwards matched with a lower railing rope, so that the climbing robot climbs along the upper railing rope and the lower railing rope;
Wherein at least one group of climbing modules (120) further comprises a driving motor (123), a driving motor mounting bracket (124) and a driving transmission part (125); the driving motor (123) is fixedly arranged on the V-shaped wheel mounting bracket (122) through the driving motor mounting bracket (124), and the driving motor (123) drives the V-shaped wheel (121) to rotate through the driving transmission part (125);
The body rod (110) is also fixedly provided with a linear guide rail (130) in the length direction, two sliding blocks (140) are slidably arranged on the linear guide rail (130), each sliding block (140) is fixedly provided with the climbing module (120), the sliding blocks (140) are also provided with a telescopic mechanism (150), and the telescopic mechanism (150) is used for controlling the position of the sliding block (140) on the linear guide rail (130);
The telescopic mechanism (150) comprises: a telescopic motor (151), a ball screw (152), a ball screw bearing, a ball screw mounting bracket (153), a ball screw nut (154) and a link mechanism (155); the ball screw (152) is rotatably mounted on the ball screw mounting bracket (153) through the ball screw bearing, the ball screw mounting bracket (153) is fixedly mounted on the body rod (110), one end of the ball screw (152) is fixedly connected with an output shaft of the telescopic motor (151), the other end of the ball screw (152) is adaptively mounted with the ball screw nut (154), the ball screw nut (154) is hinged with an input end of the link mechanism (155), an output end of the link mechanism (155) is hinged with the sliding block (140), so that rotation of the telescopic motor (151) drives rotation of the ball screw (152), the rotation of the ball screw (152) forces the ball screw nut (154) to ascend or descend on the ball screw (152), the ball screw nut (154) drives the link mechanism (155) to move, and the link mechanism (155) drives the sliding block (140) to slide on the guide rail (130), and when the telescopic motor (151) stops rotating, the sliding block (140) is locked at the position (130);
The control module comprises a controller, wherein the controller is electrically connected with the driving motor (123) and the telescopic motor (151), and the controller is used for controlling the rotation of the driving motor (123) and the telescopic motor (151).
2. The climbing robot of claim 1, wherein the climbing module (120) comprises at least two of the V-wheels (121);
The V-shaped wheel mounting bracket (122) comprises an inner side plate (1221), a V-shaped wheel mounting shaft (1222), a V-shaped wheel mounting shaft bearing seat (1223) and an outer side plate (1224), wherein through holes are oppositely formed between the outer side plate (1224) and the inner side plate (1221); the V-shaped wheel mounting shaft (1222) rotatably penetrates through the through hole between the outer side plate (1224) and the inner side plate (1221) through the V-shaped wheel mounting shaft bearing seat (1223), and the V-shaped wheel (121) and the V-shaped wheel mounting shaft (1222) are coaxially and fixedly connected between the outer side plate (1224) and the inner side plate (1221).
3. The climbing robot of claim 2, wherein the drive transmission member (125) comprises a worm wheel (1251), a worm (1252); the V-shaped wheel mounting shaft (1222) penetrates through one end of the outer side plate (1224) and one end of a turbine shaft of the turbine (1251) to be fixedly connected, a worm shaft of the worm (1252) is fixedly connected with an output shaft of the driving motor (123), and the turbine (1251) is meshed and connected with the worm (1252).
4. The climbing robot according to claim 1, characterized in that the telescopic mechanism (150) separates two of the slides (140) on both sides of the linear guide (130); the telescopic mechanism (150) comprises two sets of connecting rod mechanisms (155), the ball screw nuts (154) are respectively hinged with the input ends of the two connecting rod mechanisms (155), and the output ends of the two connecting rod mechanisms (155) are respectively hinged with the two sliding blocks (140).
5. The climbing robot of claim 1, further comprising a swing assembly (300), the swing assembly (300) being configured to control the swing of the side gear assembly (100) relative to the frame rail (200).
6. The climbing robot of claim 5, wherein the swing assembly (300) includes: a swing shaft (301), a swing shaft bearing (302), a swing turbine (303), a swing worm (304), a swing motor (305) and a swing motor mounting bracket (306);
The swing shaft (301) is rotatably installed on the frame cross rod (200) in a penetrating mode through the swing shaft bearing (302), one end of the swing shaft (301) penetrates through the frame cross rod (200) and is fixedly connected with the body rod (110) of the side change gear assembly (100), the other end of the swing shaft (301) is fixedly connected with the swing turbine (303) in a coaxial mode, the swing turbine (303) is connected with the swing worm (304) in a meshed mode, the swing worm (304) is fixedly connected with an output shaft of the swing motor (305), and the swing motor (305) is fixedly installed on the frame cross rod (200) through the swing motor installation support (306);
The swing motor (305) is electrically connected with the controller, and the controller is used for controlling the rotation of the swing motor (305).
7. The climbing robot of claim 1, further comprising a detection device (400);
the detection device (400) is used for detecting the main cable (810), and the detection device (400) is installed on the frame cross bar (200).
8. The climbing robot of claim 7, wherein the detection device (400) is one or more of a magnetic induction detection device, an optical detection device, a camera detection device.
9. The climbing robot of claim 7, further comprising a lifting assembly (500); the lifting assembly (500) is fixedly connected with the frame cross rod (200), the lifting movable end of the lifting assembly (500) is connected with the detection device (400), and the lifting assembly (500) is further electrically connected with the controller, so that the controller controls the lifting of the lifting movable end of the lifting assembly (500).
10. The climbing robot of claim 9, wherein the lifting assembly (500) comprises a lifting bracket (501), a lifting motor (502), a lifting transmission member (503), a lifting rail (504), and a lifting movable end (505);
The lifting support (501) is fixedly connected with the frame cross bar (200), a lifting guide rail (504) is arranged on the lifting support (501), a lifting movable end (505) is fixedly arranged on a sliding block of the lifting guide rail (504), an input shaft of the lifting guide rail (504) is fixedly connected with one end of a lifting transmission part (503), the other end of the lifting transmission part (503) is fixedly connected with an output shaft of a lifting motor (502), and the lifting motor is fixedly arranged on the lifting support (501);
The lifting motor (502) is electrically connected with the controller, and the controller is used for controlling the rotation of the lifting motor (502).
11. The climbing robot of claim 10, further comprising a rotation assembly (600); the rotating assembly (600) is fixedly connected with the lifting movable end of the lifting assembly (500), the rotating movable end of the rotating assembly (600) is fixedly connected with the detecting device (400), and the rotating assembly (600) is further electrically connected with the controller, so that the controller controls the rotation of the rotating movable end of the rotating assembly (600).
12. The climbing robot of claim 11, wherein the rotation assembly (600) comprises a rotation bracket (601), a rotation motor (602), a rotation transmission member (603), a rotation movable end (604);
the rotary support (601) is fixedly connected with the lifting movable end of the lifting assembly (500), the rotary transmission component (603) is rotatably arranged on the rotary support (601), one end of the rotary transmission component (603) is fixedly connected with an output shaft of the rotary motor (602), and the other end of the rotary transmission component (603) is fixedly connected with the rotary movable end (604);
the rotating motor (602) is electrically connected with the controller, and the controller is used for controlling the rotation of the rotating motor (602).
13. The climbing robot of claim 12, wherein the detection device (400) is a semi-ring detection mechanism (410) having a semi-ring shape, and the semi-ring detection mechanism (410) includes a detection semi-ring (411), a support wheel (412), and a support wheel bracket (413);
A plurality of sensors for detecting the main cable are arranged on the inner side of the semi-annular shape on the detection semi-annular ring (411);
The supporting wheel (412) is rotatably mounted on the supporting wheel support (413), the supporting wheel support (413) is used for mounting the supporting wheel (412) on the detection semi-ring (411), and the supporting wheel (412) faces to the center of the detection semi-ring (411).
14. The climbing robot of claim 13, further comprising a support wheel adjustment mechanism (420); the supporting wheel adjusting mechanism (420) comprises a screw rod (421), a screw rod mounting bracket (422), a screw rod mounting bearing, a screw rod nut, a guide rail shaft (423) and an adjusting motor (424);
The screw rod (421) is rotatably mounted on the screw rod mounting support (422) through the screw rod mounting bearing, the screw rod mounting support (422) is fixedly connected with the detection semi-ring (411), one end of the screw rod (421) is fixedly connected with an output shaft of the adjusting motor (424), the other end of the screw rod (421) is in matched connection with the screw rod nut, the screw rod nut is fixedly connected with the supporting wheel support (413), the guide rail shaft (423) is fixedly connected with the supporting wheel support (413) and slidably penetrates through the detection semi-ring (411) and the screw rod mounting support (422), so that the supporting wheel support (413) drives the screw rod (421) to rotate positively and negatively under the positive and negative rotation of the adjusting motor (424), the screw rod nut is forced to be far away from or towards the semi-ring center of the detection semi-ring (411), and the guide rail nut drives the supporting wheel support (413) to slide on the guide rail shaft (423);
the adjusting motor (424) is electrically connected with the controller, and the controller is used for controlling the rotation of the adjusting motor (424).
15. The climbing robot according to claim 14, characterized in that a spring (425) is further sleeved in the rail shaft (423), one end of the spring (425) acts on the detection half ring (411), and the other end of the spring (425) acts on the support wheel bracket (413).
16. The climbing robot of claim 15, consisting of two of the climbing robots symmetrically distributed.
17. The climbing robot of claim 16, further comprising a docking structure (700), the docking structure (700) being mounted at the detection half-ring end so as to be matingly connected with the docking structure of the detection half-ring end of another climbing robot.
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| CN202011215072.XA CN112373591B (en) | 2020-11-04 | 2020-11-04 | A climbing robot |
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| CN113800359B (en) * | 2021-09-27 | 2022-11-22 | 中国矿业大学 | Mine steel wire rope dust and dirt removing robot and working method |
| CN114524380B (en) * | 2022-01-26 | 2024-04-09 | 浙江农林大学 | Rope traction type object hanging rope guiding device |
| CN115262385A (en) * | 2022-08-26 | 2022-11-01 | 香港中文大学（深圳） | Climbing mechanism for double-track of suspension bridge |
| CN116043728B (en) * | 2023-01-12 | 2025-11-14 | 德阳天元重工股份有限公司 | A suspension bridge main cable maintenance walkway structure |
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| KR100929249B1 (en) * | 2009-07-17 | 2009-12-01 | (주)디에스지 | Movable Bridge Inspection Device |
| CN214296202U (en) * | 2020-11-04 | 2021-09-28 | 深圳市人工智能与机器人研究院 | Climbing robot |
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| CN111622101A (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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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100929249B1 (en) * | 2009-07-17 | 2009-12-01 | (주)디에스지 | Movable Bridge Inspection Device |
| CN214296202U (en) * | 2020-11-04 | 2021-09-28 | 深圳市人工智能与机器人研究院 | Climbing robot |
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