CN108297956B - Automatic climbing robot - Google Patents
Automatic climbing robot Download PDFInfo
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- CN108297956B CN108297956B CN201711314127.0A CN201711314127A CN108297956B CN 108297956 B CN108297956 B CN 108297956B CN 201711314127 A CN201711314127 A CN 201711314127A CN 108297956 B CN108297956 B CN 108297956B
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- 230000009194 climbing Effects 0.000 title claims abstract description 20
- 238000009434 installation Methods 0.000 claims description 16
- 230000001360 synchronised effect Effects 0.000 claims description 9
- 210000000078 claw Anatomy 0.000 claims description 5
- 230000005484 gravity Effects 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of robots, in particular to an automatic climbing robot which can adapt to square and round rods with uneven upper and lower thickness and flange obstacles and is characterized in that: the telescopic climbing device comprises a longitudinal telescopic module which can be wrapped on a climbing rod, a plurality of telescopic arm modules which are arranged on the longitudinal telescopic module, and a crank rocker module which drives the longitudinal telescopic module to stretch.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a full-automatic climbing robot which can adapt to square and round bars with uneven upper and lower thicknesses and flange obstacles.
Background
Electric poles in current power plants and substations are generally thick, thin, flanged and have a large number of surrounding lines. At present, the climbing robot cannot adapt to climbing of square rods and round rods with uneven upper and lower thicknesses and flange obstacles, such as obstacle surmounting pole-climbing robots (ZL 201110359574.4) and standing pole-climbing robots (ZL 200910223463.3). In order to solve the problems, a full-automatic climbing robot which can adapt to square rods and round rods with uneven vertical thickness and flange obstacles needs to be designed, the robot is utilized to simulate the action of climbing trees by people, the climbing process is completed, the obstacle crossing capability is extremely strong, and the social production efficiency is improved.
Disclosure of Invention
The invention aims to overcome the defects in the background technology and provides a full-automatic climbing robot which can adapt to square and round rods with uneven upper and lower thicknesses and flange obstacles.
The technical scheme adopted by the invention is as follows:
an automatic climbing robot which is characterized in that: the telescopic climbing device comprises a longitudinal telescopic module which can be wrapped on a climbing rod, a plurality of telescopic arm modules which are arranged on the longitudinal telescopic module, and a crank rocker module which drives the longitudinal telescopic module to stretch.
The longitudinal telescopic module consists of two symmetrically arranged sub-modules, each sub-module comprising:
the upper layer semicircle ring and the lower layer semicircle ring are vertically corresponding;
the first round tube, the second round tube and the third round tube are vertically arranged; the first round tube is arranged at one end of the upper layer semicircular ring and the lower layer semicircular ring, the second round tube is arranged at the middle points of the upper layer semicircular ring and the lower layer semicircular ring, and the third round tube is arranged at the other end of the upper layer semicircular ring and the lower layer semicircular ring; the upper layer semicircle rings are sequentially sleeved on the first round tube, the second round tube and the third round tube through the first moving pair, the second moving pair and the cylindrical pair;
a first fixing cap; the upper end of the third round tube is used for connecting the two sub-modules;
a second fixing cap; the lower ends of the third round tubes used for connecting the two sub-modules and the first fixing cap ensure that the two third round tubes of the two sub-modules are kept parallel when the upper layer semicircular rings slide up and down;
the first fixing block and the second fixing block are used for fixedly connecting the first round tube and the second round tube with the lower layer semicircular ring respectively;
a restraining cap; the jackscrew is arranged on a third round tube at the upper side of the revolute pair to restrict the longitudinal movement of the revolute pair;
four arm mounting windows; wherein, two arm installation windows are respectively arranged at the middle points of the first semicircular ring and the second semicircular ring between the first circular tube and the second circular tube, and the other two arm installation windows are respectively arranged at the middle points of the first semicircular ring and the second semicircular ring between the second circular tube and the third circular tube;
two opening and closing locks; the first movable pair and the first fixed block are respectively arranged on the first movable pair and the first fixed block and are matched with the opening and closing lock of the other sub-module one by one;
an ultrasonic module; the bottom of an arm installation window arranged on the lower layer semicircle ring.
The telescopic arm module comprises a first stepping motor, a motor frame, a coupler, a screw rod nut, a guide rail sliding block, a guide rail, a steering engine, a wheel fork, a rubber wheel, a ratchet wheel, a stop dog, a spring piece, an ear hole and a traction spring;
the first stepping motor is arranged at the outer end of the motor frame; the shaft coupling connects the lead screw with the motor output shaft of the first stepping motor; the longitudinal threaded through hole of the screw nut penetrates through the screw, and the transverse blind hole of the screw nut is arranged in the arm installation window; the screw nut is fixed on the guide rail slide block; the guide rail is arranged at the lower side of the motor frame and is matched with the guide rail sliding block; the steering engine is arranged at the inner end of the motor frame; the wheel fork is arranged on the steering engine output shaft; the rubber wheel and the ratchet wheel are fixed and arranged on the wheel fork; the locking claw is arranged on the wheel fork and is matched with the ratchet wheel; the spring piece is arranged on the wheel fork and compresses the locking claw; the connecting spring is arranged between two adjacent telescopic arm modules on the left and right sides in the two sub-modules, the adjacent telescopic arm modules are connected together, and the end part of the connecting spring is hooked on an ear hole at the inner end of the motor frame.
The crank rocker module consists of two symmetrically arranged sub-modules, each sub-module drives a sub-module of a longitudinal telescopic module, and each sub-module of the crank rocker module comprises a first direct current motor, a synchronous belt, a crank and a rocker; the synchronous pulley on the output shaft of the first direct current motor drives the crank to circumferentially rotate through the synchronous belt, and the crank is connected with the second moving pair through the rocker.
The beneficial effects of the invention are as follows:
1. the invention can adapt to the rods with uneven thickness up and down, and can climb fully automatically no matter whether the rods have barriers or not, and no matter whether the rods are square rods or round rods;
2. the invention realizes the travel and stop conversion of the mechanism by utilizing the ratchet wheel self-locking, so that the mechanism is simpler and more reliable;
3. the invention uses gravity to slide downwards, thus saving energy;
4. the invention realizes obstacle crossing by utilizing the relative circular movement of the connecting springs and the eight telescopic arm modules, and has ingenious conception.
Drawings
FIG. 1 is a front view of a crank and rocker module of the present invention;
FIG. 2 is a front view of a longitudinal expansion module of the present invention;
FIG. 3 is a perspective view of a longitudinal expansion module of the present invention;
FIG. 4 is a perspective view of the telescopic arm of the present invention;
FIG. 5 is one of the perspective views of the overall structure of the present invention (the inner ends of the telescopic arms of the upper and lower semicircular rings are all below the horizontal level);
FIG. 6 is a second perspective view of the overall structure of the present invention (the inner ends of the telescopic arms on the lower layer semicircle are above the horizontal and the inner ends of the telescopic arms on the upper layer semicircle are below the horizontal);
FIG. 7 is a third perspective view of the overall structure of the present invention (the inner ends of the telescopic arms on the lower layer semicircle are below the horizontal level, and the inner ends of the telescopic arms on the upper layer semicircle are above the horizontal level);
FIG. 8 is a top view of the present invention;
fig. 9 is a perspective view of a lead screw nut in the telescopic arm module of the present invention.
Detailed Description
The present invention will be further described below, but the present invention is not limited to the following examples.
The invention comprises a crank rocker module A, a longitudinal telescopic module B and a telescopic arm module C. The crank rocker module mainly comprises a crank, a rocker and a first direct current motor; the longitudinal telescopic module mainly comprises an upper layer of circular rings, a lower layer of circular rings and six vertical circular tubes; the telescopic arm module C is connected to the upper layer of circular ring and the lower layer of circular ring through the arm installation window B3 respectively.
Crank rocker module
As shown in fig. 1, the crank-rocker module a is composed of two symmetrically arranged sub-modules, and each sub-module of each crank-rocker module a comprises a first direct current motor A1, a synchronous belt A2, a crank A3 and a rocker A4. The synchronous pulley on the output shaft of the first direct current motor A1 drives a crank A3 to circumferentially rotate through a synchronous belt, and the crank A3 is connected with a rocker A4.
(II) longitudinal expansion Module
As shown in fig. 1 to 3 and fig. 5 to 8, the longitudinal expansion module is composed of two symmetrically arranged sub-modules, and the two sub-modules can be folded or unfolded. The submodule of each longitudinal telescopic module comprises an upper semicircular ring B1, a lower semicircular ring B2, an arm installation window B3, a first fixing cap B4, a second fixing cap B5, a cylindrical pair B6, a limiting cap B7, a revolute pair B8, a first movable pair B9, a second movable pair B10, an unlocking and locking pair B11, an ultrasonic module B12, a first circular tube B13, a second circular tube B14 and a third circular tube B15.
The first round tube B13, the second round tube B14 and the third round tube B15 are distributed as shown in fig. 8, the first round tube B13 and the second round tube B14 are respectively and fixedly connected with the lower layer semicircular ring B2 through a first fixing block B16 and a second fixing block B17, and the third round tube B15 is respectively fixed on a second fixing cap B5; the upper layer semicircular ring B1 is respectively sleeved on the first circular tube B13, the second circular tube B14 and the third circular tube B15 through the first moving pair B9, the second moving pair B10 and the cylindrical pair B6; the upper layer semicircle B1 and the lower layer semicircle B2 are respectively provided with two arm installation windows B3, as shown in fig. 2 and 3, wherein the two arm installation windows are respectively arranged at the middle points of the first semicircle B1 and the second semicircle B2 between the first circular tube and the second circular tube, and the other two arm installation windows are respectively arranged at the middle points of the first semicircle B1 and the second semicircle B2 between the second circular tube and the third circular tube; the first fixing cap B4 is fixed at the upper ends of the two third round tubes B15 of the two sub-modules and is used for ensuring that the two third round tubes B15 of the two sub-modules keep a parallel relationship when the upper layer semicircular ring B1 slides up and down; the cylindrical pair B6 is used for enabling the upper layer semicircular ring B1 and the lower layer semicircular ring B2 to rotate under the condition that the unlocking and locking B11 (both the upper layer semicircular ring and the lower layer semicircular ring are provided with the unlocking and locking) is opened so as to be sleeved on a rod to be climbed at first; the limiting cap B7 is arranged on the upper side of the revolute pair B8 through a jackscrew and is used for limiting the longitudinal movement of the revolute pair B8; the ultrasonic module B12 is mounted on the lower side of one arm mounting window B3 of the lower semicircular ring B2.
The upper layer semicircle ring B1 and the lower layer semicircle ring B2 are connected with the two crank rocker modules A, and specifically are: the rocker A4 of the crank rocker module A is connected with the second movable pair B10, and the first direct current motors A1 of the crank rocker module A are respectively arranged at the lower ends of the second round tubes B14, as shown in fig. 2 and 3.
(III) Telescopic arm Module
As shown in fig. 2, 3, 8 and 9, the telescopic arm module comprises a first stepping motor C1, a motor frame C2, a coupler C3, a screw rod C4, a screw rod nut C5, a guide rail slide block C6, a guide rail C7, a steering engine C8, a fork C9, a rubber wheel C10, a ratchet wheel C11, a stop claw C12, a spring piece C13, an ear hole C14 and a traction spring C15.
The first stepping motor C1 is arranged at the outer end of the motor frame C2; the shaft coupler C3 connects the lead screw C4 with the motor output shaft of the first stepping motor C1; the longitudinal threaded through hole C5-1 of the screw nut C5 penetrates through the screw C4, two transverse blind holes C5-2 of the screw nut C5 are arranged in the arm installation window B3, and the installation window is fixedly connected with the two transverse blind holes through screws, so that the screw nut C5 is positioned, as shown in figure 9; the screw nut C5 is fixed on the guide rail slide block C6; the guide rail C7 is arranged on the lower side of the motor frame C2 and is matched with the guide rail sliding block C6; the steering engine C8 is arranged at the inner end of the motor frame C2; the fork C9 is arranged on an output shaft of the steering engine C8; the rubber wheel C10 and the ratchet wheel C11 are fixed and arranged on the wheel fork C9; the stop claw C12 is arranged on the fork C9 and is matched with the ratchet wheel C11; the spring piece C13 is arranged on the fork C9 and presses the stop pawl C12; the connecting spring C15 is arranged between two left and right adjacent telescopic arm modules C in the two sub-modules, the adjacent telescopic arm modules C are connected together, and the end part of the connecting spring is hooked on an ear hole C14 at the inner end of the motor frame C2.
The telescopic arm module C is respectively arranged in the arm installation windows B3 of the upper layer semicircle ring B1 and the lower layer semicircle ring B2 through the screw nut C5.
The working principle of the invention is as follows:
process for fitting onto a rod
Opening the opening and closing lock, and sleeving the upper layer of circular ring and the lower layer of circular ring on the rod to be climbed in a rotating way, so as to seal the opening and closing lock of the two sub-modules.
(II) climbing procedure
The inner ends of the eight telescopic arm modules C are below the corresponding circular ring horizontal plane, as shown in fig. 5, the ratchet wheel C11 limits the rubber wheel C10 to rotate only in one direction, and at the moment, the steering engine C8 rotates to only allow the rubber wheel C10 to climb upwards along the rod to be climbed, but cannot rotate downwards along the rod to be climbed. The robot is self-locked on the pole to be climbed due to the action of gravity. The crank rocker mechanism A is driven by a first direct current motor A1 arranged on the lower semicircular ring B2, and the distance between the upper semicircular ring B1 and the lower semicircular ring B2 can be periodically changed in a long and short range by the crank rocker A, so that the upper semicircular ring B1 and the lower semicircular ring B2 are alternately self-locked, the upper semicircular ring B1 lifts the lower semicircular ring B2 upwards under the action of the crank rocker A, and the lower semicircular ring B2 lifts the upper semicircular ring B1 upwards, so that the whole mechanism climbs upwards;
when climbing up to meet the obstacle, the whole mechanism moves as normal climbing up, because the telescopic arm module C inclines downwards and is provided with the traction spring C15, as shown in fig. 7, the upper telescopic arm module C and the lower telescopic arm module C are respectively propped up by the obstacle when crossing the obstacle, so that the obstacle is crossed.
(III) sliding-down procedure
a. When no protruding obstacle exists, the inner ends of the eight telescopic arm modules C are below the horizontal plane of the corresponding circular ring, as shown in fig. 5, (at this time, the axes of the four rubber wheels C10 at the upper layer are in a vertical state, the axes of the four rubber wheels C10 at the lower layer are in a horizontal state, or the axes of the four rubber wheels C10 at the upper layer are in a horizontal state, and the axes of the four rubber wheels C10 at the lower layer are in a vertical state, namely, only one layer of circular ring is allowed to move in the vertical direction, and the other layer of circular ring is self-locked on a rod to be climbed), the steering engine C8 at the inner ends of the four telescopic arm modules C and the steering engine C8 at the inner ends of the four telescopic arm modules C are simultaneously rotated for 90 degrees, namely, the upper layer and lower layer of semicircular rings B1 and B2 are ensured to be alternately self-locked on the rod to slide downwards, and then the lower sliding is realized by gravity.
b. When encountering the flange, through the first stepper motor C1 of two flexible arm modules C (four flexible arm modules C on the whole ring, two on the semicircle ring) outer ends on the lower layer semicircle ring B2, the flexible arm module C is driven to rotate to the level firstly by taking the mounting point of the flexible arm module C and the lower layer semicircle ring B2 as a fulcrum, and then the overturning motion of the relative lower layer semicircle ring B2 is completed under the cooperation of the crank rocker A, as shown in figure 6. Then the steering engine C8 rotates to enable the rubber wheel C10 to rotate downwards along the rod, the telescopic arm module C is enabled to surmount the obstacle by utilizing gravity and the crank rocker A, then the telescopic arm module C is driven to rotate to the horizontal by taking the mounting point of the telescopic arm module C and the circular ring as a fulcrum through the first stepping motor C1 at the outer end of the 4 telescopic arms C on the lower layer semicircular ring B2, and then the overturning motion relative to the lower layer semicircular ring is completed under the cooperation of the crank rocker A, the state is changed into the state as shown in fig. 5, the obstacle surmounting of the lower layer semicircular ring is realized, and at the moment, the steering engine rotates for 90 degrees to enable the lower layer semicircular ring to be self-locked on the rod; the upper layer semicircle ring is similar to the obstacle surmounting. When the robot slides downwards and meets the obstacle, if the state of the robot is as shown in fig. 5, the rod cannot be propped up by gravity alone, the ultrasonic module B12 feeds back to the control panel main board, the first direct current motors on the upper and lower circular rings are controlled to work, and a force is added to prop up the telescopic arm module group, so that the robot slides downwards smoothly and passes the obstacle.
The foregoing list is only illustrative of specific embodiments of the invention. Obviously, the invention is not limited to the above embodiments, but many variations are possible. All modifications directly derived or suggested to one skilled in the art from the present disclosure should be considered as being within the scope of the present invention.
Claims (2)
1. An automatic climbing robot which is characterized in that: the device comprises a longitudinal telescopic module (B) which can be clasped on a pole to be climbed, a plurality of telescopic arm modules (C) which are arranged on the longitudinal telescopic module, and a crank rocker module (A) which drives the longitudinal telescopic module to stretch;
the longitudinal telescopic module (B) is composed of two symmetrically arranged sub-modules, each sub-module comprising:
an upper layer semicircle (B1) and a lower layer semicircle (B2) which are vertically corresponding to each other;
first, second, third circular tubes (B13, B14, B15) arranged vertically; the first round tube (B13) is arranged at one end of the upper layer semicircular ring (B1) and the lower layer semicircular ring (B2), the second round tube (B14) is arranged at the middle point of the upper layer semicircular ring (B1) and the lower layer semicircular ring (B2), and the third round tube (B15) is arranged at the other end of the upper layer semicircular ring (B1) and the lower layer semicircular ring (B2); the upper layer semicircle ring (B1) is sequentially sleeved on the first round tube (B13), the second round tube (B14) and the third round tube (B15) through the first moving pair (B9), the second moving pair (B10) and the cylindrical pair (B6);
a first fixing cap (B4); the upper end of a third round tube (B15) used for connecting the two sub-modules;
a second fixing cap (B5); the lower ends of the third round tubes (B15) used for connecting the two sub-modules and the first fixing cap (B4) ensure that the two third round tubes (B15) of the two sub-modules are kept parallel when the upper layer semicircular ring (B1) slides up and down;
the first fixing block (B16) and the second fixing block (B17) respectively fixedly connect the first circular tube (B13) and the second circular tube (B14) with the lower layer semicircular ring (B2);
a limiting cap (B7); the jackscrew is arranged on a third round tube (B15) on the upper side of the revolute pair (B8), so that the longitudinal movement of the revolute pair (B8) is restrained;
four arm mounting windows (B3); wherein two arm installation windows (B3) are respectively arranged at the middle points of the first semicircular ring (B1) and the second semicircular ring (B2) between the first circular tube (B13) and the second circular tube (B14), and the other two arm installation windows (B3) are respectively arranged at the middle points of the first semicircular ring (B1) and the second semicircular ring (B2) between the second circular tube (B14) and the third circular tube (B15);
two opening and closing locks (B11); the first movable pair (B9) and the first fixed block are respectively arranged on the first movable pair and the first fixed block and are matched with the opening and closing lock of the other sub-module one by one;
an ultrasonic module (B12); the bottom of an arm installation window (B3) is arranged on the lower layer semicircular ring (B2);
the telescopic arm module (C) comprises a first stepping motor (C1), a motor frame (C2), a coupler (C3), a screw rod (C4), a screw rod nut (C5), a guide rail sliding block (C6), a guide rail (C7), a steering engine (C8), a fork (C9), a rubber wheel (C10), a ratchet wheel (C11), a stop dog (C12), a spring piece (C13), an ear hole (C14) and a traction spring (C15);
the first stepping motor (C1) is arranged at the outer end of the motor frame (C2); the shaft coupler (C3) is used for connecting the lead screw (C4) with the motor output shaft of the first stepping motor (C1); a longitudinal threaded through hole (C5-1) of the screw nut (C5) penetrates through the screw (C4), and a transverse blind hole (C5-2) of the screw nut (C5) is arranged in the arm installation window (B3); the screw nut (C5) is fixed on the guide rail sliding block (C6); the guide rail (C7) is arranged at the lower side of the motor frame (C2) and is matched with the guide rail sliding block (C6); the steering engine (C8) is arranged at the inner end of the motor frame (C2); the fork (C9) is arranged on an output shaft of the steering engine (C8); the rubber wheel (C10) and the ratchet wheel (C11) are fixed and arranged on the fork (C9); the stop pawl (C12) is arranged on the fork (C9) and is matched with the ratchet wheel (C11); the spring piece (C13) is arranged on the fork (C9) and presses the locking claw (C12); the connecting springs (C15) are arranged between two left and right adjacent telescopic arm modules (C) in the two sub-modules, the adjacent telescopic arm modules (C) are connected together, and the end parts of the connecting springs (C15) are hooked on the ear holes (C14) at the inner ends of the motor frames (C2).
2. The automatic climbing robot of claim 1, wherein: the crank rocker module (A) is composed of two symmetrically arranged sub-modules, each sub-module drives a sub-module of the longitudinal telescopic module (B) respectively, and each sub-module of the crank rocker module (A) comprises a first direct current motor (A1), a synchronous belt (A2), a crank (A3) and a rocker (A4); a synchronous pulley on an output shaft of the first direct current motor (A1) drives a crank (A3) to circumferentially rotate through a synchronous belt, and the crank (A3) is connected with a second moving pair (B10) through a rocker (A4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711314127.0A CN108297956B (en) | 2017-12-12 | 2017-12-12 | Automatic climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711314127.0A CN108297956B (en) | 2017-12-12 | 2017-12-12 | Automatic climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108297956A CN108297956A (en) | 2018-07-20 |
| CN108297956B true CN108297956B (en) | 2024-02-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711314127.0A Active CN108297956B (en) | 2017-12-12 | 2017-12-12 | Automatic climbing robot |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108839723B (en) * | 2018-08-20 | 2023-10-24 | 广西电网有限责任公司电力科学研究院 | Pole climbing device and pole climbing method thereof |
| CN109484505A (en) * | 2018-11-21 | 2019-03-19 | 杨聪智 | Climb unit and climbing device |
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|---|---|---|---|---|
| US5857534A (en) * | 1997-06-05 | 1999-01-12 | Kansas State University Research Foundation | Robotic inspection apparatus and method |
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| CN201405949Y (en) * | 2009-04-29 | 2010-02-17 | 江南大学 | Multi-posture climbing pole robot |
| KR101225691B1 (en) * | 2011-09-02 | 2013-01-23 | 삼성중공업 주식회사 | Maintenance robot for wind power generator |
| CN206277401U (en) * | 2016-12-15 | 2017-06-27 | 重庆三峡学院 | A kind of automatic climbing pole machine people |
| CN206373909U (en) * | 2016-12-15 | 2017-08-04 | 重庆三峡学院 | A kind of electronic climbing level robot |
| CN207712181U (en) * | 2017-12-12 | 2018-08-10 | 浙江理工大学 | A kind of automatic climbing robot |
-
2017
- 2017-12-12 CN CN201711314127.0A patent/CN108297956B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5857534A (en) * | 1997-06-05 | 1999-01-12 | Kansas State University Research Foundation | Robotic inspection apparatus and method |
| CN101195119A (en) * | 2008-01-02 | 2008-06-11 | 武汉理工大学 | Upright post cleaning robot |
| CN201405949Y (en) * | 2009-04-29 | 2010-02-17 | 江南大学 | Multi-posture climbing pole robot |
| KR101225691B1 (en) * | 2011-09-02 | 2013-01-23 | 삼성중공업 주식회사 | Maintenance robot for wind power generator |
| CN206277401U (en) * | 2016-12-15 | 2017-06-27 | 重庆三峡学院 | A kind of automatic climbing pole machine people |
| CN206373909U (en) * | 2016-12-15 | 2017-08-04 | 重庆三峡学院 | A kind of electronic climbing level robot |
| CN207712181U (en) * | 2017-12-12 | 2018-08-10 | 浙江理工大学 | A kind of automatic climbing robot |
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| CN108297956A (en) | 2018-07-20 |
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