CN101537616B - Pole-climbing robot with multiple postures - Google Patents
Pole-climbing robot with multiple postures Download PDFInfo
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- CN101537616B CN101537616B CN2009100311993A CN200910031199A CN101537616B CN 101537616 B CN101537616 B CN 101537616B CN 2009100311993 A CN2009100311993 A CN 2009100311993A CN 200910031199 A CN200910031199 A CN 200910031199A CN 101537616 B CN101537616 B CN 101537616B
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- commutation
- craspedodrome
- robot
- bearing
- guide rod
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Abstract
The invention relates to a pole-climbing robot with multiple postures. The pole-climbing robot with multiple postures is characterized by comprising a support and an electrical control device, wherein a straight travel mechanism and a rotation mechanism are respectively arranged at both sides of the support, and an inverting guide mechanism is arranged at the middle of the support and just between the straight travel mechanism and the rotation mechanism; the straight travel mechanism drives the robot to straightly move along an axes direction of a guide rod; the rotation mechanism drives the robot to rotate around an axes of the guide rod; and the inverting guide mechanism guides the robot and changes motion states of the robot. The invention has simple structure, flexible motion and convenient operation; the robot not only can straightly move along the axes direction of the guide rod, but also can rotate around the axes of the guide rod, thus the pole-climbing robot is suitable for wider ranges and fields; in addition, an inverting shim block is arranged on an inverting support frame through a T-shaped slot bolt device and can adjust radial positions of the inverting shim block and a linear bearing, thus the pole-climbing robot is suitable for guide rods with different diameters in a certain range.
Description
Technical field
The present invention relates to a kind of robot, especially relate to a kind of can the craspedodrome or the pole-climbing robot with multiple postures of rotation along guide rod.
Background technology
Climbing level robot all has application industry such as building, decorate, clean, spray paint, and the climbing level robot technology has become the focus of research at present, in the application of every profession and trade also more and more widely.The pole-climbing of existing climbing level robot has multiple implementation, but be along the roller of bar continuous motion and all can only single attitude motion as the moving climb type of looper handling, just do along the rectilinear motion of guide rod direction, and can't rotate, therefore, its scope of application is restricted, as when spraying paint, less because of rotating the scope of spraying paint.
Summary of the invention
The applicant is at above-mentioned problem, carried out research and improved, provide a kind of can moving linearly and rotatablely move, the wider pole-climbing robot with multiple postures of the scope of application and field.
In order to solve the problems of the technologies described above, the present invention adopts following technical scheme:
A kind of pole-climbing robot with multiple postures, comprise bearing and electric control gear, craspedodrome mechanism and rotating mechanism install the both sides at bearing respectively, commutation guiding mechanism device is in the middle of bearing, and commutation guiding mechanism device is between craspedodrome mechanism and rotating mechanism, craspedodrome mechanism drives the axis direction rectilinear motion of robot along guide rod, and rotating mechanism drives robot and rotates around the guide rod axis, and the commutation guiding mechanism is robot guiding and conversion motion state; Described craspedodrome mechanism comprises three craspedodrome arms that are hinged on the bearing, three craspedodrome arms are that the center is circumference and evenly is arranged on the bearing with the guide rod axis, be connected with spring between three craspedodrome arms, craspedodrome arm front end device respectively has the craspedodrome roller, and the craspedodrome roller is connected with first stepper motor by first transmission mechanism;
Described rotating mechanism comprises three turning arms that are hinged on the bearing, turning arm is corresponding with the installation site of craspedodrome arm, be connected with spring between three turning arms, turning arm front end device respectively has swing roller, and swing roller is connected with second stepper motor by second transmission mechanism;
Described commutation guiding mechanism comprises annular commutation support, one side device of commutation support has tooth bar, tooth bar and the commutation driven wheel engagement of device on bearing, the commutation driven wheel connects the 3rd stepper motor, device has three commutation voussoirs on the commutation support, the installation site of commutation voussoir is corresponding with turning arm and craspedodrome arm, and the inboard device of commutation voussoir has linear bearing.
Further:
Described commutation voussoir is provided with T type groove, and T type slot bolt is threaded with the commutation support, and the bolt head of T type slot bolt is cylindrical, and bolt head slides in the T type groove; The screw rod end of T type slot bolt is provided with groove.
Described bearing is equilateral hexagon.
Described first transmission mechanism and second transmission mechanism are Synchronous Belt Drives mechanism.
Technique effect of the present invention is:
A kind of pole-climbing robot with multiple postures disclosed by the invention, simple in structure, flexible movements, easy to operate; Be provided with craspedodrome mechanism and rotating mechanism, it is moving that robot both can have been done along the straight line of guide rod axis direction, can do again to center on rotatablely moving of guide rod axis, makes climbing level robot be applicable to wider scope and field; In addition, the commutation voussoir, can be adjusted the radial position of commutation voussoir and linear bearing, thereby adapt to the different guide rod of diameter within the specific limits on the commutation support by T type slot bolt device.
Description of drawings
Fig. 1 is a three-dimensional structure schematic diagram of the present invention.
Fig. 2 is the three-dimensional structure schematic diagram at another visual angle of the present invention.
Fig. 3 is the commutate three-dimensional structure schematic diagram of guiding mechanism and bearing of the present invention.
Fig. 4 is the present invention's guiding mechanism partial 3 d explosive view that commutates.
The specific embodiment
Below in conjunction with accompanying drawing the specific embodiment of the present invention is described in further detail.
As shown in Figure 1, 2, 3, the present invention includes bearing 1 and electric control gear (not drawing in the drawings), craspedodrome mechanism 2 and rotating mechanism 3 devices are in the both sides of bearing, and craspedodrome mechanism 2 drives the axis direction rectilinear motion of robot along guide rod 5, and rotating mechanism 3 drives the axis rotation of robot around guide rod 5.Craspedodrome mechanism 2 comprises three craspedodrome arms 201, three craspedodrome arms 201 are hinged on the bearing 1 by bearing pin 202 respectively, three craspedodrome arms 201 are that the center is circumference and evenly is arranged on the bearing 1 with guide rod 5 axis, in the present embodiment, bearing 1 is equilateral hexagon, the five equilibrium of being convenient to three craspedodrome arms 201 is installed, be connected with spring 203 between three craspedodrome arms 201, the front end of craspedodrome arm 201 device respectively has craspedodrome roller 204, craspedodrome roller 204 is connected with stepper motor 206 by Synchronous Belt Drives mechanism 205, three stepper motors 206 are made the power source of axial linear movement as driving robot along guide rod 5, and three stepper motors of electric control gear control 206 drive three craspedodrome rollers 204 synchronously and roll along the axis of guide rod 5.Rotating mechanism 3 comprises three turning arms 301, turning arm 301 is hinged on the bearing 1 by bearing pin 302, turning arm 301 is corresponding with the installation site of craspedodrome arm 201, be connected with spring 303 between three turning arms 301, the front end of turning arm 301 device respectively has swing roller 304, swing roller 304 is connected with stepper motor 306 by Synchronous Belt Drives mechanism 305, three stepper motors 306 are as driving the power source that robot rotates around guide rod 5, and three stepper motors of electric control gear control, 306 synchronous drive three swing rollers 304 roll around the axis of guide rod 5.Also available other the transmission mechanism of Synchronous Belt Drives mechanism 205 and Synchronous Belt Drives mechanism 305 substitutes, as gear drive.Between craspedodrome mechanism 2 and rotating mechanism 3, commutation guiding mechanism 4 is robot guiding and conversion motion state to commutation guiding mechanism 4 devices in the middle of bearing 1.Commutation guiding mechanism 4 comprises ringwise commutation support 401, one side fixture of commutation support 401 has tooth bar 402, commutation driven wheel 403 devices are on bearing 1, tooth bar 402 and 403 engagements of commutation driven wheel, commutation driven wheel 403 connects stepper motor 404, device has three commutation voussoirs 405 on the commutation support 401, the installation site of commutation voussoir 405 is corresponding with turning arm 301 and craspedodrome arm 201, that is to say, commutation voussoir 405 aligns with the upper-lower position of turning arm 301 and craspedodrome arm 201, when commutation voussoir 405 moved up or down with commutation guiding mechanism 4, commutation voussoir 405 can promote turning arm 301 and craspedodrome arm 201 opens.The inboard device of commutation voussoir 405 has linear bearing 406, and the medial surface of linear bearing 406 is the face of cylinder, and three linear bearings 406 are encircled guide rod 5, are the rectilinear motion of robot and the guiding that rotatablely moves.Stepper motor 404, drives commutation guiding mechanism 4 and realizes craspedodrome and the switching of rotating two kinds of athletic postures by electric control gear control and through pinion and rack as the power source that drives the guiding mechanism 4 that commutates.In the present embodiment, shown in Fig. 3,4, the rear portion of commutation voussoir 405 is provided with T type groove 408, T type slot bolt 407 is threaded with commutation support 401, the bolt head of T type slot bolt 407 is cylindrical, the bolt head of T type slot bolt 407 slides in the T type groove 408, and the screw rod end of T type slot bolt 407 is provided with groove 409.Opening part screw device link stopper 410 at T type groove 408 prevents that T type slot bolt 407 from skidding off from T type groove 408.When the radial position of needs adjustment commutation voussoir 405 and linear bearing 406, can in groove 409, insert regulating handle 411 or other instruments, rotate T type slot bolt 407 and can adjust the radial position of commutation voussoir 405 and linear bearing 406, thereby adapt to the different guide rod of diameter 5 within the specific limits, and the structure that the bolt head of T type slot bolt 407 slides in the T type groove 408 also can make the self-centering on guide rod 5 of commutation guiding mechanism 4.Among the present invention, craspedodrome roller 204 and swing roller 304 all adopt rubber roll, and electric control gear manufactures and designs by prior art, the co-operating of each member of control robot, and the employing wireless remote control technology, in larger distance by operate machine people's action of remote-control handle.
When use is of the present invention, the present invention is penetrated guide rod 5, rotate T type slot bolt 407 three linear bearings 406 on the commutation voussoir 405 are encircled on guide rod 5, three craspedodrome rollers 204 and three swing rollers 304 are being pressed on respectively on the guide rod 5 under the effect of spring force.
As shown in Figure 1, 2, when commutation guiding mechanism 4 mediated, the swing roller 304 of the craspedodrome roller 204 of craspedodrome arm 201 front ends and turning arm 301 front ends had been pressed under the effect of spring force on the guide rod 5, and this moment, robot was still on the guide rod 5.When driving commutation guiding mechanism 4 by pinion and rack, electric control gear control step motor 404 moves upward to certain position, the craspedodrome arm 201 of robot opens (craspedodrome roller 204 does not contact with guide rod 5) under the effect of commutation voussoir 405, three swing rollers 304 of turning arm 301 front ends are being pressed under the effect of spring force on the guide rod 5, electric control gear control step motor 306 drives three swing rollers 304 by Synchronous Belt Drives mechanism 305 and rotates, and rotates around guide rod 5 thereby drive robot.When driving commutation guiding mechanism 4 by pinion and rack, electric control gear control step motor 404 moves downward certain position, the turning arm 301 of robot opens (swing roller 304 does not contact with guide rod 5) under the effect of commutation voussoir 405, the craspedodrome roller 204 of craspedodrome arm 201 front ends is being pressed under the effect of spring force on the guide rod 5, electric control gear control step motor 206 drives three capable rollers 204 by Synchronous Belt Drives mechanism 205 and rotates, thereby realizes the rectilinear motion of robot along guide rod 5.
The operating state of robot motion's state and each mechanism sees the following form:
| Robot motion's state | Commutation guiding |
Craspedodrome |
Turning |
Craspedodrome | Swing roller | 304 and guide rod |
| Rectilinear motion | Downwards | Open | Close | Contact | Separate | |
| Rotation is rotated | Upwards | Close | Open | Separate | Contact | |
| Stop | In putting | Close | Close | Contact | Contact |
Claims (4)
1. pole-climbing robot with multiple postures, it is characterized in that: comprise bearing and electric control gear, craspedodrome mechanism and rotating mechanism install the both sides at bearing respectively, commutation guiding mechanism device is in the middle of bearing, and commutation guiding mechanism device is between craspedodrome mechanism and rotating mechanism, craspedodrome mechanism drives the axis direction rectilinear motion of robot along guide rod, and rotating mechanism drives robot and rotates around the guide rod axis, and the commutation guiding mechanism is robot guiding and conversion motion state;
Described craspedodrome mechanism comprises three craspedodrome arms that are hinged on the bearing, three craspedodrome arms are that the center is circumference and evenly is arranged on the bearing with the guide rod axis, be connected with spring between three craspedodrome arms, craspedodrome arm front end device respectively has the craspedodrome roller, and the craspedodrome roller is connected with first stepper motor by first transmission mechanism;
Described rotating mechanism comprises three turning arms that are hinged on the bearing, turning arm is corresponding with the installation site of craspedodrome arm, be connected with spring between three turning arms, turning arm front end device respectively has swing roller, and swing roller is connected with second stepper motor by second transmission mechanism;
Described commutation guiding mechanism comprises annular commutation support, one side device of commutation support has tooth bar, tooth bar and the commutation driven wheel engagement of device on bearing, the commutation driven wheel connects the 3rd stepper motor, device has three commutation voussoirs on the commutation support, the installation site of commutation voussoir is corresponding with turning arm and craspedodrome arm, and the inboard device of commutation voussoir has linear bearing.
2. according to the described pole-climbing robot with multiple postures of claim 1, it is characterized in that: described commutation voussoir is provided with T type groove, and T type slot bolt is threaded with the commutation support, and the bolt head of T type slot bolt is cylindrical, and bolt head slides in the T type groove; The screw rod end of T type slot bolt is provided with groove.
3. according to the described pole-climbing robot with multiple postures of claim 1, it is characterized in that: described bearing is equilateral hexagon.
4. according to the described pole-climbing robot with multiple postures of claim 1, it is characterized in that: described first transmission mechanism and second transmission mechanism are Synchronous Belt Drives mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100311993A CN101537616B (en) | 2009-04-29 | 2009-04-29 | Pole-climbing robot with multiple postures |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100311993A CN101537616B (en) | 2009-04-29 | 2009-04-29 | Pole-climbing robot with multiple postures |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101537616A CN101537616A (en) | 2009-09-23 |
| CN101537616B true CN101537616B (en) | 2011-02-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009100311993A Expired - Fee Related CN101537616B (en) | 2009-04-29 | 2009-04-29 | Pole-climbing robot with multiple postures |
Country Status (1)
| Country | Link |
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| CN (1) | CN101537616B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106335052A (en) * | 2016-11-08 | 2017-01-18 | 天津职业技术师范大学 | Hydraulic Pole-climbing Robot |
| CN107161229A (en) * | 2017-03-24 | 2017-09-15 | 广西大学 | One kind becomes cell type stepping and climbed tree monitoring sniffing robot |
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| CN101734300B (en) * | 2009-12-02 | 2011-06-29 | 中国计量学院 | Continuous movable type cable climbing device |
| CN102809021A (en) * | 2011-06-03 | 2012-12-05 | 北京石油化工学院 | Bidirectional climbing pipe/rod mechanism |
| CN102501912A (en) * | 2011-11-08 | 2012-06-20 | 西华大学 | Multi-attitude motion rod-climbing robot |
| CN102490804B (en) * | 2011-11-15 | 2013-02-13 | 西华大学 | Robot capable of getting over obstacles and climbing poles |
| CN102582713A (en) * | 2012-02-23 | 2012-07-18 | 西华大学 | Pole-climbing robot with various section shapes |
| CN102815348B (en) * | 2012-09-18 | 2014-08-06 | 西北工业大学 | Four-feet climbing robot |
| CN105397815A (en) * | 2014-09-13 | 2016-03-16 | 天太·郭元焜 | Circular supporting wall climbing machine |
| CN107117221A (en) * | 2017-03-24 | 2017-09-01 | 广西大学 | A kind of step-by-step movement robot capable of climbing trees with metamorphic function |
| CN107140049A (en) * | 2017-03-24 | 2017-09-08 | 广西大学 | A kind of hydraulic-driven becomes cell type stepping and climbed tree monitoring sniffing robot |
| CN107284546B (en) * | 2017-07-19 | 2023-11-10 | 江苏大发建设工程有限公司 | Physical robot with pole-climbing function and pole-climbing method |
| CN109292668B (en) * | 2018-08-15 | 2020-05-22 | 广东博越智慧建造科技有限公司 | Building automation machinery riser |
| CN109952881B (en) * | 2019-04-26 | 2023-09-26 | 陕西科技大学 | Branch trimming means based on pole-climbing robot |
| CN110217309B (en) * | 2019-07-01 | 2021-09-28 | 河海大学常州校区 | Inchworm-imitating self-adaptive multi-motion-mode wheel-leg combined type pole climbing robot |
| CN110316271A (en) * | 2019-07-05 | 2019-10-11 | 重庆城市管理职业学院 | Continuous walking formula climbing level robot |
| CN110316270A (en) * | 2019-07-05 | 2019-10-11 | 重庆城市管理职业学院 | The manned pole-climbing equipment of multiple-station rotation |
| CN110239642A (en) * | 2019-07-05 | 2019-09-17 | 重庆城市管理职业学院 | Hybrid power type pole climbing device |
| CN111409723B (en) * | 2020-04-19 | 2021-01-26 | 国网浙江省电力有限公司台州市黄岩区供电公司 | Automatic distribution method of maintenance equipment for power first-aid repair or maintenance |
| CN112193343A (en) * | 2020-08-19 | 2021-01-08 | 江苏澳联科技开发有限公司 | High-safety pole-climbing robot |
| CN112849983B (en) * | 2021-02-05 | 2022-09-09 | 保利长大海外工程有限公司 | A locomotive for construction |
| CN114132404B (en) * | 2021-11-26 | 2024-02-13 | 国网河南省电力公司卢氏县供电公司 | Electric power climbing device with prevent structure of falling |
| CN114700973B (en) * | 2022-04-24 | 2023-06-27 | 应急管理部国家自然灾害防治研究院 | Climbing manipulator device for high side slope wireless sensor layout |
-
2009
- 2009-04-29 CN CN2009100311993A patent/CN101537616B/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106335052A (en) * | 2016-11-08 | 2017-01-18 | 天津职业技术师范大学 | Hydraulic Pole-climbing Robot |
| CN107161229A (en) * | 2017-03-24 | 2017-09-15 | 广西大学 | One kind becomes cell type stepping and climbed tree monitoring sniffing robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101537616A (en) | 2009-09-23 |
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Granted publication date: 20110202 Termination date: 20130429 |