A climbing robot

Abstract

The embodiment of the present application discloses a climbing robot, which is used to provide a climbing robot solution with two ropes as climbing objects. The climbing robot of the present application includes: a main frame, a driving component, a control module, and a passive obstacle-crossing wheel component; the main frame is used to carry multiple driving components, the control module is used to control the driving component, and the driving component is used to realize the climbing function; wherein the distance between the U-shaped wheels of the driving components is adapted to the distance between the two ropes, and the passive obstacle-crossing wheel component includes a passive obstacle-crossing wheel, a tensioning bracket, a tensioning bracket mounting shaft and a tensioning spring; wherein the passive obstacle-crossing wheel is rotatably mounted on the tensioning bracket, the tensioning bracket is slidably mounted on the tensioning bracket mounting shaft, and a tensioning spring is provided on the tensioning bracket mounting shaft sleeve, so that the tensioning bracket is located at one end of the tensioning bracket mounting shaft under the elastic force of the tensioning spring, and the passive obstacle-crossing wheel component cooperates with the U-shaped wheel to trap the rope between the U-shaped wheel and the passive obstacle-crossing wheel.

Description

Technical Field

[0001] The present application belongs to the technical field of detection equipment, and in particular relates to a climbing robot. Background Art

[0002] In a suspension bridge, the main cable of the suspension bridge bears the weight of the entire bridge and is the core load-bearing component of the entire suspension bridge. In a suspension bridge, the main cable of the suspension bridge bears the weight of the bridge for a long time, as well as the complex test of the natural environment such as wind, rain, and sun. In this process, the main cable is prone to surface corrosion, cable clip slippage, internal wire breakage and other problems. Therefore, in order to ensure the safety and normal use of the suspension bridge, according to the relevant requirements of the "Road, Bridge and Culvert Maintenance Code", technicians need to regularly inspect the suspension bridge, especially the main cable of the suspension bridge.

[0003] In the prior art, in order to facilitate technicians to walk and inspect the main cable on the catenary, multiple layers of ropes parallel to the main cable are usually installed above both sides in the length direction of the main cable. Usually, two relatively horizontal ropes form one layer, and cross bars are used to maintain the lateral distance of the ropes on both sides of the main cable at intervals of a certain rope length, and columns are used to maintain the vertical distance of the ropes above both sides of the main cable at intervals of a certain rope length. The ropes are kept at a distance from the main cable by cross bars and columns and are fixedly connected by rope clamps, thereby realizing a walking structure with the main cable as the bottom and multiple layers of ropes on both sides of the main cable along the length direction of the main cable. The two top ropes are called handrail ropes, and technicians can hold the handrail ropes on both sides of the main cable more safely and walk on the main cable with detection equipment to detect the main cable.

[0004] With the development of robot technology, there is an urgent need for a robot that can use the handrail rope of the main cable as a climbing object, that is, there is a lack of a climbing robot that uses two ropes as climbing objects. Summary of the invention

[0005] An embodiment of the present application provides a climbing robot, which is used to provide a climbing robot solution using two ropes as climbing objects.

[0006] The embodiment of the present application discloses a climbing robot for climbing along two ropes, comprising: a main frame (100), a driving assembly (200), a control module, and a passive obstacle-crossing wheel assembly (300);

[0007] The main support (100) comprises a support body (101) and drive assembly installation positions (102) located on both sides of the support body (101);

[0008] The driving assembly (200) comprises a driving support frame (201), a U-shaped wheel (202), a driving motor (203) and a driving transmission component; wherein the driving motor (203) is fixedly mounted on the driving support frame (201), the U-shaped wheel (202) is rotatably mounted on the driving support frame (201), and the driving motor (203) drives the U-shaped wheel (202) through the driving transmission component; the driving support frame (201) is rotatably mounted on the driving assembly mounting position (102), and the distance between the U-shaped wheels (202) on both sides of the support body (101) is adapted to the distance between the two ropes;

[0009] The control module comprises a controller, the controller is electrically connected to the drive motor (203), and the controller is used to control the forward and reverse rotation of the drive motor (203);

[0010] The passive obstacle crossing wheel assembly (300) comprises a passive obstacle crossing wheel (301), a tensioning bracket (302), a tensioning bracket mounting shaft (303) and a tensioning spring (304); wherein the passive obstacle crossing wheel (301) is rotatably mounted on the tensioning bracket (302), the tensioning bracket (302) is slidably mounted on the tensioning bracket mounting shaft (303), the tensioning bracket mounting shaft (303) is fixedly mounted on the driving support frame (201), and the tensioning spring (304) is sleeved on the tensioning bracket mounting shaft (303), so that the tensioning bracket (302) is located at one end of the tensioning bracket mounting shaft (303) under the elastic force of the tensioning spring (304); the passive obstacle crossing wheel assembly (300) is used to cooperate with the U-shaped wheel (202) to trap the rope between the U-shaped wheel (202) and the passive obstacle crossing wheel (301).

[0011] Optionally, there are two or more tension bracket mounting shafts (303), and a sliding bushing (305) is fixedly mounted on one end of the tension spring (304), and the sliding bushing (305) is in surface contact with the tension bracket (302).

[0012] Optionally, the tensioning wheel mounting shaft (303) is a shaft with a circular cross-section; one end of the tensioning spring (304) is fixed to the driving support frame (201), and the other end of the tensioning spring (304) is fixedly connected to the tensioning bracket (302), so that the initial angle state between the rotation axis direction of the U-shaped wheel (202) on the driving support frame (201) and the rotation axis direction of the passive obstacle crossing wheel (301) on the driving support frame (201) is perpendicular.

[0013] Optionally, in an axial cross-section of the passive obstacle-crossing wheel (301), one end away from the tensioning bracket (302) is larger than the other end.

[0014] Optionally, the shape of the passive obstacle-crossing wheel (301) is adapted to the shape of the fixing device of the rope.

[0015] Optionally, the support body (101) comprises a horizontal frame (1011) and a vertical frame (1012), and two ends of the horizontal frame (1011) are respectively fixedly connected to the vertical frame (1012) to form an "H"-shaped support body (101);

[0016] The drive assembly installation positions (102) are located at both ends of the longitudinal frame (1012).

[0017] Optionally, the drive assembly mounting position (102) is a mounting hole, and the drive support frame (201) is rotatably mounted in the mounting hole via a mounting shaft (2011).

[0018] Optionally, the driving support frame (201) comprises: an outer plate (2013), an inner plate (2012) and a mounting shaft (2011), wherein the outer plate (2013) and the inner plate (2012) are arranged opposite to each other, and the mounting shaft (2011) is placed between the outer plate (2013) and the inner plate (2012) to fix the relative positions of the outer plate (2013) and the inner plate (2012).

[0019] Optionally, the drive motor (203) is fixedly mounted between the inner plate (2012) and the outer plate (2013) via a drive motor bracket (204).

[0020] Optionally, the drive transmission component includes: an active transmission component and a passive transmission component;

[0021] The active transmission component is used to be connected to the driving motor (203) for transmitting the power output by the driving motor (203) to the passive transmission component;

[0022] The passive transmission component is used to be coaxially connected to the U-shaped wheel (202) to transmit the power of the passive transmission component to the U-shaped wheel (202).

[0023] Optionally, a plurality of pairs of through holes are arranged opposite to each other between the outer plate (2013) and the inner plate (2012);

[0024] The active transmission assembly comprises: a coupling (212), a worm (205), a worm support (206), a worm bearing (207), a turbine (208), a turbine bearing (209), a driving wheel (210), and a synchronous belt (211);

[0025] The passive transmission assembly comprises: a driven wheel (216), a driven wheel bearing (213), and a driven shaft (214);

[0026] The worm (205) is rotatably mounted on the worm bracket (206) via the worm bearing (207); the worm bracket (206) is fixedly mounted between the inner plate (2012) and the outer plate (2013); one end of the worm (205) is connected to the output shaft of the drive motor (203) via the coupling (212); the other end of the worm (205) is cooperatively connected to the turbine (208); the turbine shaft of the turbine (208) is mounted on a pair of through holes of the outer plate (2013) and the inner plate (2012) via the turbine bearing (209); one end of the turbine shaft passes through the inner plate (2012) and is coaxially connected to the driving wheel (210);

[0027] The driven shaft (214) is rotatably mounted through the other pair of through holes of the outer plate (2013) and the inner plate (2012) via a driven wheel bearing (213); one end of the driven shaft (214) that passes through the inner plate (2012) is coaxially connected to the driven wheel (216); and the portion of the driven shaft (214) between the outer plate (2013) and the inner plate (2012) is coaxially fixedly connected to the U-shaped wheel (202);

[0028] The driving wheel (210) is connected to the driven wheel (216) via the synchronous belt (211).

[0029] Optionally, the drive transmission component further comprises a synchronous tensioning wheel (215) installed on the moving path of the synchronous belt (211).

[0030] Optionally, the active transmission components are one group, and the passive transmission components are two groups.

[0031] Optionally, the driving support frame (201) is in an inverted V-shaped structure, two groups of passive transmission components are located at two ends of the inverted V-shaped structure, and one group of active transmission components is located in the middle of the inverted V-shaped structure.

[0032] Optionally, the mounting shaft (2011) and the tensioning bracket mounting shaft (303) are the same shaft.

[0033] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages:

[0034] The driving components used for climbing of the climbing robot of the present application are installed on both sides of the bracket body. The distance between the U-shaped wheels of the driving components on both sides directly climbing the rope is adapted to the distance between the two ropes, and is equipped with a passive obstacle overcoming wheel component. The passive obstacle overcoming wheel component is used to trap the rope between the U-shaped wheel and the passive obstacle overcoming wheel, thereby making the climbing robot more stably attached to the rope. This enables the climbing robot of the present application to climb more stably on the two horizontal handrail ropes on the main cable of the suspension bridge under the control of the driving component in the control module. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic diagram of an embodiment of the climbing robot of the present application climbing on two handrail ropes;

[0036] Figure 2 This is a schematic diagram of an embodiment of the climbing robot of the present application when viewed from above;

[0037] Figure 3 This is an exploded view of the structure of an embodiment of the driving assembly and the passive obstacle-crossing wheel assembly of the climbing robot of the present application;

[0038] Figure 4 This is a schematic structural diagram of an embodiment of a driving assembly and a passive obstacle-crossing wheel assembly of a climbing robot of the present application;

[0039] Figure 5 This is a schematic diagram of an embodiment of a climbing robot in the present application crossing a rope clamp obstacle on two handrail ropes;

[0040] Figure 6 This is a schematic diagram of an embodiment of the climbing robot of the present application before or after crossing over the rope clamps on two handrail ropes. DETAILED DESCRIPTION

[0041] An embodiment of the present application provides a climbing robot, which is used to provide a climbing robot solution using two ropes as climbing objects.

[0042] First, the working environment of the climbing robot in the embodiment of the present application is described. Figure 1 , an embodiment scenario of the present application of a climbing robot climbing on two ropes. Figure 1It can be seen that the main cable 600 is the core load-bearing structure connecting the two cable towers in the suspension bridge. A cable clamp 601 is fixedly installed on the main cable 600 at intervals by high-strength bolts. The cable clamp 601 has a lug 602 facing downwards. The lug 602 is used to install a sling. The bridge deck is lifted by the sling to form a suspension bridge. Since there is a cable clamp 601 with a sling installed at intervals on the main cable 600, it is difficult for a traditional cable climbing robot that uses the cable as a climbing object to cross obstacles with the cable clamp 601, and it is impossible to smoothly climb from one cable tower to another along the direction of the main cable of the suspension bridge. In view of the obstacle problem of cable clamp 601 on the main cable of suspension bridge, the main cable of suspension bridge is currently inspected mainly by installing multiple layers of ropes on the main cable, thereby realizing a walking structure with the main cable as the bottom and multiple layers of ropes on both sides of the main cable along the length direction of the main cable. The two top ropes are called handrail ropes 700. Technicians can walk on the main cable to inspect the main cable more safely by holding the handrail ropes 700 on both sides of the main cable.

[0043] like Figure 1 A so-called multi-layer rope scheme on the main cable is shown in the figure, in which three layers of ropes parallel to the main cable are installed on both sides of the main cable in the length direction. Usually, two relatively horizontal ropes form one layer, and the horizontal distance of the ropes on both sides of the main cable is fixed by using a crossbar 400 at a certain rope length, and the vertical distance of the ropes on both sides of the main cable is fixed by using a column 500 at a certain rope length. The three layers of ropes are kept fixed by the crossbar 400, the column 500 and the cable clamp 601 of the main cable, thereby realizing a walking structure with the main cable 600 as the bottom and the three layers of ropes located on both sides of the main cable 600 above along the length direction of the main cable 600. The two uppermost ropes are called handrail ropes 700. Technicians can walk on the main cable to inspect the main cable by holding the handrail ropes 700 on both sides of the main cable more safely.

[0044] Regarding the structure of installing multiple layers of ropes on the main cable of the above-mentioned suspension bridge, usually the diameter of the two handrail ropes 700 on the top layer of the main cable is larger than that of the ropes in other layers, and has good load-bearing capacity. The embodiment of the present application takes the two handrail ropes 700 on the top layer of the main cable as the climbing object, and proposes a technical solution for a climbing robot, which can realize smooth climbing from one pylon to another along the direction of the main cable of the suspension bridge. It can be understood that although the climbing robot of the present application takes the handrail rope on the main cable as the climbing object, under the same climbing conditions of the two ropes, the climbing robot of the present application can also be applied to other climbing scenarios. The present application only takes the two handrail ropes on the top layer of the main cable as an example to illustrate the climbing robot, which is not a limitation of the present application.

[0045] See also Figure 2 , Figure 3 , Figure 4An embodiment of the climbing robot of the present application is used to achieve climbing along two ropes, and includes: a main frame 100, a driving assembly 200, a control module, and a passive obstacle wheel assembly 300. The main frame 100 includes a frame body 101 and a driving assembly installation position 102 located on both sides of the frame body 101. The driving assembly 200 includes a driving support frame 201, a U-shaped wheel 202, a driving motor 203 and a driving transmission component; wherein the driving motor 203 is fixedly installed on the driving support frame 201, the U-shaped wheel 202 is rotatably installed on the driving support frame 201, and the driving motor 203 drives the U-shaped wheel 202 through the driving transmission component; the driving support frame 201 is rotatably installed at the driving assembly installation position 102, and the distance between the U-shaped wheels 202 on both sides of the frame body 101 is adapted to the distance between the two ropes, and the control module includes a controller, the controller is electrically connected to the driving motor 203, and the controller is used to control the forward and reverse rotation of the driving motor 203. The passive obstacle overcoming wheel assembly 300 includes a passive obstacle overcoming wheel 301, a tensioning bracket 302, a tensioning bracket mounting shaft 303 and a tensioning spring 304; wherein the passive obstacle overcoming wheel 301 is rotatably mounted on the tensioning bracket 302, for example, the passive obstacle overcoming wheel 301 is rotatably mounted on the tensioning bracket 302 through a bearing 306, the tensioning bracket 302 is slidably mounted on the tensioning bracket mounting shaft 303, the tensioning bracket mounting shaft 303 is fixedly mounted on the driving support frame 201, and a tensioning spring 304 is sleeved on the tensioning bracket mounting shaft 303, so that the tensioning bracket 302 is located at one end of the tensioning bracket mounting shaft 303 under the elastic force of the tensioning spring 304; the passive obstacle overcoming wheel assembly 300 is used to cooperate with the U-shaped wheel 202 to trap the rope between the U-shaped wheel 202 and the passive obstacle overcoming wheel 301. When the climbing robot needs to be placed on the two handrail ropes at the top of the main cable, the tension spring 304 of the passive obstacle crossing wheel assembly needs to be compressed, and then the climbing robot is placed on the two handrail ropes 700 at the top of the main cable. At this time, the U-shaped wheels 202 on both sides of the climbing robot are just in contact with the two ropes, and then the compression of the tension spring 304 is released, so that the passive obstacle crossing wheel 301 is close to the ropes under the action of elastic force, and the controller controls the rotation of the drive motor 203 to be transmitted to the drive U-shaped wheel 202 through the drive transmission component. , and the climbing robot can climb back and forth on the two handrail ropes 700 at the top of the main cable under the control of the controller 301. When the climbing robot encounters the handrail rope clamp 701, the U-shaped wheel 202 can pass directly on the upper surface of the handrail rope clamp 701, and the swinging obstacle wheel 301 will trigger the compression of the tensioning spring 304, so that the passive obstacle wheel 301 rolls over the side of the handrail rope clamp 701, thereby enabling the climbing robot to smoothly climb from one cable tower to another along the direction of the main cable of the suspension bridge.

[0046] For more details, see Figure 2, the bracket body 101 can be composed of a horizontal frame 1011 and a vertical frame 1012. For example, the two ends of a horizontal frame 1011 are respectively fixedly connected to a vertical frame 1012 to form an "H"-shaped bracket body 101. The drive component 200 mounting position 102 is located at the two ends of the vertical frame 1012. The drive component mounting position 102 can be set as a mounting hole, and the drive support frame 201 of the drive component 200 is rotatably mounted in the mounting hole through the mounting shaft 2011. It should be noted that the drive component 200 is Figure 2 As shown, all are installed on the inner side of the "H"-shaped bracket body 101; or all can be installed on the outer side of the "H"-shaped bracket body 101; according to actual needs, part of the drive assembly 200 can be installed on the inner side of the "H"-shaped bracket body 101, and part of the drive assembly 200 can be installed on the outer side of the "H"-shaped bracket body 101; no specific restrictions are made here. A hook can also be provided on the main bracket 100, and the hook is fixedly mounted on the bracket body 101. The hook is used to drag the detection equipment for detecting the main cable 600. The climbing robot of the present application provides a solution that can pass on the main cable of a suspension bridge, and reserves an adapter interface with other equipment. It can cooperate with different equipment to climb above the main cable, and then perform different tasks.

[0047] In one embodiment, there may be two or more tension bracket mounting shafts 303, so that the tension bracket 302 slidably mounted on the tension bracket mounting shaft 303 has only two degrees of freedom to slide forward and backward along the tension bracket mounting shaft 303, so as to prevent the passive obstacle crossing wheel 301 from rotating around the tension bracket 302 under the shear force transmitted by the passive obstacle crossing wheel 301 during the rolling contact with the handrail rope 700, thereby possibly causing the passive obstacle crossing wheel 301 to break away from the contact with the handrail rope 700. In practical applications, in order to reduce the weight of the climbing robot, if the tension bracket mounting shaft 303 is a shaft with a non-circular cross-section, only one tension bracket may be installed, because the tension bracket 302 mounted on the tension bracket mounting shaft 303 with a non-circular cross-section will not have the degree of freedom to rotate around the tension bracket mounting shaft 303. It can be understood that, under the premise that the tensioning bracket 302 has only the freedom to slide forward and backward on the shaft, a sliding bushing 305 is fixedly installed at one end of the tensioning spring 304, and the sliding bushing 305 is in surface contact with the tensioning bracket (302), that is, the sliding bushing does not need to be fixedly connected to the tensioning bracket 302.

[0048] In another embodiment, the tensioning wheel mounting shaft 303 can be a shaft with a circular cross-section, one end of the tensioning spring 304 is fixed to the driving support frame 201 or is directly fixedly connected to the tensioning wheel mounting shaft 303, and the other end of the tensioning spring 304 is fixedly connected to the tensioning bracket 302, and can be fixedly connected to the tensioning bracket 302 through a sliding bushing 305, so that the initial angle state between the rotation axis direction of the U-shaped wheel 202 on the driving support frame 201 and the rotation axis direction of the passive obstacle crossing wheel 301 on the driving support frame 201 is perpendicular, that is, the passive obstacle crossing wheel 301 and the U-shaped wheel 202 are both close to the surface of the handrail rope 700. In this embodiment, since one end of the tensioning spring 304 is connected to the fixed end and the other end is connected to the movable end (tensioning bracket 302), and the initial state of the passive obstacle overcoming wheel 301 is to be close to the surface of the handrail rope 700, even if the passive obstacle overcoming wheel 301 is in rolling contact with the handrail rope 700, the tensioning bracket 302 rotates around the tensioning bracket 302 due to the shear force transmitted by the passive obstacle overcoming wheel 301, and will also be subject to the torsion in the opposite direction generated by the tensioning spring 304. The greater the rotation angle of the tensioning bracket 302, the stronger the torsion generated by the tensioning spring 304, forcing the tensioning bracket 302 to quickly and adaptively fit closely with the handrail rope 700, thereby dynamically trapping the handrail rope between the U-shaped wheel 202 and the passive obstacle overcoming wheel 301.

[0049] Specifically, in any of the above-mentioned embodiments, one end of the passive obstacle overcoming wheel 301 in the axial cross-section away from the tensioning bracket 302 is larger than the other end, so that when the passive obstacle overcoming wheel 301 is tightly pressed against the handrail rope 700 from the side under the action of the tensioning spring 304, there is also a passive obstacle overcoming wheel 301 on the lower surface of the handrail rope 700 to make bottom contact with the handrail 700, so as to cooperate with the U-shaped wheel 202 of the drive assembly 200 to trap the handrail rope between the U-shaped wheel 202 and the passive obstacle overcoming wheel 301, thereby reducing the risk of the climbing robot falling from the handrail rope 700 and increasing the stability of the climbing robot climbing on the handrail rope 700.

[0050] More specifically, the shape of the passive obstacle crossing wheel 301 is adapted to the shape of the handrail rope clamp 701, which is the fixing device of the handrail rope 700, so that when the passive obstacle crossing wheel 301 crosses the handrail rope clamp 701 from the side of the handrail rope 700, it will not be hindered by the outer contour of the handrail rope clamp 701, so that the climbing robot can quickly pass through the handrail rope clamp 701. Of course, in actual situations, the passive obstacle crossing wheel is a gyroscopic body, and preferably, the part of the outer contour of the gyroscopic body in contact with the handrail rope 700 and the part in contact with the handrail rope clamp should have adaptation features or similar features that meet the contact parts with the handrail rope 700 and the handrail rope clamp 701, so as to better realize the contact between the passive obstacle crossing wheel 301 and the handrail rope 700, and the passive obstacle crossing wheel 301 on the side surface of the handrail rope clamp 701.

[0051] Specifically, the driving support frame 201 of the driving assembly 200 includes: an outer plate 2013, an inner plate 2012 and a support shaft 2012. The outer plate 2013 and the inner plate 2012 are arranged opposite to each other. A plurality of through holes are symmetrically provided between the outer plate 2013 and the inner plate 2012. The support shaft 2012 is placed in the through hole between the outer plate 2013 and the inner plate 2012. The support shaft 2012 is used to fix the relative position of the outer plate 2013 and the inner plate 2012. In practical applications, there may be a plurality of support shafts 2012 to achieve a more secure connection between the inner plate 2012 and the outer plate 2013.

[0052] Specifically, the driving motor 203 of the driving assembly 200 is fixedly installed between the inner plate 2012 and the outer plate 2013 through the driving motor bracket 204. According to actual needs, the driving motor 203 can also be installed on the inner plate 2012 or the outer plate 2013 through the driving motor bracket 204, which is not specifically limited here.

[0053] Specifically, the driving transmission component includes: an active transmission component and a passive transmission component. The active transmission component is used to be connected to the driving motor 203 for power transmission, and the power output by the driving motor 203 is transmitted to the passive transmission component. The passive transmission component is used to be coaxially connected to the U-shaped wheel 202, and the power of the passive transmission component is transmitted to the U-shaped wheel 202. The so-called coaxial fixed connection means that the power transmission form of the two transmission parts is rotation, and the two transmission parts are fixed together with the same rotating axis as the rotation center. The technical solution of the above driving transmission component is to realize that the output power of the driving motor 203 passes through the active transmission component, and then to the passive transmission component, and then to the U-shaped wheel. It is worth noting that the active transmission component can be a mechanical transmission scheme such as a gear and a chain, a gear and a synchronous belt, a gear and a gear, and there is no specific limitation here.

[0054] For more details, please refer to Figure 3, a plurality of pairs of through holes are arranged between the outer plate 2013 and the inner plate 2012 of the driving support frame 201. These through holes are arranged oppositely and penetrate the outer plate 2013 and the inner plate 2012, and are used to provide installation positions for the parts that need to be installed. The active transmission component and the passive transmission component are both installed on the driving support frame 201 through these through holes arranged oppositely. In one embodiment, the active transmission component includes: a coupling 212, a worm 205, a worm support 206, a worm bearing 207, a turbine 208, a turbine bearing 209, a driving wheel 210, and a synchronous belt 211. The passive transmission component includes: a driven wheel 216, a driven wheel bearing 213, and a driven shaft 214. The worm 205 is rotatably mounted on the worm bracket 206 through the worm bearing 207, and the worm bracket 206 is fixedly mounted between the inner plate 2012 and the outer plate 2013. One end of the worm 205 is connected to the output shaft of the drive motor 203 through the coupling 212, and the other end of the worm 205 is matched with the turbine 208. The turbine shaft 2081 of the turbine 208 is mounted on a pair of through holes of the outer plate 2013 and the inner plate 2012 through the turbine bearing 209. Here, the diameter of the turbine shaft of the turbine 208 is smaller than the diameter of the through hole arranged relatively, so that The turbine shaft of the turbine 208 can pass through a pair of through holes relatively arranged between the outer plate 2013 and the inner plate 2012, and the turbine bearings 209 are respectively installed in the pair of through holes between the outer plate 2013 and the inner plate 2012, and then the inner ring of the bearing in the turbine bearing 209 is interference fit with the turbine shaft of the turbine 208 and is installed in the pair of through holes of the outer plate 2013 and the inner plate 2012. One end of the turbine shaft passes through the inner plate 2012 and is coaxially connected to the driving wheel 210, thereby realizing the power transmission of the drive motor 203 to the driving wheel 210. Similarly, the driven shaft 214 is rotatably installed through another pair of through holes of the outer plate 2013 and the inner plate 2012 through the driven wheel bearing 213, and one end of the driven shaft 214 that passes through the inner plate 2012 is coaxially connected to the driven wheel 216, and the portion of the driven shaft 214 between the outer plate 2013 and the inner plate 2012 is coaxially fixedly connected to the U-shaped wheel 202, and the driving wheel 210 is connected to the driven wheel 216 through the synchronous belt 211. In this way, the power of the driving wheel 210 is transmitted to the driven wheel 216 through the synchronous belt 211, and the driven wheel 216 is coaxially fixedly connected to the U-shaped wheel 202, thereby realizing the synchronous rotation of the U-shaped wheel 202 and the driven wheel 216.

[0055] Furthermore, when the synchronous belt 211 is used as the power transmission between the driving wheel 210 and the driven wheel 216, a synchronous tensioning wheel 215 can also be arranged on the moving path of the synchronous belt 211, that is, the driving transmission component also includes a synchronous tensioning wheel 215 installed on the moving path of the synchronous belt 211. The synchronous tensioning wheel 215 can rollably contact the synchronous belt 211 and cause the original free moving path of the synchronous belt 211 to deviate by a certain distance, so that the synchronous belt 211 can be forced to undergo elastic deformation, so that the adhesion of the synchronous belt 211 during power transmission between the driving wheel 210 and the driven wheel 216 is stronger, and the rotation slippage of the synchronous belt 211 on the driving wheel 210 and the driven wheel 216 is reduced, so that the power transmission is more efficient. The synchronous tensioning wheel 215 can be rotatably mounted on the outer plate by bolts. It should be noted that when the driving support frame 201 selects the support shaft 2012 as a hollow shaft, a long bolt can be selected to pass through the tensioning wheel 215, the through hole of the inner plate 2012, the support shaft 2012, and the through hole of the outer plate 2013 in sequence, thereby realizing the fixation of the tensioning wheel 215 and the molding of the driving support frame 201 at one time.

[0056] Furthermore, in order to improve the friction between the climbing robot and the climbing rope, and the reliability of the climbing robot climbing on the rope, a plurality of U-shaped wheels may be provided in the driving assembly 200 of the climbing robot, and / or a plurality of driving assemblies 200 may be installed around the main frame 100. For example, Figure 1 As shown, a total of four drive assemblies 200 are installed on both sides of the main frame 100, that is, there are two drive assemblies 200 on each side of the main frame 100, and each drive assembly 200 has two sets of passive transmission assemblies and one set of active transmission assemblies, so that each side of the climbing robot has four U-shaped wheels 202 attached to the same handrail rope 700, thereby having a larger contact area with the handrail rope 700 and a higher friction, so that the climbing robot has higher reliability in climbing on the rope.

[0057] The drive assembly 200 adopts a structure of two sets of passive transmission assemblies and one set of active transmission assemblies. Figure 3 , Figure 4 As shown, the driving support frame 201 is in an inverted V-shaped structure, two groups of passive transmission components are located at the two ends of the inverted V-shaped structure, and one group of active transmission components is located in the middle of the inverted V-shaped structure. The power transmission between the two groups of passive transmission components and the active transmission component can be completed through the same synchronous belt. Correspondingly, tensioning wheels can also be arranged on the synchronous belt movement path between the two groups of passive transmission components and the active transmission component. The configuration process of the tensioning wheel can refer to the above-mentioned embodiment of the configuration of the tensioning wheel, and will not be repeated here.

[0058] It should be noted that in the embodiment of the present application, the support shaft 2012 and the tensioning bracket installation shaft 303 can be the same shaft.

[0059] It is understandable that the climbing robot of the present application needs to provide electric energy to various motors through batteries or power supplies. When batteries are used as energy supply, the batteries can be installed on the bracket body 101 through a battery mounting bracket.

[0060] See also Figure 5 as well as Figure 6 The embodiment process of the climbing robot crossing the rope clamps on two handrail ropes of the present application is as follows: when climbing on a handrail rope 700 where there is no handrail rope clamp 701, the U-shaped wheel 202 of the climbing robot contacts the upper surface of the handrail rope 700 downward, while the passive obstacle-crossing wheel 301 of the climbing robot contacts the side surface of the handrail rope 700 from the side direction, wherein the passive obstacle-crossing wheels 301 of the climbing robot on the two handrail ropes 700 contact the handrail rope 700 from the outer direction of the two handrail ropes 700 toward the direction close to the handrail rope, so that the climbing robot bears the outward tension of the handrail rope at the same time, which can make the climbing robot climb on the handrail rope more firmly. When the climbing robot contacts the handrail rope clamp 701 in the forward direction, the U-shaped wheel of the climbing robot can directly climb over the upper surface of the handrail rope clamp 701 under the action of the driving motor, and then fall back onto the handrail rope 700; and after the passive obstacle crossing wheel 301 of the climbing robot contacts the handrail rope clamp 701, the forward momentum of the climbing robot forces the passive obstacle crossing wheel 301 to roll over the side surface of the handrail rope clamp 701. At this time, the passive obstacle crossing wheel 301 will force the tensioning bracket 302 to slide along the tensioning bracket mounting shaft 303 and then compress the tensioning spring 304. When this group of driving components of the climbing robot leaves the handrail rope clamp 701 and returns to the handrail rope, the tensioning spring 304 will automatically release the compression spring, so that the passive obstacle crossing wheel 301 contacts the side of the handrail rope 700 from the side again. It is worth noting that the climbing robot of the present application has multiple passive obstacle wheels 301 on the same handrail rope 700, which cooperate with the U-shaped wheel 202 to limit the handrail rope 700. When one of the passive obstacle wheels 301 loses the lateral restriction of the handrail rope 700 after crossing the handrail rope clamp 701, there are other passive obstacle wheels 301 on the same climbing robot that cooperate with the U-shaped wheel 202 to limit the handrail rope 700, so as to ensure the reliability of the climbing robot climbing on the handrail rope 700.

[0061] The above contents are descriptions of the present application in combination with specific embodiments, and it cannot be considered that the specific implementation of the present application is limited to these embodiments. For ordinary technicians in the technical field to which the present application belongs, several changes and substitutions can be made without departing from the concept of the present application, which should be considered to belong to the protection scope of the present application.

Claims

1. A climbing robot, characterized in that: Used for climbing along two ropes, comprising: a main frame (100), a driving assembly (200), a control module, and a passive obstacle-crossing wheel assembly (300); The main support (100) comprises a support body (101) and drive assembly installation positions (102) located on both sides of the support body (101); The driving assembly (200) comprises a driving support frame (201), a U-shaped wheel (202), a driving motor (203) and a driving transmission component; wherein the driving motor (203) is fixedly mounted on the driving support frame (201), the U-shaped wheel (202) is rotatably mounted on the driving support frame (201), and the driving motor (203) drives the U-shaped wheel (202) through the driving transmission component; the driving support frame (201) is rotatably mounted on the driving assembly mounting position (102), and the distance between the U-shaped wheels (202) on both sides of the support body (101) is adapted to the distance between the two ropes; The control module comprises a controller, the controller is electrically connected to the drive motor (203), and the controller is used to control the forward and reverse rotation of the drive motor (203); The passive obstacle crossing wheel assembly (300) comprises a passive obstacle crossing wheel (301), a tensioning bracket (302), a tensioning bracket mounting shaft (303) and a tensioning spring (304); wherein the passive obstacle crossing wheel (301) is rotatably mounted on the tensioning bracket (302), the tensioning bracket (302) is slidably mounted on the tensioning bracket mounting shaft (303), the tensioning bracket mounting shaft (303) is fixedly mounted on the driving support frame (201), and the tensioning spring (304) is sleeved on the tensioning bracket mounting shaft (303), so that the tensioning bracket (302) is located at one end of the tensioning bracket mounting shaft (303) under the elastic force of the tensioning spring (304); the passive obstacle crossing wheel assembly (300) is used to cooperate with the U-shaped wheel (202) to trap the rope between the U-shaped wheel (202) and the passive obstacle crossing wheel (301); The tension bracket mounting shaft (303) is a shaft with a circular cross-section; one end of the tension spring (304) is fixed to the driving support frame (201), and the other end of the tension spring (304) is fixedly connected to the tension bracket (302), so that the initial angle state between the rotation axis direction of the U-shaped wheel (202) on the driving support frame (201) and the rotation axis direction of the passive obstacle crossing wheel (301) on the driving support frame (201) is perpendicular.

2. The climbing robot according to claim 1, characterized in that: The tension bracket installation shafts (303) are two or more, and a sliding bushing (305) is fixedly installed on one end of the tension spring (304), and the sliding bushing (305) is in surface contact with the tension bracket (302).

3. The climbing robot according to any one of claims 1 to 2, characterized in that: In the axial cross section of the passive obstacle-crossing wheel (301), one end away from the tensioning bracket (302) is larger than the other end.

4. The climbing robot according to claim 3, characterized in that: The shape of the passive obstacle-crossing wheel (301) is adapted to the shape of the fixing device of the rope.

5. The climbing robot according to claim 1, characterized in that: The support body (101) comprises a horizontal frame (1011) and a vertical frame (1012), and two ends of the horizontal frame (1011) are respectively fixedly connected to the vertical frame (1012) to form an "H"-shaped support body (101); The drive assembly installation positions (102) are located at both ends of the longitudinal frame (1012).

6. The climbing robot according to claim 5, characterized in that: The drive assembly mounting position (102) is a mounting hole, and the drive support frame (201) is rotatably mounted in the mounting hole via a mounting shaft (2011).

7. The climbing robot according to claim 1, characterized in that: The driving support frame (201) comprises: an outer plate (2013), an inner plate (2012) and a mounting shaft (2011); the outer plate (2013) and the inner plate (2012) are arranged opposite to each other; the mounting shaft (2011) is arranged between the outer plate (2013) and the inner plate (2012) and is used to fix the relative positions of the outer plate (2013) and the inner plate (2012).

8. The climbing robot according to claim 7, characterized in that: The driving motor (203) is fixedly mounted between the inner plate (2012) and the outer plate (2013) via a driving motor bracket (204).

9. The climbing robot according to claim 8, characterized in that: The drive transmission component includes: an active transmission component and a passive transmission component; The active transmission component is used to be connected to the driving motor (203) for transmitting the power output by the driving motor (203) to the passive transmission component; The passive transmission component is used to be coaxially connected to the U-shaped wheel (202) to transmit the power of the passive transmission component to the U-shaped wheel (202).

10. The climbing robot according to claim 9, characterized in that: A plurality of pairs of through holes are arranged opposite to each other between the outer plate (2013) and the inner plate (2012); The active transmission assembly comprises: a coupling (212), a worm (205), a worm support (206), a worm bearing (207), a turbine (208), a turbine bearing (209), a driving wheel (210), and a synchronous belt (211); The passive transmission assembly comprises: a driven wheel (216), a driven wheel bearing (213), and a driven shaft (214); The worm (205) is rotatably mounted on the worm bracket (206) via the worm bearing (207); the worm bracket (206) is fixedly mounted between the inner plate (2012) and the outer plate (2013); one end of the worm (205) is connected to the output shaft of the drive motor (203) via the coupling (212); the other end of the worm (205) is cooperatively connected to the turbine (208); the turbine shaft of the turbine (208) is mounted on a pair of through holes of the outer plate (2013) and the inner plate (2012) via the turbine bearing (209); one end of the turbine shaft passes through the inner plate (2012) and is coaxially connected to the driving wheel (210); The driven shaft (214) is rotatably mounted through the other pair of through holes of the outer plate (2013) and the inner plate (2012) via a driven wheel bearing (213); one end of the driven shaft (214) that passes through the inner plate (2012) is coaxially connected to the driven wheel (216); and the portion of the driven shaft (214) between the outer plate (2013) and the inner plate (2012) is coaxially fixedly connected to the U-shaped wheel (202); The driving wheel (210) is connected to the driven wheel (216) via the synchronous belt (211).

11. The climbing robot according to claim 10, characterized in that: The driving transmission component also includes a synchronous tensioning wheel (215) installed on the moving path of the synchronous belt (211).

12. The climbing robot according to claim 11, characterized in that: The active transmission components are grouped into one, and the passive transmission components are grouped into two.

13. The climbing robot according to claim 12, characterized in that: The driving support frame (201) is in an inverted V-shaped structure, two groups of passive transmission components are located at two ends of the inverted V-shaped structure, and one group of active transmission components is located in the middle of the inverted V-shaped structure.

14. The climbing robot according to any one of claims 7 to 13, characterized in that: The installation shaft (2011) and the tensioning bracket installation shaft (303) are the same shaft.

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