技术领域technical field
本发明属于机器人设备技术领域，尤其涉及一种缆索攀爬机器人。The invention belongs to the technical field of robot equipment, in particular to a cable climbing robot.
背景技术Background technique
桥梁缆索攀爬机器人在国外发展比较早，早在20世纪80年代末期，美国、欧洲一些研究机构相继开发了桥梁缆索攀爬机器人，对于我国的桥梁缆索攀爬机器人的研究现状，桥梁缆索攀爬机器人的发展还相对年轻。在桥梁缆索攀爬机器人中，机械结构是机器人系统的主体，是决定机器人后续相关设计的关键。目前，大部分桥梁缆索攀爬机器人受到机构关节多、体积大、笨重、负载能力差等条件约束：机构关节多，则运动学解耦控制难度高，控制精度无法达标；机器人体积大、笨重，则无法符合缆索作业要求，工业实用水平低；负载能力差，则无法携带足够的检测设备执行巡检任务。Bridge cable climbing robots developed relatively early abroad. As early as the late 1980s, some research institutions in the United States and Europe successively developed bridge cable climbing robots. For the research status of bridge cable climbing robots in my country, bridge cable climbing The development of robotics is still relatively young. In the bridge cable climbing robot, the mechanical structure is the main body of the robot system and the key to determine the subsequent related design of the robot. At present, most bridge cable climbing robots are constrained by the conditions of many mechanism joints, large size, bulkiness, and poor load capacity: if there are many mechanism joints, the kinematic decoupling control is difficult, and the control accuracy cannot meet the standard; the robot is large, heavy, and heavy. It cannot meet the requirements of cable operations, and the industrial practical level is low; the load capacity is poor, and it is impossible to carry enough detection equipment to perform inspection tasks.
发明内容Contents of the invention
本发明所要解决的技术问题在于提供一种缆索攀爬机器人，旨在解决现有技术的桥梁缆索攀爬机器人受到机构关节多、体积大、笨重、负载能力差等条件约束而无法达到工业有效实用的问题。The technical problem to be solved by the present invention is to provide a cable climbing robot, which aims to solve the problem that the bridge cable climbing robot in the prior art cannot achieve industrial effectiveness and practicality due to the constraints of many mechanism joints, large volume, heavy weight, and poor load capacity. The problem.
为解决上述技术问题，本发明是这样实现的，一种缆索攀爬机器人，包括：第一攀爬结构和第二攀爬结构，第一攀爬结构与第二攀爬结构相对设置，第一攀爬结构和第二攀爬结构均包括抱紧机构，抱紧机构用于抱紧缆索，且第一攀爬结构上的抱紧机构与第二攀爬结构上的抱紧机构交替抱紧缆索；驱动结构，驱动结构安装在第一攀爬结构与第二攀爬结构之间，驱动结构包括连接组件、动力源组件、第一链带组件和第二链带组件，连接组件分别与第一攀爬结构、第二攀爬结构可滑移地连接，动力源组件连接于连接组件上，动力源组件同时驱动第一链带组件、第二链带组件，第一链带组件包括第一链带和第一齿轮组，第一链带的两端分别固定于第一攀爬结构的两端，第一齿轮组连接于连接组件上，第一齿轮组与第一链带啮合连接，动力源组件与第一齿轮组驱动连接，第二链带组件包括第二链带和第二齿轮组，第二链带的两端分别固定于第二攀爬结构的两端，第二齿轮组连接于连接组件上，第二齿轮组与第二链带啮合连接，动力源组件与第二齿轮组驱动连接，其中，第一齿轮组和第一链带的啮合传动方向与第二齿轮组和第二链带的啮合传动方向相反。In order to solve the above-mentioned technical problems, the present invention is achieved in this way, a cable climbing robot, comprising: a first climbing structure and a second climbing structure, the first climbing structure is set opposite to the second climbing structure, the first climbing structure Both the climbing structure and the second climbing structure include a gripping mechanism for gripping the cable, and the gripping mechanism on the first climbing structure and the gripping mechanism on the second climbing structure alternately grip the cable ; The driving structure, the driving structure is installed between the first climbing structure and the second climbing structure, the driving structure includes a connecting assembly, a power source assembly, a first chain belt assembly and a second chain belt assembly, and the connecting assembly is respectively connected to the first The climbing structure and the second climbing structure are slidably connected, the power source component is connected to the connecting component, the power source component simultaneously drives the first chain belt component and the second chain belt component, and the first chain belt component includes a first chain The belt and the first gear set, the two ends of the first chain belt are respectively fixed to the two ends of the first climbing structure, the first gear set is connected to the connecting component, the first gear set is engaged with the first chain belt, and the power source The assembly is driven and connected to the first gear set. The second chain belt assembly includes a second chain belt and a second gear set. The two ends of the second chain belt are respectively fixed to the two ends of the second climbing structure. The second gear set is connected to the On the connection assembly, the second gear set is engaged with the second chain belt, and the power source assembly is drivingly connected with the second gear set, wherein the meshing transmission direction of the first gear set and the first chain belt is the same as that of the second gear set and the second chain belt. The meshing transmission direction of the chain belt is opposite.
进一步地，第一齿轮组包括第一动力齿轮轴，第一链带搭绕在第一动力齿轮轴的轮齿上；第二齿轮组包括第二动力齿轮轴和至少一个换向齿轮，第二链带搭绕于换向齿轮之后绕设于第二动力齿轮轴的轮齿上；动力源组件同时驱动第一动力齿轮轴与第二动力齿轮轴同方向转动。Further, the first gear set includes a first power gear shaft, and the first chain belt is wound on the gear teeth of the first power gear shaft; the second gear set includes a second power gear shaft and at least one reversing gear, and the second The chain belt wraps around the reversing gear and then wraps around the teeth of the second power gear shaft; the power source assembly simultaneously drives the first power gear shaft and the second power gear shaft to rotate in the same direction.
进一步地，第一齿轮组还包括两个第一张紧齿轮，两个第一张紧齿轮分别设置于第一动力齿轮轴的两侧，第一动力齿轮轴位于第一链带的第一侧，两个第一张紧齿轮位于第一链带的第二侧；第二齿轮组还包括两个第二张紧齿轮，两个第二张紧齿轮分别设置于第二动力齿轮轴的两侧，第二动力齿轮轴、两个第二张紧齿轮均位于第二链带的第一侧，换向齿轮位于第二链带的第二侧。Further, the first gear set also includes two first tensioning gears, the two first tensioning gears are respectively arranged on both sides of the first power gear shaft, and the first power gear shaft is located on the first side of the first chain belt , the two first tensioning gears are located on the second side of the first chain belt; the second gear set also includes two second tensioning gears, and the two second tensioning gears are respectively arranged on both sides of the second power gear shaft , the second power gear shaft and the two second tensioning gears are located on the first side of the second chain belt, and the reversing gear is located on the second side of the second chain belt.
进一步地，换向齿轮的数量为两个，两个换向齿轮分别位于第二动力齿轮轴的两侧，且第二动力齿轮轴与其中一个第二张紧齿轮之间设置一个换向齿轮。Further, there are two reversing gears, and the two reversing gears are respectively located on both sides of the second power gear shaft, and one reversing gear is arranged between the second power gear shaft and one of the second tensioning gears.
进一步地，缆索攀爬机器人还包括控制器，且驱动结构的数量为两个，两个驱动结构相对设置，控制器安装在其中一个驱动结构的连接组件上，控制器与两个驱动结构的动力源组件均电连接以控制两个动力源组件同步输出驱动力。Further, the cable climbing robot also includes a controller, and the number of driving structures is two, and the two driving structures are arranged opposite to each other. The controller is installed on the connection assembly of one of the driving structures, and the controller and the power The source components are all electrically connected to control the two power source components to output driving force synchronously.
进一步地，抱紧机构包括上抱紧机构、下抱紧机构和连接杆，上抱紧机构和下抱紧机构均包括支撑半环、驱动装置、传动装置、至少两个摆动臂和与摆动臂一一对应连接的夹紧足掌；上抱紧机构的支撑半环连接在连接杆的第一端，下抱紧机构的支撑半环连接在连接杆的第二端；驱动装置和传动装置均安装在支撑半环上，驱动装置与控制器电连接，驱动装置与传动装置驱动连接，摆动臂与传动装置连接以带动夹紧足掌夹紧缆索。Further, the gripping mechanism includes an upper gripping mechanism, a lower gripping mechanism and a connecting rod, and both the upper gripping mechanism and the lower gripping mechanism include a support half ring, a driving device, a transmission device, at least two swing arms and a swing arm. One-to-one correspondingly connected clamping feet; the supporting half-ring of the upper holding mechanism is connected to the first end of the connecting rod, and the supporting half-ring of the lower holding mechanism is connected to the second end of the connecting rod; the driving device and the transmission device are both Installed on the supporting half-ring, the driving device is electrically connected with the controller, the driving device is connected with the transmission device, and the swing arm is connected with the transmission device to drive the clamping sole to clamp the cable.
进一步地，第一攀爬结构和第二攀爬结构均包括支撑轮结构，每个支撑半环上设置有至少一个支撑轮结构，第一攀爬结构的支撑轮结构与第二攀爬结构的支撑轮结构关于缆索的中心轴线对称设置。Further, the first climbing structure and the second climbing structure both include a supporting wheel structure, and each supporting half ring is provided with at least one supporting wheel structure, and the supporting wheel structure of the first climbing structure and the supporting wheel structure of the second climbing structure The support wheel structure is arranged symmetrically about the central axis of the cable.
进一步地，支撑轮结构包括第一连接座体、第二连接座体、曲拐支撑臂、弹性体和支撑轮组件，第一连接座体与第二连接座体均连接于支撑半环，曲拐支撑臂的曲拐部连接于第一连接座体，弹性体的第一端连接于第二连接座体，弹性体的第二端连接于曲拐支撑臂的第一端部，支撑轮组件安装于曲拐支撑臂的第二端部。Further, the supporting wheel structure includes a first connecting base body, a second connecting base body, a bellcrank support arm, an elastic body and a supporting wheel assembly, the first connecting base body and the second connecting base body are connected to the supporting half ring, and the crank crank The crank part of the crank support arm is connected to the first connecting base, the first end of the elastic body is connected to the second connecting base, the second end of the elastic body is connected to the first end of the crank support arm, and the supporting wheel assembly Installed on the second end of the bellcrank support arm.
进一步地，支撑轮组件包括曲拐轮座、第一支撑轮和第二支撑轮，曲拐轮座的曲拐部可转动地连接于曲拐支撑臂的第二端部，第一支撑轮连接于曲拐轮座的第一端，第二支撑轮连接于曲拐轮座的第二端。Further, the supporting wheel assembly includes a bellcrank wheel seat, a first supporting wheel and a second supporting wheel, the bellcrank part of the bellcrank wheel seat is rotatably connected to the second end of the bellcrank support arm, and the first supporting wheel is connected to At the first end of the crank wheel base, the second supporting wheel is connected to the second end of the bell crank wheel base.
进一步地，缆索攀爬机器人还包括检测装置，至少一个上抱紧机构的支撑半环上安装有检测装置，检测装置与控制器电连接。Furthermore, the cable climbing robot also includes a detection device, which is installed on at least one support half-ring of the upper gripping mechanism, and the detection device is electrically connected to the controller.
本发明与现有技术相比，有益效果在于：缆索攀爬机器人利用第一攀爬结构、连接组件、第二攀爬结构三者之间的机构关节进行连接并实现相对运动，从而相对于现有技术而言减少了机器人的关节结构设计，并且简化机器人的结构组成，有利于机器人的小型化、轻量化设计，降低了运动学解耦控制的难度，从而实现高精度控制，在保证充足动力的基础上使得机器人能够携带更加充足的负载运输能力。Compared with the prior art, the present invention has the beneficial effect that: the cable climbing robot utilizes the mechanism joints among the first climbing structure, the connecting assembly and the second climbing structure to connect and realize relative motion, thereby relative to the existing Technically, it reduces the joint structure design of the robot, and simplifies the structural composition of the robot, which is conducive to the miniaturization and lightweight design of the robot, and reduces the difficulty of kinematic decoupling control, thereby achieving high-precision control and ensuring sufficient power. On the basis of this, the robot can carry more sufficient load transportation capacity.
附图说明Description of drawings
图1是本发明实施例的缆索攀爬机器人的装配结构示意图；Fig. 1 is the schematic diagram of the assembly structure of the cable climbing robot of the embodiment of the present invention;
图2是本发明实施例的缆索攀爬机器人的驱动结构装配在连接杆的第一视角的结构示意图；Fig. 2 is a structural schematic diagram of a first viewing angle in which the driving structure of the cable climbing robot according to the embodiment of the present invention is assembled on the connecting rod;
图3是本发明实施例的缆索攀爬机器人的驱动结构装配在连接杆的第二视角的结构示意图；Fig. 3 is a structural schematic diagram of a second viewing angle in which the driving structure of the cable climbing robot according to the embodiment of the present invention is assembled on the connecting rod;
图4是本发明实施例的缆索攀爬机器人的驱动结构装配在连接杆的第三视角的结构示意图；Fig. 4 is a structural schematic diagram of a third viewing angle in which the driving structure of the cable climbing robot according to the embodiment of the present invention is assembled on the connecting rod;
图5是本发明实施例的缆索攀爬机器人的驱动结构装配在连接杆的第四视角的结构示意图；Fig. 5 is a structural schematic diagram of a fourth viewing angle in which the driving structure of the cable climbing robot according to the embodiment of the present invention is assembled on the connecting rod;
图6是本发明实施例的缆索攀爬机器人的上抱紧机构或者下抱紧机构的装配结构示意图；Fig. 6 is a schematic diagram of the assembly structure of the upper gripping mechanism or the lower gripping mechanism of the cable climbing robot according to the embodiment of the present invention;
图7是本发明实施例的缆索攀爬机器人中的支撑轮结构的装配结构示意图。Fig. 7 is a schematic diagram of the assembly structure of the supporting wheel structure in the cable climbing robot according to the embodiment of the present invention.
在附图中，各附图标记表示：In the accompanying drawings, each reference sign indicates:
100、缆索；101、第一攀爬结构；102、第二攀爬结构；10、抱紧机构；20、驱动结构；21、连接组件；22、动力源组件；23、第一链带组件；24、第二链带组件；211、连接框架；212、第一滑动导轨；213、第二滑动导轨；221、驱动电机；222、从动皮带轮；231、第一链带；232、第一齿轮组；241、第二链带；242、第二齿轮组；2321、第一动力齿轮轴；2322、第一张紧齿轮；2421、第二动力齿轮轴；2422、换向齿轮；2423、第二张紧齿轮；11、上抱紧机构；12、下抱紧机构；13、连接杆；111、支撑半环；112、驱动装置；113、传动装置；114、摆动臂；115、夹紧足掌；116、辅助弹簧；30、支撑轮结构；31、第一连接座体；32、第二连接座体；33、曲拐支撑臂；34、弹性体；35、支撑轮组件；351、曲拐轮座；352、第一支撑轮；353、第二支撑轮；1131、传动蜗杆；1132、传动蜗轮。100. Cable; 101. First climbing structure; 102. Second climbing structure; 10. Holding mechanism; 20. Driving structure; 21. Connecting component; 22. Power source component; 23. First chain belt component; 24, the second chain belt assembly; 211, the connecting frame; 212, the first sliding guide rail; 213, the second sliding guide rail; 221, the driving motor; 222, the driven pulley; 231, the first chain belt; 232, the first gear Group; 241, the second chain belt; 242, the second gear set; 2321, the first power gear shaft; 2322, the first tensioning gear; 2421, the second power gear shaft; 2422, the reversing gear; 2423, the second Tensioning gear; 11, upper holding mechanism; 12, lower holding mechanism; 13, connecting rod; 111, supporting half ring; 112, driving device; 113, transmission device; 114, swing arm; 115, clamping sole ; 116, auxiliary spring; 30, support wheel structure; 31, the first connecting seat body; 32, the second connecting seat body; 33, bell crank support arm; 34, elastic body; 35, support wheel assembly; 351, bell crank Wheel seat; 352, the first support wheel; 353, the second support wheel; 1131, the transmission worm; 1132, the transmission worm wheel.
具体实施方式Detailed ways
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
解释说明：本发明针对缆索攀爬机器人进行说明时，以缆索攀爬机器人处于缆索100上进行攀爬运动时沿着缆索100的中心轴线方向为上下方向。Explanation: When the present invention is described for the cable climbing robot, the direction along the central axis of the cable 100 when the cable climbing robot is on the cable 100 for climbing motion is taken as the up and down direction.
如图1至图5所示，本实施例的缆索攀爬机器人包括第一攀爬结构101、第二攀爬结构102和驱动结构20，第一攀爬结构101与第二攀爬结构102相对设置，第一攀爬结构101和第二攀爬结构102均包括抱紧机构10，抱紧机构10用于抱紧缆索，且第一攀爬结构101上的抱紧机构10与第二攀爬结构102上的抱紧机构10交替抱紧缆索，驱动结构20安装在第一攀爬结构101与第二攀爬结构102之间，驱动结构20包括连接组件21、动力源组件22、第一链带组件23和第二链带组件24，连接组件21分别与第一攀爬结构101、第二攀爬结构102可滑移地连接，动力源组件22连接于连接组件21上，动力源组件22同时驱动第一链带组件23、第二链带组件24，第一链带组件23包括第一链带231和第一齿轮组232，第一链带231的两端分别固定于第一攀爬结构101的两端，第一齿轮组232连接于连接组件21上，第一齿轮组232与第一链带231啮合连接，动力源组件22与第一齿轮组232驱动连接，第二链带组件24包括第二链带241和第二齿轮组242，第二链带241的两端分别固定于第二攀爬结构102的两端，第二齿轮组242连接于连接组件21上，第二齿轮组242与第二链带241啮合连接，动力源组件22与第二齿轮组242驱动连接，其中，第一齿轮组232和第一链带231的啮合传动方向与第二齿轮组242和第二链带241的啮合传动方向相反。As shown in Figures 1 to 5, the cable climbing robot of the present embodiment comprises a first climbing structure 101, a second climbing structure 102 and a driving structure 20, and the first climbing structure 101 is opposite to the second climbing structure 102 Set, the first climbing structure 101 and the second climbing structure 102 all include a gripping mechanism 10, and the gripping mechanism 10 is used to tighten the cables, and the gripping mechanism 10 on the first climbing structure 101 is connected with the second climbing structure 101. The gripping mechanism 10 on the structure 102 alternately grips the cable, and the driving structure 20 is installed between the first climbing structure 101 and the second climbing structure 102. The driving structure 20 includes a connection assembly 21, a power source assembly 22, a first chain The belt assembly 23 and the second chain belt assembly 24, the connection assembly 21 are slidably connected with the first climbing structure 101 and the second climbing structure 102 respectively, the power source assembly 22 is connected on the connection assembly 21, the power source assembly 22 Simultaneously drive the first chain belt assembly 23, the second chain belt assembly 24, the first chain belt assembly 23 includes the first chain belt 231 and the first gear set 232, and the two ends of the first chain belt 231 are fixed to the first climbing belt respectively. At both ends of the structure 101, the first gear set 232 is connected to the connection assembly 21, the first gear set 232 is engaged with the first chain belt 231, the power source assembly 22 is drivingly connected to the first gear set 232, and the second chain belt assembly 24 comprises a second chain belt 241 and a second gear set 242, the two ends of the second chain belt 241 are respectively fixed on the two ends of the second climbing structure 102, the second gear set 242 is connected to the connecting assembly 21, and the second gear The group 242 is engaged with the second chain belt 241, and the power source assembly 22 is drivingly connected with the second gear set 242, wherein the meshing transmission direction of the first gear set 232 and the first chain belt 231 is the same as that of the second gear set 242 and the second gear set 242. The meshing transmission direction of the chain belt 241 is opposite.
应用该缆索攀爬机器人在缆索100上进行攀爬动作，特别是针对桥梁缆索进行攀爬作业时，通过抱紧机构10对缆索100进行抱紧，第一攀爬结构101和第二攀爬结构102相互交替地上升或下降，从而在缆索100上实现攀爬移动，攀爬移动的过程中，驱动结构20的动力源组件22输出动力，从而带动第一齿轮组232与第二齿轮组242同时转动，此时，第一齿轮组232与第一链带231之间、第二齿轮组242与第二链带241之间则分别实现相对啮合运动。例如，以第一攀爬结构101通过抱紧机构10抱紧固定在缆索100上进行说明。此时，启动动力源组件22输出动力，则此时连接组件21相对于第一攀爬结构101向上运动，并且第二攀爬结构102也相对于连接组件21向上运动(如果以第一攀爬结构101为运动参照物，则连接组件21相对于第一攀爬结构101的向上运动速度为ν，则第二攀爬结构102相对于第一攀爬结构101的向上运动速度为2ν；如果以连接组件21为运动参照物，则第一攀爬结构101相对于连接组件21的向下运动为ν，则的第二攀爬结构102相对于连接组件21的向上运动速度为2ν)。当连接组件21向上滑移至第一攀爬结构101的上端时，则连接组件21位于第二攀爬结构102的下端，如此便完成了机器人在缆索100上攀爬的一个步幅。在本实施例的缆索攀爬机器人中，利用第一攀爬结构101、连接组件21、第二攀爬结构102三者之间的机构关节进行连接并实现相对运动，从而相对于现有技术而言减少了机器人的关节结构设计，并且简化机器人的结构组成，有利于机器人的小型化、轻量化设计，降低了运动学解耦控制的难度，从而实现高精度控制，在保证充足动力的基础上使得机器人能够携带更加充足的负载运输能力。When the cable climbing robot is used to perform climbing actions on the cable 100, especially when performing climbing operations on bridge cables, the cable 100 is held tightly by the clamping mechanism 10, and the first climbing structure 101 and the second climbing structure 102 alternately rise or fall to realize climbing movement on the cable 100. During the climbing movement, the power source assembly 22 of the driving structure 20 outputs power, thereby driving the first gear set 232 and the second gear set 242 simultaneously. Rotate, at this time, between the first gear set 232 and the first chain belt 231 , between the second gear set 242 and the second chain belt 241 respectively realize relative meshing movement. For example, the first climbing structure 101 is clasped and fixed on the cable 100 by the clasping mechanism 10 for illustration. Now, start the power source assembly 22 to output power, then this moment the connection assembly 21 moves upwards relative to the first climbing structure 101, and the second climbing structure 102 also moves upwards relative to the connection assembly 21 (if climbing with the first The structure 101 is a moving reference object, then the upward movement speed of the connecting assembly 21 relative to the first climbing structure 101 is ν, then the upward movement speed of the second climbing structure 102 relative to the first climbing structure 101 is 2ν; The connection assembly 21 is a moving reference object, then the downward movement of the first climbing structure 101 relative to the connection assembly 21 is ν, and the upward movement speed of the second climbing structure 102 relative to the connection assembly 21 is 2ν). When the connecting assembly 21 slides upwards to the upper end of the first climbing structure 101 , the connecting assembly 21 is located at the lower end of the second climbing structure 102 , thus completing one stride of the robot climbing on the cable 100 . In the cable climbing robot of this embodiment, the mechanism joints between the first climbing structure 101, the connection assembly 21 and the second climbing structure 102 are used to connect and realize relative movement, thus compared with the prior art The joint structure design of the robot is reduced, and the structural composition of the robot is simplified, which is conducive to the miniaturization and lightweight design of the robot, and reduces the difficulty of kinematics decoupling control, thereby achieving high-precision control. On the basis of ensuring sufficient power This enables the robot to carry more sufficient load transport capacity.
在本实施例中，缆索攀爬机器人的第一齿轮组232包括第一动力齿轮轴2321，第二齿轮组242包括第二动力齿轮轴2421和至少一个换向齿轮2422。在本实施例中，如图4和图5所示，动力源组件22由驱动电机221、主动皮带轮、从动皮带轮222组成，驱动电机221连接稳定在连接组件21上，主动皮带轮安装在驱动电机221的输出轴上，主动皮带轮与从动皮带轮222之间通过传动皮带未图示连接，并且第一动力齿轮轴2321、第二动力齿轮轴2421以及从动皮带轮三者采用同轴一体成型制造，即：第一动力齿轮轴2321的轮齿和第二动力齿轮轴2421的轮齿分别位于轴杆的两端，从动皮带轮位于轴杆的中部位置，则动力源组件22同时驱动第一动力齿轮轴2321与第二动力齿轮轴2421同方向转动。如图3所示，第一链带231搭绕在第一动力齿轮轴2321的轮齿上，搭绕安装完成后第一动力齿轮轴2321的轮齿位于第一链带231与抱紧机构10之间，即第一动力齿轮轴2321的轮齿上的第一链带231远离抱紧机构10设置。第二链带241搭绕于换向齿轮2422，之后绕设于第二动力齿轮轴2421的轮齿上，如图2所示，第二链带241搭绕完成在换向齿轮2422上后，换向齿轮2422位于第二链带241与抱紧机构10之间，并且绕设于第二动力齿轮轴2421的轮齿上的第二链带241靠近抱紧机构10设置。In this embodiment, the first gear set 232 of the cable climbing robot includes a first power gear shaft 2321 , and the second gear set 242 includes a second power gear shaft 2421 and at least one reversing gear 2422 . In the present embodiment, as shown in Fig. 4 and Fig. 5, the power source assembly 22 is made up of a drive motor 221, a driving pulley, and a driven pulley 222. On the output shaft of 221, the driving pulley and the driven pulley 222 are connected through a transmission belt (not shown in the figure), and the first power gear shaft 2321, the second power gear shaft 2421 and the driven pulley are coaxially integrally formed. That is: the gear teeth of the first power gear shaft 2321 and the gear teeth of the second power gear shaft 2421 are respectively located at both ends of the shaft, and the driven pulley is located in the middle of the shaft, so the power source assembly 22 simultaneously drives the first power gear The shaft 2321 rotates in the same direction as the second power gear shaft 2421 . As shown in FIG. 3 , the first chain belt 231 is wrapped around the gear teeth of the first power gear shaft 2321 , and after the winding installation is completed, the gear teeth of the first power gear shaft 2321 are located between the first chain belt 231 and the holding mechanism 10 . Between, that is, the first chain belt 231 on the teeth of the first power gear shaft 2321 is set away from the clasping mechanism 10 . The second chain belt 241 wraps around the reversing gear 2422, and then winds around the teeth of the second power gear shaft 2421, as shown in Figure 2, after the second chain belt 241 is wrapped around the reversing gear 2422, The reversing gear 2422 is located between the second chain belt 241 and the clasping mechanism 10 , and the second chain belt 241 wound on the gear teeth of the second power gear shaft 2421 is disposed close to the clasping mechanism 10 .
如图1至图3所示，该缆索攀爬机器人的第一齿轮组232还包括两个第一张紧齿轮2322，第二齿轮组242还包括两个第二张紧齿轮2423。两个第一张紧齿轮2322分别设置于第一动力齿轮轴2321的两侧，第一动力齿轮轴2321位于第一链带231的第一侧，两个第一张紧齿轮2322位于第一链带231的第二侧，两个第二张紧齿轮2423分别设置于第二动力齿轮轴2421的两侧，第二动力齿轮轴2421、两个第二张紧齿轮2423均位于第二链带241的第一侧，换向齿轮2422位于第二链带241的第二侧。具体地，换向齿轮2422的数量为两个，两个换向齿轮2422分别位于第二动力齿轮轴2421的两侧，且第二动力齿轮轴2421与其中一个第二张紧齿轮2423之间设置一个换向齿轮2422。As shown in FIGS. 1 to 3 , the first gear set 232 of the cable climbing robot further includes two first tensioning gears 2322 , and the second gear set 242 further includes two second tensioning gears 2423 . The two first tensioning gears 2322 are respectively arranged on both sides of the first power gear shaft 2321, the first power gear shaft 2321 is located on the first side of the first chain belt 231, and the two first tensioning gears 2322 are located on the first chain belt 2321. On the second side of the belt 231, two second tensioning gears 2423 are respectively arranged on both sides of the second power gear shaft 2421, and the second power gear shaft 2421 and the two second tensioning gears 2423 are located on the second chain belt 241 The reversing gear 2422 is located on the second side of the second chain belt 241 . Specifically, there are two reversing gears 2422, and the two reversing gears 2422 are respectively located on both sides of the second power gear shaft 2421, and are arranged between the second power gear shaft 2421 and one of the second tensioning gears 2423. A reversing gear 2422.
另外，本实施例还可以只选用一个第一张紧齿轮2322、一个第二张紧齿轮2423以及一个换向齿轮2422，与选用两个第一张紧齿轮2322、两个第二张紧齿轮2423以及两个换向齿轮2422的实施方式进行对比，后者中两个第一张紧齿轮2322相对于第一动力齿轮轴2321的中心轴线相对称，后者中两个第二张紧齿轮2423以及两个换向齿轮2422均相对于第二动力齿轮轴2421的中心轴线相对称。In addition, in this embodiment, only one first tensioning gear 2322, one second tensioning gear 2423, and one reversing gear 2422 can be selected, and two first tensioning gears 2322, two second tensioning gears 2423 can be selected. And the implementation of two reversing gears 2422 is compared, in the latter, the two first tensioning gears 2322 are symmetrical with respect to the central axis of the first power gear shaft 2321, in the latter, the two second tensioning gears 2423 and Both reversing gears 2422 are symmetrical with respect to the central axis of the second power gear shaft 2421 .
参见图6所示，在本实施例中，抱紧机构10包括上抱紧机构11、下抱紧机构12和连接杆13，上抱紧机构11和下抱紧机构12均包括支撑半环111、驱动装置112、传动装置113、至少两个摆动臂114和与摆动臂114一一对应连接的夹紧足掌115。上抱紧机构11的支撑半环111连接在连接杆13的第一端，下抱紧机构12的支撑半环111连接在连接杆13的第二端。在本实施例中，一个抱紧机构10中装配有两个连接杆13，两个连接杆13分别设置在支撑半环111的两端部。驱动装置112和传动装置113均安装在支撑半环111上，驱动装置112与控制器电连接，驱动装置112与传动装置113驱动连接，摆动臂114与传动装置113连接以带动夹紧足掌115夹紧缆索。在进行攀爬运动的过程中，控制器控制驱动装置112输出动力，然后通过传动装置113将动力传递至摆动臂114，使得摆动臂114带动夹紧足掌115将缆索100抱紧，其中，传动装置113由传动蜗杆1131和传动蜗轮1132组成。具体地，本实施例的缆索攀爬机器人装配了两个摆动臂114和两个传动蜗轮1132，摆动臂114的第一端与其中一个传动蜗轮1132固定连接，夹紧足掌115固定在相应的摆动臂114的第二端上，并且，传动蜗杆1131的两端均设有啮合螺纹，两个传动蜗轮1132间隔设置且两个传动蜗轮1132与传动蜗杆1131的两端啮合螺纹一一对应装配。当驱动装置112带动传动蜗杆1131进行正转时，传动蜗杆1131与传动蜗轮1132啮合传动从而使得传动蜗轮1132带动摆动臂114进行张开；当驱动装置112带动传动蜗杆1131进行反转时，则传动蜗杆1131与传动蜗轮1132啮合传动从而使得传动蜗轮1132带动摆动臂114。Referring to Fig. 6, in this embodiment, the gripping mechanism 10 includes an upper gripping mechanism 11, a lower gripping mechanism 12 and a connecting rod 13, and both the upper gripping mechanism 11 and the lower gripping mechanism 12 include a supporting half ring 111 , a driving device 112 , a transmission device 113 , at least two swing arms 114 and a clamping sole 115 connected to the swing arms 114 in one-to-one correspondence. The supporting half-ring 111 of the upper clasping mechanism 11 is connected to the first end of the connecting rod 13 , and the supporting half-ring 111 of the lower clasping mechanism 12 is connected to the second end of the connecting rod 13 . In this embodiment, one clasping mechanism 10 is equipped with two connecting rods 13 , and the two connecting rods 13 are respectively arranged at two ends of the supporting half ring 111 . The driving device 112 and the transmission device 113 are all installed on the supporting half ring 111, the driving device 112 is electrically connected with the controller, the driving device 112 is connected with the transmission device 113, and the swing arm 114 is connected with the transmission device 113 to drive and clamp the sole 115 Clamp the cable. During the climbing movement, the controller controls the driving device 112 to output power, and then transmits the power to the swing arm 114 through the transmission device 113, so that the swing arm 114 drives the clamping foot 115 to hold the cable 100 tightly, wherein the transmission The device 113 is composed of a drive worm 1131 and a drive worm wheel 1132 . Specifically, the cable climbing robot of this embodiment is equipped with two swing arms 114 and two transmission worm gears 1132, the first end of the swing arm 114 is fixedly connected to one of the transmission worm gears 1132, and the clamping feet 115 are fixed on the corresponding On the second end of the swing arm 114, and both ends of the driving worm 1131 are provided with engaging threads, two driving worms 1132 are arranged at intervals and the two driving worms 1132 are assembled with the engaging threads at both ends of the driving worm 1131 one by one. When the driving device 112 drives the transmission worm 1131 to rotate forward, the transmission worm 1131 is engaged with the transmission worm gear 1132 for transmission so that the transmission worm gear 1132 drives the swing arm 114 to open; The worm 1131 is engaged with the transmission worm gear 1132 for transmission so that the transmission worm gear 1132 drives the swing arm 114 .
如图6所示，在支撑半环111还一一对应设置有辅助弹簧116，辅助弹簧116的第一端连接在支撑半环111上，辅助弹簧116的第二端连接于夹紧足掌115的背面，并且夹紧足掌115与摆动臂114之间通过轴承装配。这样，当夹紧足掌115在对缆索100进行夹紧的过程中，在夹紧足掌115为适应缆索100的柱面弧度时，辅助弹簧116能够辅助夹紧足掌115始终保持加持稳定。即使在对不同半径的缆索100时，此时在辅助弹簧116辅助调节下进行迅速适应配合。As shown in Fig. 6, auxiliary springs 116 are arranged one by one on the supporting half-rings 111, the first end of the auxiliary springs 116 is connected to the supporting half-rings 111, and the second end of the auxiliary springs 116 is connected to the clamping feet 115 The back side of the clamping sole 115 and the swing arm 114 are assembled through bearings. In this way, when the clamping sole 115 is clamping the cable 100 , when the clamping sole 115 adapts to the cylindrical curvature of the cable 100 , the auxiliary spring 116 can assist the clamping sole 115 to keep the clamping stability all the time. Even when cables 100 of different radii are used, a quick adaption is performed under the auxiliary adjustment of the auxiliary spring 116 at this time.
进一步地，缆索攀爬机器人还包括控制器未图示，且驱动结构20的数量为两个，两个驱动结构20相对设置。在本实施例中，如图4和图5所示，连接组件21包括连接框架211、第一导轨结构和第二导轨结构，第一导轨结构的导向槽设置于连接框架211上的第一侧，第二导轨结构的导向槽设置于连接框架211的第二侧，第一导轨结构的第一滑动导轨212固定在相应的连接杆13上，第二导轨结构的第二滑动导轨213固定在相应的连接杆13上。控制器安装在其中一个驱动结构20的连接组件21的连接框架211上，控制器与两个驱动结构20的动力源组件22均电连接以控制两个动力源组件22同步输出驱动力。控制器控制两个驱动结构20同时输出驱动力，从而更大程度地保证缆索攀爬机器人的负载运输能力。Further, the cable climbing robot also includes a controller not shown in the figure, and the number of driving structures 20 is two, and the two driving structures 20 are arranged opposite to each other. In this embodiment, as shown in FIGS. 4 and 5 , the connection assembly 21 includes a connection frame 211 , a first guide rail structure and a second guide rail structure, and the guide groove of the first guide rail structure is arranged on the first side of the connection frame 211 The guide groove of the second guide rail structure is arranged on the second side of the connecting frame 211, the first sliding guide rail 212 of the first guide rail structure is fixed on the corresponding connecting rod 13, and the second sliding guide rail 213 of the second guide rail structure is fixed on the corresponding on the connecting rod 13. The controller is installed on the connecting frame 211 of the connecting assembly 21 of one of the driving structures 20 , and the controller is electrically connected with the power source assemblies 22 of the two driving structures 20 to control the two power source assemblies 22 to output driving force synchronously. The controller controls the two driving structures 20 to output driving force simultaneously, thereby ensuring the load transport capacity of the cable climbing robot to a greater extent.
在本实施例中，该缆索攀爬机器人的第一攀爬结构101和第二攀爬结构102均包括支撑轮结构30，且每个支撑半环111上设置有至少一个支撑轮结构30，第一攀爬结构101的支撑轮结构30与第二攀爬结构102的支撑轮结构30关于缆索的中心轴线对称设置。当缆索攀爬机器人在缆索100上进行攀爬运动的过程中，在夹紧足掌115夹紧缆索100的同时，通过支撑轮结构30在缆索100上进行辅助支撑行走。如图7所示，支撑轮结构30包括第一连接座体31、第二连接座体32、曲拐支撑臂33、弹性体34和支撑轮组件35，第一连接座体31与第二连接座体32均连接于支撑半环111，曲拐支撑臂33的曲拐部连接于第一连接座体31，弹性体34的第一端连接于第二连接座体32，弹性体34的第二端连接于曲拐支撑臂33的第一端部，支撑轮组件35安装于曲拐支撑臂33的第二端部。并且，支撑轮组件35包括曲拐轮座351、第一支撑轮352和第二支撑轮353，曲拐轮座351的曲拐部可转动地连接于曲拐支撑臂33的第二端部，第一支撑轮352连接于曲拐轮座351的第一端，第二支撑轮353连接于曲拐轮座351的第二端。如此，在机器人在攀爬行走的过程中，当机器人行进的前方缆索100上出现了障碍物凸起，并且该障碍物凸起正好位于支撑轮组件35通过的位置，当支撑轮组件35到达障碍物凸起时，第一支撑轮352会被障碍物凸起所抬起，此时曲拐轮座351会绕其曲拐部的转轴而转动，并且曲拐支撑臂33也会绕其曲拐部的转轴而转动，弹性体34受到压缩，待第一支撑轮352越过障碍物凸起之后，在第二支撑轮353越过障碍物凸起的过程中，曲拐轮座351、曲拐支撑臂33也会经过类似转动过程，在第二支撑轮353越过障碍物凸起之后，在弹性体34的作用下，第一支撑轮352与第二支撑轮353有再次同时支撑柱缆索100。这样，通过支撑轮结构30的辅助支撑作用，能够辅助机器人在缆索100上行走的过程更加稳定。In this embodiment, the first climbing structure 101 and the second climbing structure 102 of the cable climbing robot both include a supporting wheel structure 30, and each supporting half ring 111 is provided with at least one supporting wheel structure 30, the second The supporting wheel structure 30 of the first climbing structure 101 and the supporting wheel structure 30 of the second climbing structure 102 are arranged symmetrically about the central axis of the cable. When the cable climbing robot is climbing on the cable 100 , while clamping the sole 115 to clamp the cable 100 , the supporting wheel structure 30 is used to support and walk on the cable 100 . As shown in Figure 7, the supporting wheel structure 30 includes a first connecting seat body 31, a second connecting seat body 32, a bellcrank support arm 33, an elastic body 34 and a supporting wheel assembly 35, and the first connecting seat body 31 is connected to the second connecting seat body. The seat bodies 32 are all connected to the support half-ring 111, the crank part of the bell crank support arm 33 is connected to the first connecting seat body 31, the first end of the elastic body 34 is connected to the second connecting seat body 32, and the first end of the elastic body 34 is connected to the second connecting seat body 32. The two ends are connected to the first end of the crank throw support arm 33 , and the support wheel assembly 35 is mounted on the second end of the crank throw support arm 33 . Moreover, the support wheel assembly 35 includes a bellcrank wheel seat 351, a first support wheel 352 and a second support wheel 353, and the bellcrank wheel seat 351 is rotatably connected to the second end of the bellcrank support arm 33, The first support wheel 352 is connected to the first end of the crank wheel seat 351 , and the second support wheel 353 is connected to the second end of the bell crank wheel seat 351 . In this way, when the robot is climbing and walking, an obstacle protrusion appears on the cable 100 ahead of the robot, and the obstacle protrusion is just at the position where the support wheel assembly 35 passes. When the support wheel assembly 35 reaches the obstacle When the object is raised, the first support wheel 352 will be lifted by the obstacle protrusion. At this time, the bellcrank wheel seat 351 will rotate around the rotating shaft of its bellcrank part, and the bellcrank support arm 33 will also rotate around its bellcrank. The rotating shaft of the upper part rotates, and the elastic body 34 is compressed. After the first support wheel 352 overcomes the obstacle protrusion, in the process of the second support wheel 353 surpassing the obstacle protrusion, the bell crank wheel seat 351, bell bell crank support arm 33 will also go through a similar rotation process. After the second support wheel 353 has crossed the obstacle protrusion, under the action of the elastic body 34, the first support wheel 352 and the second support wheel 353 will support the column cable 100 again at the same time. In this way, through the auxiliary support function of the support wheel structure 30 , the process of assisting the robot to walk on the cable 100 is more stable.
具体地，上抱紧机构11的支撑半环111上安装有检测装置未图示，检测装置与控制器电连接。由于本实施例的缆索攀爬机器人相对于现有的缆索攀爬机器人的装载运输能力有了大限度的提升，因此，本实施例的缆索攀爬机器人能够携带更大型、更精密的检测装置，从而获得更加全面、细致的检测数据，同时也能够状更大块的电源以提供充足的电能，从而满足机器人进行长时间的巡检工作。Specifically, a detection device (not shown) is installed on the supporting half-ring 111 of the upper clasping mechanism 11, and the detection device is electrically connected to the controller. Since the cable climbing robot of this embodiment has a maximum improvement in loading and transportation capacity compared with existing cable climbing robots, the cable climbing robot of this embodiment can carry a larger and more sophisticated detection device, In this way, more comprehensive and detailed inspection data can be obtained, and at the same time, a larger power supply can be used to provide sufficient power to meet the long-term inspection work of the robot.
应用本实施例的缆索攀爬机器人时候，具体包括以下实施步骤：When using the cable climbing robot of this embodiment, it specifically includes the following implementation steps:
第一步：上线准备，将第一攀爬结构101、第二攀爬结构102、驱动结构20进行装配在缆索100上，并且将第一攀爬结构101上夹紧足掌115抱紧缆索100；The first step: online preparation, assemble the first climbing structure 101, the second climbing structure 102, and the driving structure 20 on the cable 100, and clamp the sole 115 on the first climbing structure 101 to hug the cable 100 ;
第二步：通过驱动结构20带动第二攀爬结构102相对于第一攀爬结构101上升运动，此时第二攀爬结构102的夹紧足掌115张开脱离缆索100；Step 2: drive the second climbing structure 102 to move upward relative to the first climbing structure 101 through the driving structure 20 , at this time, the clamping feet 115 of the second climbing structure 102 are opened and separated from the cable 100 ;
第三步：当驱动结构20的连接组件21位于第二攀爬结构102的下端且驱动结构20的连接组件21位于第一攀爬结构101的上端时，此时第二攀爬结构102的夹紧足掌115抱紧缆索100，第一攀爬结构101的夹紧足掌115张开脱离缆索100，然后通过驱动结构20带动第一攀爬结构101相对于第二攀爬结构102向上运动；The third step: when the connecting assembly 21 of the driving structure 20 is positioned at the lower end of the second climbing structure 102 and the connecting assembly 21 of the driving structure 20 is positioned at the upper end of the first climbing structure 101, the clip of the second climbing structure 102 The tight foot 115 holds the cable 100 tightly, the clamping foot 115 of the first climbing structure 101 is opened and separated from the cable 100, and then the driving structure 20 drives the first climbing structure 101 to move upward relative to the second climbing structure 102;
第四步：当驱动结构20的连接组件21位于第一攀爬结构101的下端且驱动结构20的连接组件21位于第二攀爬结构102的上端时，然后循环重复第二步、第三步，直至行走任务结束。The fourth step: when the connecting assembly 21 of the driving structure 20 is positioned at the lower end of the first climbing structure 101 and the connecting assembly 21 of the driving structure 20 is positioned at the upper end of the second climbing structure 102, then the second step and the third step are repeated cyclically , until the end of the walking task.
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. within range.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810472107.4ACN108528558B (en) | 2018-05-17 | 2018-05-17 | Cable climbing robot |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810472107.4ACN108528558B (en) | 2018-05-17 | 2018-05-17 | Cable climbing robot |
| Publication Number | Publication Date |
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| CN108528558Atrue CN108528558A (en) | 2018-09-14 |
| CN108528558B CN108528558B (en) | 2023-09-12 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810472107.4AActiveCN108528558B (en) | 2018-05-17 | 2018-05-17 | Cable climbing robot |
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| CN (1) | CN108528558B (en) |
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