Testing device of telescopic rope circulating climbing robot
By designing a retractable cable-loop climbing robot testing device, the problem of fixed device size in the existing technology is solved, and the flexible adjustment and contraction of the testing device are achieved to adapt to climbing robots of different sizes and testing requirements, thereby improving the flexibility of the test and the efficiency of space utilization.
Patent Information
- Application Number
- CN202510800604.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-16
- Publication Date
- 2025-09-16
AI Technical Summary
In the existing technology, the cable-type climbing robot testing device cannot flexibly adjust the size of the testing device according to the size of the climbing robot and the testing requirements, and the ordinary circular climbing robot testing device cannot flexibly adjust the size of the testing device, resulting in limited climbing range and speed.
A test device for a retractable cable-loop climbing robot was designed. The device included an outer frame, an inner frame, a linear guide slider, a linear actuator, a drive assembly, a cable retracting and tensioning assembly, and a fixed pulley. Through the combination of these components, the test device achieved adjustability and retractability, adapting to climbing robots of different sizes and testing requirements.
The test device can be flexibly adjusted, leaving enough room for movement, and can be easily retracted and stored after the test is completed, thus solving the problem of fixed device size in the prior art and improving the flexibility of the test and the efficiency of space utilization.
Smart Images
Figure CN120651555A_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the technical field of robot testing, and in particular relates to a testing device for a retractable cable loop climbing robot. Background Art
[0002] Climbing robots play an important role in basic research, agriculture, industry, and the military. Currently, testing of cable-climbing robots mostly relies on slings, which significantly limits the climbing range and measurable climbing speed. Conventional loop-type climbing robot testing equipment cannot flexibly adjust the size of the test robot to the test robot size and test requirements.
[0003] There is an urgent need for a retractable cable loop test device with adjustable size for a loop-type climbing robot, which can flexibly adjust the size of the test device according to test requirements. Summary of the Invention
[0004] The present invention overcomes one of the shortcomings of the prior art and provides a testing device for a retractable cable-circulating climbing robot. It can solve the current problem that the size of the testing device cannot be flexibly adjusted according to the size of the cable-circulating climbing robot and the testing requirements. It can realize that the size of the climbing robot circulation testing device can be changed according to the robot size and testing requirements, leaving sufficient motion range margin for safety considerations, and it is easy to store after being retracted.
[0005] According to one aspect of the present disclosure, a testing device for a retractable cable loop climbing robot is proposed, the device comprising: an outer frame 1, an inner frame 2, linear guide sliders 3-6, linear push rods 7-10, a drive assembly 11, a cable telescopic and tensioning assembly 12, fixed pulleys 13-16, and a cable 17; the outer frame 1 and the inner frame 2 are connected respectively via linear guide sliders 3-6; one end of the linear push rods 7-10 is fixed to the outer frame 1, and the other end is fixed to the inner frame 2; the drive assembly 11 and the cable telescopic and tensioning assembly 12 are respectively fixed to the outer frame 1, the fixed pulleys 13-14 are installed on the outer frame 1, and the fixed pulleys 15-16 are installed on the inner frame 2, and the cable 17 is sequentially wound around the drive assembly 11, the cable telescopic and tensioning assembly 12, and the fixed pulleys 13-16 to form a ring-shaped climbing cable.
[0006] In one possible implementation, the driving assembly 11 is composed of a driving roller 111, a driven roller 112, a driven roller 113, a roller frame 114, a linear push rod 115, and an elastic linear damper 116; wherein, the driving roller 111 is installed on the outer frame 1, the driven roller 112 and the driven roller 113 are installed on the roller frame 114, the lower end of the linear push rod 115 is connected to the roller frame 114, and the upper end of the linear push rod 115 is fixedly connected to the elastic linear damper 116.
[0007] In one possible implementation, the cable telescopic tensioning assembly 12 is composed of fixed pulleys 121-122, an adjustable pulley 123, a pulley frame 124, a spring 125 and a linear push rod 126; the fixed pulleys 121-122 are respectively mounted on the outer frame 1; the adjustable pulley 123 is mounted on the pulley frame 124, and one end of the linear push rod 126 is mounted on the outer frame 1, and the other end is mounted on the pulley frame 124 through the spring 125.
[0008] In one possible implementation, the push rod movement direction of the linear push rod 7-10 is parallel to the movement direction of the linear guide rail slider 3-6.
[0009] In a possible implementation, the driving assembly 11 is used to absorb or release the cable 17 after the relative movement between the outer frame 1 and the inner frame 2 .
[0010] In one possible implementation, by adjusting the displacement of the linear push rod 115, the roller frame 114 and the driven rollers 112-113 installed on the roller frame 114 are driven to move, thereby adjusting the distance between the driven rollers 112-113 and the driving roller 111 and the pressure on the cable 17.
[0011] In a possible implementation, the lower end of the linear push rod 115 rotates around a connection point connected to the roller frame 114 .
[0012] In a possible implementation, the outer frame 1 and the inner frame 2 move up and down via the linear guide sliders 3 - 6 .
[0013] The test device for a retractable cable loop climbing robot disclosed herein comprises: an outer frame 1, an inner frame 2, linear guide sliders 3-6, linear push rods 7-10, a drive assembly 11, a cable telescopic tensioning assembly 12, fixed pulleys 13-16, and a cable 17; the outer frame 1 and the inner frame 2 are connected by linear guide sliders 3-6 respectively; one end of the linear push rods 7-10 is fixed to the outer frame 1, and the other end is fixed to the inner frame 2; the drive assembly 11 and the cable telescopic tensioning assembly 12 are respectively fixed to the outer frame 1, the fixed pulleys 13-14 are mounted on the outer frame 1, and the fixed pulleys 15-16 are mounted on the inner frame 2; the cable 17 is sequentially wound around the drive assembly 11, the cable telescopic tensioning assembly 12, and the fixed pulleys 13-16 to form a ring-shaped climbing cable. The size of the test device can be flexibly adjusted according to test requirements, and sufficient range of motion margin is reserved for safety considerations, and it is easy to store after being retracted. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] The accompanying drawings are used to provide a further understanding of the technical solution of this application or the prior art and constitute a part of the specification. Among them, the drawings that express the embodiments of this application are used together with the embodiments of this application to explain the technical solution of this application, but do not constitute a limitation of the technical solution of this application.
[0015] Figure 1 A schematic diagram of a testing device for a retractable cable loop climbing robot according to an embodiment of the present disclosure is shown;
[0016] Figure 2 A schematic diagram of a drive assembly of a testing device for a retractable cable loop climbing robot according to an embodiment of the present disclosure is shown;
[0017] Figure 3 A schematic diagram of a cable retracting and tensioning assembly of a testing device for a retractable cable cyclic climbing robot according to an embodiment of the present disclosure is shown; DETAILED DESCRIPTION
[0018] The following will describe the implementation methods of the present invention in detail with reference to the accompanying drawings and examples, so that the implementation process of how the present invention applies technical means to solve technical problems and achieve corresponding technical effects can be fully understood and implemented accordingly. The embodiments of this application and the various features in the embodiments can be combined with each other without conflict, and the technical solutions formed are all within the scope of protection of the present invention.
[0019] In addition, the steps shown in the flowchart of the accompanying drawings can be executed in a computer such as a set of computer-executable instructions. Also, although a logical order is shown in the flowchart, in some cases, the steps shown or described can be performed in a different order than here.
[0020] Figure 1 The schematic diagram of the testing device for a retractable cable loop climbing robot according to an embodiment of the present disclosure is shown. The testing device can be used for climbing robots. The following description takes a loop climbing robot as an example. Figure 1 As shown, the device may include:
[0021] Outer frame 1, inner frame 2, linear guide sliders 3-6, linear push rods 7-10, drive assembly 11, cable telescopic tensioning assembly 12, fixed pulleys 13-16, and cable 17.
[0022] like Figure 1 As shown, the outer frame 1 and the inner frame 2 are respectively connected by linear guide sliders 3-6 ( Figure 1 The linear guide sliders 3, 4, 5 and 6 are connected, and the outer frame 1 and the inner frame 2 move up and down through the linear guide sliders 3-6. Figure 1 One end of the linear push rods 7, 8, 9, and 10 shown is fixed to the outer frame 1, and the other end is fixed to the inner frame 2. The linear push rods 7-10 can also be implemented by one linear push rod as needed, without any limitation. Figure 1 As shown, the push rod movement direction of the linear push rod 7-10 is parallel to the movement direction of the linear guide slider 3-6.
[0023] like Figure 1 As shown, the driving assembly 11 and the cable telescopic tensioning assembly 12 are respectively fixed on the outer frame 1, the fixed pulley 13 and the fixed pulley 14 are installed on the outer frame 1, the fixed pulley 15 and the fixed pulley 16 are installed on the inner frame 2, and the cable 17 is wound around the driving assembly 11, the cable telescopic tensioning assembly 12, the fixed pulleys 13-16 ( Figure 1 The fixed pulleys 13, 14, 15, and 16 shown form an endless climbing rope.
[0024] Figure 2 A schematic diagram of a drive assembly of a testing device for a retractable cable loop climbing robot according to an embodiment of the present disclosure is shown.
[0025] In one example, if Figure 2 As shown, the driving assembly 11 consists of a driving roller 111, a driven roller 112, a driven roller 113, a roller frame 114, a linear push rod 115, and an elastic linear damper 116; wherein, the driving roller 111 is installed on the outer frame 1, the driven roller 112 and the driven roller 113 are installed on the roller frame 114, the lower end of the linear push rod 115 is connected to the roller frame 114, and the upper end of the linear push rod 115 is fixedly connected to the elastic linear damper 116.
[0026] In one example, the drive assembly 11 can be used to absorb or release the cable 17 after the relative movement between the outer frame 1 and the inner frame 2, that is, the roller frame 114 and the driven roller 112 and the driven roller 113 installed on the roller frame 114 can be driven to move by adjusting the displacement of the linear push rod 115, and the distance between the driven roller 112 and the driven roller 113 and the driving roller 111 can be adjusted, thereby adjusting the pressure on the cable 17. The pressure and the contact surface characteristics of the cable 17, the driven roller 112 and the driven roller 113 determine the maximum weight of the climbing robot running on the cable 17 when the cable 17 does not slip.
[0027] In addition, the lower end of the linear push rod 115 rotates around the connection point connected to the roller frame 114. Figure 2 As shown, the lower end of the linear push rod 115 is connected to the roller frame 114 and can rotate around the connection point, thereby achieving pressure balance between the driven roller 112-cable 17-driving roller 111 and pressure balance between the driven roller 113-cable 17-driving roller 111, which can avoid the situation where one group of pressure is too high and the other group of pressure is too low.
[0028] Figure 3 A schematic diagram of a cable retracting and tensioning assembly of a testing device for a retractable cable cyclic climbing robot according to an embodiment of the present disclosure is shown.
[0029] In one example, if Figure 3 As shown, the cable telescopic tensioning assembly 12 is composed of a fixed pulley 121 and a fixed pulley 122, an adjustable pulley 123, a pulley frame 124, a spring 125 and a linear push rod 126. Figure 1 As shown, fixed pulleys 121-122 are respectively mounted on outer frame 1, adjustable pulley 123 is mounted on pulley frame 124, and linear actuator 126 is mounted on outer frame 1 at one end and on pulley frame 124 via spring 125 at the other end. Under the action of linear actuator 126, pulley frame 124 moves in the direction of movement of linear actuator 126, absorbing or releasing the tension of cable 17 and maintaining the tension of cable 17. Linear actuator 126 can also be implemented using other telescopic mechanisms, which are not limited here.
[0030] Use Figure 1 When the testing device for the retractable cable loop climbing robot of the present invention is used to test the cable loop climbing robot, the specific process is as follows:
[0031] Based on the size of the cable-loop climbing robot and the test task, the linear guide sliders 3-6 and the linear push rods 7-10 of the cable retracting and tensioning assembly 12 are synchronously adjusted. When the inner frame 2 moves toward the outer frame 1, the overall height of the test device decreases, and the linear push rods 7-10 drive the pulley frame 124 upward, maintaining the tension of the cable 17 within a reasonable range or a constant value. When the inner frame 2 moves away from the outer frame 1, the overall height of the test device increases, and the linear push rods 7-10 drive the pulley frame 124 downward, maintaining the tension of the cable 17 within a reasonable range or a constant value. The linear push rods 115 of the drive assembly 11 are adjusted to ensure that the pressure on both sides of the cable 17 is at an appropriate value. The driven rollers 112-113 of the drive assembly 11 are controlled according to preset instructions or rules to drive the movement of the cable 17 and the movement of the cable-loop climbing robot; the test is completed.
[0032] The test device of the retractable cable loop climbing robot disclosed in the present invention includes: an outer frame 1, an inner frame 2, linear guide sliders 3-6, linear push rods 7-10, a drive assembly 11, a cable telescopic and tensioning assembly 12, fixed pulleys 13-16, and a cable 17; the outer frame 1 and the inner frame 2 are connected respectively by linear guide sliders 3-6; one end of the linear push rods 7-10 is fixed to the outer frame 1, and the other end is fixed to the inner frame 2; the drive assembly 11 and the cable telescopic and tensioning assembly 12 are respectively fixed to the outer frame 1, the fixed pulleys 13-14 are installed on the outer frame 1, and the fixed pulleys 15-16 are installed on the inner frame 2, and the cable 17 is sequentially wound around the drive assembly 11, the cable telescopic and tensioning assembly 12, and the fixed pulleys 13-16 to form a ring-shaped climbing cable. It can adapt to climbing robots of different sizes and different testing requirements, and the size of the test device can be flexibly adjusted; and after the test is completed, it can be stored in a smaller size to save storage space.
[0033] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.
Claims
1. A testing device for a retractable cable loop climbing robot, characterized in that: The device includes: an outer frame 1, an inner frame 2, linear guide sliders 3-6, linear push rods 7-10, a drive assembly 11, a cable telescopic tensioning assembly 12, fixed pulleys 13-16, and a cable 17; the outer frame 1 and the inner frame 2 are connected via linear guide sliders 3-6 respectively; one end of the linear push rods 7-10 is fixed to the outer frame 1, and the other end is fixed to the inner frame 2; the drive assembly 11 and the cable telescopic tensioning assembly 12 are respectively fixed to the outer frame 1, the fixed pulleys 13-14 are installed on the outer frame 1, and the fixed pulleys 15-16 are installed on the inner frame 2, and the cable 17 is sequentially wound around the drive assembly 11, the cable telescopic tensioning assembly 12, and the fixed pulleys 13-16 to form a ring-shaped climbing cable.
2. The testing device according to claim 1, characterized in that: The driving assembly 11 consists of a driving roller 111, a driven roller 112, a driven roller 113, a roller frame 114, a linear push rod 115, and an elastic linear damper 116; wherein, the driving roller 111 is installed on the outer frame 1, the driven roller 112 and the driven roller 113 are installed on the roller frame 114, the lower end of the linear push rod 115 is connected to the roller frame 114, and the upper end of the linear push rod 115 is fixedly connected to the elastic linear damper 116.
3. The testing device according to claim 1, characterized in that: The cable telescopic tensioning assembly 12 consists of fixed pulleys 121-122, an adjustable pulley 123, a pulley frame 124, a spring 125 and a linear push rod 126; the fixed pulleys 121-122 are respectively installed on the outer frame 1; the adjustable pulley 123 is installed on the pulley frame 124, one end of the linear push rod 126 is installed on the outer frame 1, and the other end is installed on the pulley frame 124 through the spring 125.
4. The testing device according to claim 1, characterized in that: The movement direction of the linear push rod 7-10 is parallel to the movement direction of the linear guide slider 3-6.
5. The testing device according to claim 1, characterized in that: The driving assembly 11 is used to absorb or release the cable 17 after the relative movement between the outer frame 1 and the inner frame 2.
6. The testing device according to claim 2, characterized in that: The displacement of the linear push rod 115 is adjusted to drive the roller frame 114 and the driven rollers 112 - 113 installed on the roller frame 114 to move, thereby adjusting the distance between the driven rollers 112 - 113 and the driving roller 111 and the pressure on the cable 17 .
7. The testing device according to claim 2, characterized in that: The lower end of the linear push rod 115 rotates around a connection point connected to the roller frame 114 .
8. The testing device according to claim 1, characterized in that: The outer frame 1 and the inner frame 2 move up and down through the linear guide sliders 3-6.