CN113443031A - Crawler combined wheel type cable climbing robot - Google Patents
Crawler combined wheel type cable climbing robot Download PDFInfo
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- CN113443031A CN113443031A CN202110869817.2A CN202110869817A CN113443031A CN 113443031 A CN113443031 A CN 113443031A CN 202110869817 A CN202110869817 A CN 202110869817A CN 113443031 A CN113443031 A CN 113443031A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
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Abstract
The invention discloses a crawler combined wheel type cable climbing robot, which comprises a crawler traveling mechanism, a driving mechanism and a positioning mechanism, wherein the crawler traveling mechanism is arranged on the crawler traveling mechanism; the crawler traveling mechanism comprises a main frame, a crawler, a driving wheel and a driven wheel; the driving mechanism comprises a motor, a transmission belt, a transmission turntable and a motor platform; the positioning mechanism comprises at least one group of positioning wheel set and at least two telescopic rods. The invention has the advantages of both the crawler-type robot and the wheel-type robot, has large load, strong obstacle-crossing capability and good adhesion performance, and simultaneously has good steering performance, efficient movement performance and convenient control performance; the invention has the advantages of simple structure, lighter overall structure, lower production cost, and good practical value and popularization value.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a crawler combined wheel type cable climbing robot.
Background
The cable (rod) structure is a preferred structural system of a modern large-span building, the cable structure is a prestressed flexible steel structure, and the pull rod structure is a rigid-flexible mixed prestressed steel structure; the cable (rod) mainly comprises a cable (rod) for a large-span bridge and a cable (rod) for a large-span building structure in terms of application, and is widely applied to the construction of national important basic buildings such as a large-span suspension bridge, a cable-stayed bridge, various large gymnasiums, convention and exhibition centers and the like.
Since the cable (rod) structure is usually used as a prestressed core stressed member of a large-span building or structure, the anticorrosion effect and quality of the cable (rod) structure are usually related to the service life of the structure. Cable-like and rod-like structures similar to such projects are often used in environments at high altitudes, for example, main cables, suspenders, guys, and the like of suspension bridges and cable-stayed bridges are often located in environments such as cross-regional valleys, rivers, and seas, and are easily damaged by aging, corrosion, filament breakage, and the like after being exposed to high and low temperatures, sunlight, and rain for a long time. In order to ensure the normal use of the stay cable (rod) structure, the stay cable (rod) structure must be regularly detected, maintained and maintained. Therefore, the method is particularly important for adopting a quick and effective detection mode for the structure of the inhaul cable (rod); common inspection methods in the industry today include telescope inspection, manual basket inspection, and cable climbing robot inspection. The telescope detection has the defects of insufficient precision and single means, and the manual hanging basket detection mode has the defects of high safety risk and low efficiency; therefore, the development trend of detecting the structure of the stay cable (rod) is to mainly research and develop an automatic climbing cable detection robot.
At present, the research and development directions of the cable climbing robot can be divided into three types: multi-legged walking, wheeled and tracked. The multi-foot walking robot has the advantages of high flexibility, but a large number of mechanical structures and sensors are involved to work in a matching mode, the control program is very complex, the production cost is high, and the technology is immature; the wheel type motion robot has the advantages of high speed, convenient control and good stability, but has the defects of insufficient obstacle crossing capability and poor adhesion; the crawler-type cable climbing robot has the advantages of being sufficient in power and strong in obstacle crossing capability, but has the defects of being heavy in structure and poor in steering performance.
The Chinese patent application with publication number CN 111206496A discloses a pre-tightening type cable climbing robot, which comprises a first frame supporting rod and a second frame supporting rod which are arranged along the cableway direction of a stayed-cable bridge, a plurality of bridging plates which are bridged and fixedly connected between the first frame supporting rod and the second frame supporting rod, a first driving component and a second driving component which are oppositely arranged and fixed at the bottoms of the bridging plates, a pre-tightening mechanism with the tops connected with the bridging plates, two adjusting brackets with the tops fixedly connected with the first frame supporting rod and the second frame supporting rod in a one-to-one correspondence manner and arranged at two sides of the cableway of the stayed-cable bridge, a plurality of auxiliary wheel hooks arranged on any one adjusting bracket, auxiliary wheels which are hung on the auxiliary wheel hooks at the same height of the two adjusting brackets and extruded on the outer surface of the cableway of the stayed-cable bridge, and auxiliary wheels which are fixed on the bridging plates, And the apparent camera is used for shooting the surface image of the cableway of the stayed-cable bridge. The cable climbing robot disclosed in the application has the defects of poor steering and complex structure.
The Chinese patent application with publication number CN 109911046A discloses a suspension crawler type climbing robot, which comprises a hexagonal body frame, wherein the cubic body frame is formed by butt joint of a left half frame and a right half frame, each half frame is formed by fixedly connecting three panels, three sets of suspension crawler type clasping mechanisms are arranged on the inner side of the hexagonal body frame, one set of suspension crawler type clasping mechanisms are arranged on a middle panel of one half frame, the other two sets of suspension crawler type clasping mechanisms are arranged on panels on the left side and the right side of the other half frame, and the three sets of suspension crawler type clasping mechanisms are arranged at an angle of 120 degrees. The suspension crawler type climbing robot has the advantages of simple structure, light weight, large effective load and strong obstacle crossing capability, and is suitable for inspecting the outer surfaces of suspension cables of suspension bridges, stay cables of cable-stayed bridges and other cable bodies in high-altitude environments. The cable climbing robot disclosed by the application has the defects of complex structure and insufficient power performance.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: provides a crawler belt combined wheel type cable climbing robot with simple structure and high movement efficiency.
In order to solve the technical problems, the invention adopts the technical scheme that: the crawler combined wheel type climbing robot comprises a crawler walking mechanism, a driving mechanism and a positioning mechanism;
the crawler traveling mechanism comprises a main frame, a crawler, a driving wheel and a driven wheel, wherein the driving wheel and the driven wheel are respectively and rotatably connected to two ends of the main frame;
the driving mechanism comprises a motor, a transmission belt, a transmission turntable and a motor platform, the motor platform is fixedly connected with the main frame, the motor is fixed on the motor platform, the transmission turntable is rotatably connected to one end of the operation main frame, which is provided with a driving wheel, and is coaxially connected with the driving wheel, and two ends of the transmission belt are respectively in transmission fit with the motor and the transmission turntable;
the positioning mechanism comprises at least one group of positioning wheel set and at least two telescopic rods, the positioning wheel set comprises two positioning wheels which are coaxially connected through a shaft rod, the lower ends of the two telescopic rods are respectively rotatably connected with the two ends of the shaft rod, the upper ends of the two telescopic rods are respectively rotatably connected with the two sides of the main frame, and a gap is reserved between the two positioning wheels of the same positioning wheel set.
Further, the method comprises the following steps: two rows of inner teeth extending along the length direction of the crawler belt are fixed on the inner surface of the crawler belt, and a plurality of disc rods meshed with the inner teeth are annularly fixed on two side surfaces of the driving wheel.
Further, the method comprises the following steps: also includes at least one upper auxiliary wheel and at least one lower auxiliary wheel; the upper auxiliary wheel is rotatably connected to the top of the main frame through an upper auxiliary wheel supporting leg and is in sliding fit with the inner surface of a crawler above the main frame; the lower auxiliary wheel is rotatably connected to the bottom of the main frame through a lower auxiliary wheel supporting leg, and the lower auxiliary wheel is in sliding fit with the inner surface of a crawler below the main frame.
Further, the method comprises the following steps: the widths of the outer edge wheels of the driving wheel, the driven wheel, the upper auxiliary wheel and the lower auxiliary wheel are all smaller than the distance between the two rows of inner teeth.
Further, the method comprises the following steps: the outer surface of the crawler belt is an inwards concave arc surface, and the outer surface of the positioning wheel is an arc surface.
Further, the method comprises the following steps: the positioning mechanism comprises two sets of positioning wheel sets and four telescopic rods, the two sets of positioning wheel sets are arranged in parallel along the length direction of the track, the two ends of the two sets of positioning wheel sets are connected through a connecting tie rod in a rotatable mode, and the two ends of the two sets of positioning wheel sets are connected with the two telescopic rods in a rotatable mode respectively.
Further, the method comprises the following steps: the telescopic rod is composed of a telescopic rod outer rod and a telescopic rod inner rod which are connected in a telescopic mode, the lower end of the telescopic rod inner rod is inserted into the telescopic rod outer rod, and the telescopic rod inner rod is in clearance fit with the telescopic rod outer rod; the pre-tightening spring is sleeved on the telescopic rod, and two ends of the pre-tightening spring are fixedly connected with the outer rod of the telescopic rod and the inner rod of the telescopic rod respectively.
Further, the method comprises the following steps: the upper end and the lower end of the telescopic rod are respectively and fixedly connected with a connecting sleeve, two side faces of the main frame are fixedly provided with a supporting cross rod which is rotatably connected with the connecting sleeve at the upper end of the telescopic rod, and the connecting sleeve at the lower end of the telescopic rod is rotatably connected with the shaft rod.
Further, the method comprises the following steps: two driving wheel supporting legs which are arranged at intervals are fixed at the front end of the main frame, and the driving wheel is arranged between the two driving wheel supporting legs and is rotatably connected with the driving wheel supporting legs; two driven wheel supporting legs which are arranged at intervals are fixed at the rear end of the main frame, and the driven wheel is arranged between the two driven wheel supporting legs and is rotatably connected with the driven wheel supporting legs.
Further, the method comprises the following steps: the motor platform is an L-shaped structure formed by connecting an upper end connecting part and a lower end bending part, the motor platform is arranged below a gap between two driving wheel supporting legs, the upper end connecting part of the motor platform is fixedly connected with the main frame, and the motor is fixed on the lower end bending part of the motor platform.
The invention has the beneficial effects that:
1. by arranging the crawler traveling mechanism, the driving mechanism and the positioning mechanism, the crawler type robot has the advantages of both a crawler type robot and a wheel type robot, is large in load, strong in obstacle crossing capability and good in adhesion performance, and has good steering performance, efficient movement performance and convenient control performance;
2. according to the crawler walking mechanism, the cambered crawler is tightly attached to the upper surface of the inhaul cable (rod) structure, the positioning wheels of the positioning mechanism are tightly attached to the lower surface of the inhaul cable (rod) structure, the crawler walking mechanism and the positioning mechanism are attached to the surface of the inhaul cable (rod) structure to crawl through the cooperation of the telescopic rods of the positioning wheel mechanism and the pre-tightening springs, and the attachment capacity and obstacle crossing capacity of the robot crawling are effectively improved;
3. according to the invention, the inner teeth are arranged on the inner surface of the crawler belt to drive the driving wheel engaged with the crawler belt to rotate, and the two rows of inner teeth are utilized to limit the driving wheel and the driven wheel, so that the robot can stably crawl along a cable (rod) structure under the driving of the driving mechanism, and the crawling efficiency and the movement capability are effectively improved;
4. the invention can effectively relieve the vibration of the robot in the crawling process by matching the telescopic rod and the pre-tightening spring in the positioning mechanism for damping, improve the obstacle crossing capability of the robot, simultaneously improve the adhesive force of the robot on a guy cable (rod) structure and improve the convenience of disassembly and assembly;
5. the invention has the advantages of simple structure, lighter overall structure, lower production cost, and good practical value and popularization value.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a side view of the present invention;
FIG. 3 is an isometric view of the present invention;
FIG. 4 is an isometric view of the crawler travel mechanism;
FIG. 5 is an isometric view of the positioning mechanism;
labeled as: 100-crawler traveling mechanism, 110-main frame, 111-supporting cross bar, 112-driving wheel supporting leg, 113-driven wheel supporting leg, 120-crawler, 121-internal tooth, 130-driving wheel, 131-disc rod, 140-driven wheel, 150-upper auxiliary wheel, 160-lower auxiliary wheel, 170-upper auxiliary wheel supporting leg, 180-lower auxiliary wheel supporting leg, 200-driving mechanism, 210-motor, 220-driving belt, 230-driving turntable, 240-motor platform, 300-positioning mechanism, 310-telescopic rod, 311-telescopic rod external rod, 312-telescopic rod internal rod, 320-positioning wheel, 321-shaft rod, 330-connecting tie rod, 340-pretension spring and 350-connecting sleeve.
Detailed Description
In order to facilitate understanding of the invention, the invention is further described below with reference to the accompanying drawings.
As shown in fig. 1 and 2, the crawler combination wheel type climbing robot disclosed by the present invention is composed of a crawler traveling mechanism 100, a driving mechanism 200 and a positioning mechanism 300, wherein the crawler traveling mechanism 100 is used as a traveling mechanism of the entire robot, and when the crawler traveling mechanism 100 is operated, the crawler combination wheel type climbing robot can crawl along a cable (pole) structure, the driving mechanism 200 is a power mechanism of the crawler combination wheel type climbing robot, the driving mechanism 200 is operated to drive the crawler traveling mechanism 100 to crawl, and the positioning mechanism 300 is used for positioning the crawler combination wheel type climbing robot, so that the crawler combination wheel type climbing robot can be attached to the cable (pole) structure.
As shown in fig. 3 and 4, the crawler travel mechanism 100 used in the present invention includes a main frame 110, a crawler 120, a driving wheel 130, and a driven wheel 140. The main frame 110 is a support framework of the crawler walking mechanism 100 and even the whole robot, the driving wheel 130 is a driving part of the crawler 120, the driving wheel 130 and the driven wheel 140 are respectively rotatably connected to the head and the tail ends of the main frame 110, and the crawler 120 is sleeved on the driving wheel 130 and the driven wheel 140; the driving wheel 130 is engaged with the track 120 in a transmission manner, the driving wheel 130 can drive the track 120 to rotate when rotating, the track 120 is attached to a cable (pole) structure to be crawled, and the track 120 rotates to enable the robot to crawl forwards.
The driving engagement between the track 120 and the drive wheel 130 is achieved by means of internal teeth 121 provided on the track 120 and a disc lever 131 provided on the drive wheel 130. As shown in fig. 3 and 4, a plurality of inner teeth 121 are fixed on the inner surface of the crawler 120, a plurality of annular disc rods 131 are fixed on the side surface of the driving wheel 130, the inner teeth 121 are meshed with the disc rods 131, and the size of the inner teeth 121 and the distance between the inner teeth 121 are matched with the size of the disc rods 131 and the distance between the disc rods 131; when the driving wheel 130 rotates, the respective internal teeth 121 are sequentially inserted into the gaps between the disc bars 131, thereby driving the track 120 to rotate. In order to improve the transmission efficiency and the transmission effect, the inner surface of the crawler belt 120 is provided with two rows of inner teeth 121, the two rows of inner teeth 121 extend along the length direction of the crawler belt 120 and are parallel to each other, correspondingly, the two side surfaces of the driving wheel 130 are provided with the disc rods 131, the driving wheel 130 is simultaneously in transmission engagement with the inner teeth 121 on the two sides, the balance and the stability of the stress on the crawler belt 120 are ensured, and the crawling stability of the crawler belt walking mechanism 100 can be effectively improved.
In the present invention, the driving wheel 130 and the driven wheel 140 are connected to the main frame 110 by the driving wheel leg 112 and the driven wheel leg 113, respectively. As shown in fig. 3 and 4, two driving wheel legs 112 are fixed at the front end of the main frame 110, and the driving wheel 130 is disposed between the two driving wheel legs 112 and is rotatably connected with the driving wheel legs 112 through a rotating shaft; two driven wheel legs 113 are fixed at the rear end of the main frame 110 and are spaced apart from each other, and the driven wheel 140 is disposed between the two driven wheel legs 113 and is rotatably connected to the driven wheel legs 113 through a rotating shaft.
In addition, the present invention further provides auxiliary wheels on the crawler 100, the auxiliary wheels include at least one upper auxiliary wheel 150 and at least one lower auxiliary wheel 160, and the number of the upper auxiliary wheel 150 and the lower auxiliary wheel 160 is selected according to actual needs. The upper auxiliary wheels 150 are rotatably coupled to the top of the main frame 110 by upper auxiliary wheel legs 170, the upper auxiliary wheels 150 are slidably engaged with the inner surfaces of the caterpillars 120 above the main frame 110, the lower auxiliary wheels 160 are rotatably coupled to the bottom of the main frame 110 by lower auxiliary wheel legs 180, and the lower auxiliary wheels 160 are slidably engaged with the inner surfaces of the caterpillars 120 below the main frame 110. The crawler 120 is supported by the upper auxiliary wheel 150 and the lower auxiliary wheel 160, so that the crawler 120 is more tightly attached to the surface of the inhaul cable (rod) structure, the adhesive force between the crawler combined wheel type cable-climbing robot and the inhaul cable (rod) structure is improved, and meanwhile, the friction between the supporting mechanism and the crawler 120 is changed into sliding friction by the upper auxiliary wheel 150 and the lower auxiliary wheel 160, so that the friction resistance to the rotation of the crawler 120 is reduced.
Because two rows of internal teeth 121 which are arranged in parallel are adopted, the width of the outer edge wheel of the driving wheel 130, the driven wheel 140, the upper auxiliary wheel 150 and the lower auxiliary wheel 160 is smaller than the distance between the two rows of internal teeth 121, so that the two side surfaces of the driving wheel 130, the driven wheel 140, the upper auxiliary wheel 150 and the lower auxiliary wheel 160 are prevented from contacting with the two rows of internal teeth 121, meanwhile, the two rows of internal teeth 121 can be mutually limited with the driving wheel 130, the driven wheel 140, the upper auxiliary wheel 150 and the lower auxiliary wheel 160, and the deviation in the crawling process is avoided.
As shown in fig. 3 and 4, the driving mechanism 200 used in the present invention is composed of a motor 210, a driving belt 220, a driving turntable 230, and a motor platform 240. The motor platform 240 is fixed on the main frame 110, the motor 210 is fixed on the motor platform 140, the transmission turntable 230 is fixed on the side surface of the driving wheel 130 and coaxially arranged with the driving wheel 130, the transmission turntable 230 is rotatably connected with the main frame 110 through a rotating shaft, and the transmission belt 220 is in transmission fit with the transmission turntable 230 and the motor 220; when the motor 220 works, the output shaft of the motor 220 drives the transmission belt 220 to rotate, the transmission belt 220 rotates to drive the transmission turntable 230 to rotate, the transmission turntable 230 rotates to drive the driving wheel 130 connected with the transmission turntable to rotate, and finally the driving wheel 130 rotates to drive the caterpillar track 120 meshed with the driving wheel to rotate. Because the driving wheel 130 is supported by the driving wheel supporting legs 112, in order to improve the space utilization rate, the motor platform 240 is arranged below the gap between the two driving wheel supporting legs 112; the structure of the motor platform 240 is optimized, the motor platform 240 adopts an L-shaped structure formed by connecting an upper end connecting part and a lower end bending part, the upper end connecting part of the motor platform 240 is fixedly connected with the main frame 110, and the motor 210 is fixed on the lower end bending part of the motor platform 240; therefore, the driving mechanism 200 is integrated in the crawler belt walking mechanism 100, the space utilization rate is improved, the weight of the whole structure is reduced, and the lightweight development of the robot is realized.
As shown in fig. 1 to 3 and 4, the positioning mechanism 300 used in the present invention includes two positioning wheel sets and two telescopic rods 310, the positioning wheel sets are composed of two positioning wheels 320 coaxially connected by a shaft 321, each positioning wheel set is equipped with two telescopic rods 310, the lower ends of the two telescopic rods 310 are rotatably connected with the two ends of the shaft 321, the upper ends of the two telescopic rods 310 are rotatably connected with the two sides of the main frame 110, a gap is left between the two positioning wheels 320 of the same positioning wheel set, and the width of the gap matches with the outer diameter of the cable (rod) structure to be crawled.
Further, two sets of positioning wheel sets and four telescopic rods 310 are adopted in the invention, the two sets of positioning wheel sets are arranged in parallel along the length direction of the crawler 120, two ends of the two sets of positioning wheel sets are rotatably connected through a connecting tie rod 330, two ends of the two sets of positioning wheel sets are respectively rotatably connected with the two telescopic rods 310, and the two sets of positioning wheel sets are connected through the connecting tie rod 330. When crawling, the cable (rod) structure is located between the track 120 and the positioning wheels 320, the two positioning wheels 320 in the same positioning wheel set are respectively attached to two sides of the lower portion of the cable (rod) structure, and the telescopic rod 310 limits and protects the track traveling mechanism 100 from two sides. Because the outer surface of the inhaul cable (rod) structure is an arc surface, in order to improve the fit degree between the positioning wheel 320 and the inhaul cable (rod) structure, the outer surface of the positioning wheel 320 can be set to be an arc surface, and the outer surface radian of the positioning wheel 320 is matched with the outer surface radian of the inhaul cable (rod) structure; in the same principle, as shown in fig. 2, the outer surface of the track 120 may also be configured as an inward concave arc surface, so that the outer surface of the track 120 can be in close contact with the surface of the cable (rod) structure.
As shown in fig. 3 and 5, a pre-tightening spring 340 is further added to the positioning mechanism 300, the telescopic rod 310 is composed of an outer telescopic rod 311 and an inner telescopic rod 312, the outer telescopic rod 311 is a cylindrical structure, the inner telescopic rod 312 is inserted into the outer telescopic rod 311, and the inner telescopic rod 312 and the outer telescopic rod 311 are in clearance fit, so that the inner telescopic rod 312 and the outer telescopic rod 311 can move relative to each other, thereby achieving axial extension and contraction of the telescopic rod 310 and changing the overall length of the telescopic rod 310. The pre-tightening spring 340 is sleeved on the telescopic rod 310, two ends of the pre-tightening spring 340 are fixedly connected with the outer telescopic rod 311 and the inner telescopic rod 312 respectively, and the maximum stretching length of the pre-tightening spring 340 exceeds the sum of the lengths of the outer telescopic rod 311 and the inner telescopic rod 312, so that the inner telescopic rod 312 is prevented from being separated from the outer telescopic rod 311. After the pre-tightening spring 340 is arranged, the pre-tightening spring 340 can play a pre-tightening and shock-absorbing function, the telescopic rod 310 can be matched with the pre-tightening spring 340 in a telescopic manner to enable the crawler walking mechanism 100 and the positioning mechanism 300 to be tightly and stably attached to the surface of a inhaul cable (rod) structure, and the adhesive force of the crawler combined wheel type rope climbing robot during climbing is greatly improved. In the crawling process of the robot, the pre-tightening spring 340 can also effectively relieve the vibration in the crawling process, and the obstacle crossing capability of the robot is improved.
As shown in fig. 3 and 5, the telescopic rod 310 and the positioning wheel set and the telescopic rod 310 and the main frame 110 are rotatably connected, a connecting sleeve 350 is fixedly connected to each of the upper and lower ends of the telescopic rod 310, a supporting cross bar 111 rotatably connected to the connecting sleeve 350 on the upper end of the telescopic rod 310 is fixed to each of the two side surfaces of the main frame 110, and the connecting sleeve 350 on the lower end of the telescopic rod 310 is rotatably connected to the shaft 321. When the robot encounters the fluctuated part on the cable (rod) structure or needs to steer in the crawling process, the telescopic rod 310 and the positioning wheel set and the telescopic rod 310 and the main frame 110 can rotate relatively, so that the crawler combined wheel type cable-climbing robot has strong obstacle-crossing capability and steering performance.
Claims (10)
1. Wheeled cable climbing robot of track combination, its characterized in that: comprises a crawler belt walking mechanism (100), a driving mechanism (200) and a positioning mechanism (300);
the crawler belt walking mechanism (100) comprises a main frame (110), a crawler belt (120), a driving wheel (130) and a driven wheel (140), wherein the driving wheel (130) and the driven wheel (140) are respectively and rotatably connected to two ends of the main frame (110), the crawler belt (120) is sleeved on the driving wheel (130) and the driven wheel (140), and the driving wheel (130) is in transmission engagement with the crawler belt (120);
the driving mechanism (200) comprises a motor (210), a transmission belt (220), a transmission turntable (230) and a motor platform (240), the motor platform (240) is fixedly connected with the main frame (110), the motor (210) is fixed on the motor platform (240), the transmission turntable (230) is rotatably connected to one end, provided with a driving wheel (130), of the main frame (110) and is coaxially connected with the driving wheel (130), and two ends of the transmission belt (220) are respectively in transmission fit with the motor (210) and the transmission turntable (230);
positioning mechanism (300) include at least a set of location wheelset and two at least telescopic link (310), and the location wheelset comprises two locating wheels (320) through axostylus axostyle (321) coaxial coupling, the lower extreme of two telescopic link (310) respectively with the both ends rotatable coupling of axostylus axostyle (321), the upper end of two telescopic link (310) rotatable coupling respectively in the both sides of main frame (110), leave the clearance between two locating wheels (320) of same location wheelset.
2. The crawler-combined wheel type cable-climbing robot as claimed in claim 1, wherein: two rows of inner teeth (121) extending along the length direction of the crawler (120) are fixed on the inner surface of the crawler (120), and a plurality of disc rods (131) meshed with the inner teeth (121) are annularly fixed on two side surfaces of the driving wheel (130).
3. The crawler-combined wheel type cable-climbing robot as claimed in claim 2, wherein: further comprising at least one upper auxiliary wheel (150) and at least one lower auxiliary wheel (160); the upper auxiliary wheel (150) is rotatably connected to the top of the main frame (110) through an upper auxiliary wheel supporting leg (170), and the upper auxiliary wheel (150) is in sliding fit with the inner surface of the crawler (120) above the main frame (110); the lower auxiliary wheel (160) is rotatably connected to the bottom of the main frame (110) through a lower auxiliary wheel supporting leg (180), and the lower auxiliary wheel (160) is in sliding fit with the inner surface of the crawler (120) below the main frame (110).
4. The crawler-combined wheel type cable-climbing robot as claimed in claim 3, wherein: the width of the outer edge wheels of the driving wheel (130), the driven wheel (140), the upper auxiliary wheel (150) and the lower auxiliary wheel (160) is smaller than the distance between the two rows of inner teeth (121).
5. The crawler-combined wheel type cable-climbing robot as claimed in claim 1, wherein: the outer surface of the crawler belt (120) is an inwards concave arc surface, and the outer surface of the positioning wheel (320) is an arc surface.
6. The crawler-combined wheel type cable-climbing robot as claimed in claim 1, wherein: the positioning mechanism (300) comprises two groups of positioning wheel sets and four telescopic rods (310), the two groups of positioning wheel sets are arranged in parallel along the length direction of the crawler (120), two ends of the two groups of positioning wheel sets are rotatably connected through a connecting tie rod (330), and two ends of the two groups of positioning wheel sets are respectively rotatably connected with the two telescopic rods (310).
7. The crawler-combined wheel type cable-climbing robot as claimed in claim 1 or 6, wherein: the telescopic rod (310) is composed of a telescopic rod outer rod (311) and a telescopic rod inner rod (312) which are in telescopic connection, the lower end of the telescopic rod inner rod (312) is inserted into the telescopic rod outer rod (311), and the telescopic rod inner rod (312) is in clearance fit with the telescopic rod outer rod (311); the pre-tightening spring (340) is sleeved on the telescopic rod (310), and two ends of the pre-tightening spring (340) are respectively and fixedly connected with the outer telescopic rod (311) and the inner telescopic rod (312).
8. The crawler-combined wheel type cable-climbing robot as claimed in claim 7, wherein: the upper end and the lower end of the telescopic rod (310) are respectively fixedly connected with a connecting sleeve (350), two side faces of the main frame (110) are fixedly provided with a supporting cross rod (111) which is rotatably connected with the connecting sleeve (350) at the upper end of the telescopic rod (310), and the connecting sleeve (350) at the lower end of the telescopic rod (310) is rotatably connected with the shaft rod (321).
9. The crawler-combined wheel type cable-climbing robot as claimed in claim 1, wherein: two driving wheel supporting legs (112) which are arranged at intervals are fixed at the front end of the main frame (110), and a driving wheel (130) is arranged between the two driving wheel supporting legs (112) and is rotatably connected with the driving wheel supporting legs (112); two driven wheel supporting legs (113) which are arranged at intervals are fixed at the rear end of the main frame (110), and the driven wheel (140) is arranged between the two driven wheel supporting legs (113) and is rotatably connected with the driven wheel supporting legs (113).
10. The crawler-combined wheel type cable-climbing robot as claimed in claim 9, wherein: the motor platform (240) is an L-shaped structure formed by connecting an upper end connecting part and a lower end bending part, the motor platform (240) is arranged below a gap between two driving wheel supporting legs (112), the upper end connecting part of the motor platform (240) is fixedly connected with the main frame (110), and the motor (210) is fixed on the lower end bending part of the motor platform (240).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110869817.2A CN113443031A (en) | 2021-07-30 | 2021-07-30 | Crawler combined wheel type cable climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110869817.2A CN113443031A (en) | 2021-07-30 | 2021-07-30 | Crawler combined wheel type cable climbing robot |
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| CN113443031A true CN113443031A (en) | 2021-09-28 |
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| CN202110869817.2A Pending CN113443031A (en) | 2021-07-30 | 2021-07-30 | Crawler combined wheel type cable climbing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114104135A (en) * | 2021-11-10 | 2022-03-01 | 南京欣三人行网络科技有限公司 | Crawling robot for high-altitude cables and crawling method |
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Application publication date: 20210928 |