CN101537616B - Pole-climbing robot with multiple postures - Google Patents

Abstract

The invention relates to a multi-posture pole-climbing robot, which is characterized in that it includes a support and an electric control device. The straight-running mechanism and the rotating mechanism are respectively installed on both sides of the support. Between the mechanisms, the straight-travel mechanism drives the robot to move linearly along the axis of the guide rod, the rotation mechanism drives the robot to rotate around the axis of the guide rod, and the reversing guide mechanism guides the robot and changes its motion state. The invention has the advantages of simple structure, flexible action and convenient operation; the robot can not only move linearly along the axis of the guide rod, but also rotate around the axis of the guide rod, so that the climbing rod robot is applicable to a wider range and field; in addition, The reversing wedge is installed on the reversing bracket through the T-slot bolt, and the radial position of the reversing wedge and the linear bearing can be adjusted, so as to adapt to guide rods with different diameters within a certain range.

Description

Multi-attitude pole climbing robot

technical field

The invention relates to a robot, in particular to a multi-posture pole-climbing robot that can go straight or rotate along a guide bar. the

Background technique

Pole-climbing robots are used in construction, decoration, cleaning, painting and other industries. At present, pole-climbing robot technology has become a research hotspot, and its application in various industries is becoming more and more extensive. There are many ways to realize the pole climbing of existing pole climbing robots, but both the rolling type that moves continuously along the pole and the climbing type that moves like an inchworm can only move in a single posture, that is, linear motion along the direction of the guide rod , and cannot be rotated, therefore, its scope of application is limited. For example, when painting, the scope of painting is small because it cannot be rotated. the

Contents of the invention

In view of the above problems, the present applicant has carried out research and improvement to provide a multi-posture pole-climbing robot that can perform linear motion and rotary motion, and has a wider application range and field. the

In order to solve the problems of the technologies described above, the present invention adopts the following technical solutions:

A multi-posture pole-climbing robot, including a support and an electric control device, a straight-running mechanism and a rotating mechanism are respectively installed on both sides of the support, a reversing guide mechanism is installed in the middle of the support, and the reversing guide mechanism is installed between the straight-running mechanism and the rotating mechanism. Between the rotating mechanisms, the straight-traveling mechanism drives the robot to move linearly along the axis of the guide rod, the rotating mechanism drives the robot to rotate around the axis of the guide rod, and the reversing guide mechanism guides the robot and changes its motion state; The straight-running arms on the seat, the three straight-running arms are evenly arranged on the support in a circle centered on the axis of the guide rod. The mechanism is connected with the first stepper motor;

The rotating mechanism includes three rotating arms hinged on the support. The installation position of the rotating arms corresponds to the straight arm. There are springs connected between the three rotating arms. The front ends of the rotating arms are equipped with rotating rollers respectively. The second transmission mechanism is connected with the second stepper motor;

The reversing guide mechanism includes an annular reversing bracket, and a rack is installed on one side of the reversing bracket, and the rack is engaged with the reversing drive gear installed on the support, and the reversing drive gear is connected to the third stepping motor, and the reversing drive gear is connected to the third stepping motor. There are three reversing wedges installed on the support, the installation positions of the reversing wedges are corresponding to the rotating arm and the straight arm, and the inboard of the reversing wedges is equipped with a linear bearing. the

further:

The reversing wedge is provided with a T-slot, and the T-slot bolt is threadedly connected with the reversing bracket. The bolt head of the T-slot bolt is cylindrical, and the bolt head slides in the T-slot; the T-slot bolt The end of the screw is provided with a groove. the

The support is in the shape of an equilateral hexagon. the

The first transmission mechanism and the second transmission mechanism are synchronous toothed belt transmission mechanisms. the

Technical effect of the present invention is:

A multi-posture pole-climbing robot disclosed by the present invention has simple structure, flexible action and convenient operation; it is provided with a straight-moving mechanism and a rotating mechanism, so that the robot can not only move in a straight line along the axis of the guide rod, but also move around the axis of the guide rod. The rotating movement makes the pole-climbing robot applicable to a wider range and field; in addition, the reversing wedge is installed on the reversing bracket through the T-slot bolt, and the radial position of the reversing wedge and the linear bearing can be adjusted, so that Adapt to guide rods with different diameters within a certain range. the

Description of drawings

Fig. 1 is a schematic diagram of a three-dimensional structure of the present invention. the

Fig. 2 is a schematic diagram of a three-dimensional structure from another perspective of the present invention. the

Fig. 3 is a three-dimensional structural schematic diagram of the reversing guide mechanism and the support of the present invention. the

Fig. 4 is a partial three-dimensional exploded view of the reversing guide mechanism of the present invention. the

Detailed ways

The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings. the

As shown in Figures 1, 2, and 3, the present invention includes a support 1 and an electric control device (not shown in the figure), a straight travel mechanism 2 and a rotation mechanism 3 are installed on both sides of the support, and the straight travel mechanism 2 drives the robot along the The axial direction of the guide rod 5 moves linearly, and the rotating mechanism 3 drives the robot to rotate around the axis of the guide rod 5 . The straight travel mechanism 2 includes three straight travel arms 201, the three straight travel arms 201 are respectively hinged on the support 1 through pin shafts 202, and the three straight travel arms 201 are evenly arranged on the support 1 around the axis of the guide rod 5 as the center. In this embodiment, the support 1 is in the shape of an equilateral hexagon, which is convenient for the equal installation of the three straight arms 201. Springs 203 are connected between the three straight arms 201, and the front ends of the straight arms 201 are respectively equipped with straight rollers 204. The roller 204 is connected with the stepper motor 206 through a synchronous toothed belt transmission mechanism 205, and the three stepper motors 206 are used as a power source to drive the robot to move axially along the guide rod 5, and the electric control device controls the three stepper motors 206 to synchronize Drive the three straight rollers 204 to roll along the axis of the guide rod 5 . The rotating mechanism 3 includes three rotating arms 301, the rotating arms 301 are hinged on the support 1 through a pin shaft 302, the rotating arms 301 correspond to the installation positions of the straight arm 201, and a spring 303 is connected between the three rotating arms 301, The front end of rotating arm 301 is equipped with rotating roller 304 respectively, and rotating roller 304 is connected with stepping motor 306 by synchronous toothed belt transmission mechanism 305, and three stepping motors 306 are as the power source that drives robot to rotate around guide bar 5, and electric The control device controls the three stepping motors 306 to synchronously drive the three rotating rollers 304 to roll around the axis of the guide rod 5 . The synchronous toothed belt transmission mechanism 205 and the synchronous toothed belt transmission mechanism 305 can also be replaced by other transmission mechanisms, such as a gear transmission mechanism. The reversing guide mechanism 4 is installed between the straight running mechanism 2 and the rotating mechanism 3 in the middle of the support 1, and the reversing guide mechanism 4 guides and changes the motion state for the robot. The reversing guide mechanism 4 comprises an annular reversing bracket 401, a side fixing device of the reversing bracket 401 has a rack 402, and a reversing drive gear 403 is installed on the support 1, and the rack 402 meshes with the reversing drive gear 403 , the reversing drive gear 403 is connected to the stepper motor 404, and there are three reversing wedges 405 installed on the reversing bracket 401. The up and down positions of the reversing wedge 405 and the rotating arm 301 and the straight arm 201 are aligned. When the reversing wedge 405 moves upward or downward with the reversing guide mechanism 4, the reversing wedge 405 can push the rotating arm 301 and the straight arm 201 Open up. The inboard device of reversing wedge 405 has linear bearing 406, and the inner surface of linear bearing 406 is a cylindrical surface, and three linear bearings 406 encircle guide rod 5, guide the linear motion and rotary motion of robot. The stepper motor 404 is used as the power source for driving the reversing guide mechanism 4, controlled by the electric control device and driven by the rack and pinion mechanism to realize the switch between two motion postures of straight travel and rotation. In this embodiment, as shown in Figures 3 and 4, a T-slot 408 is provided at the rear of the reversing wedge 405, and the T-slot bolt 407 is threadedly connected with the reversing bracket 401, and the bolt head of the T-slot bolt 407 It is cylindrical, and the bolt head of the T-slot bolt 407 slides into the T-slot 408 , and the screw end of the T-slot bolt 407 is provided with a groove 409 . At the opening of the T-shaped groove 408, a screw device stopper 410 is used to prevent the T-shaped groove bolt 407 from slipping out of the T-shaped groove 408 . When it is necessary to adjust the radial position of the reversing wedge 405 and the linear bearing 406, an adjustment handle 411 or other tools can be inserted into the groove 409, and the reversing wedge 405 and the linear bearing 406 can be adjusted by turning the T-slot bolt 407 radial position, so as to adapt to guide rods 5 with different diameters within a certain range, and the structure of the bolt head sliding sleeve of the T-slot bolt 407 in the T-slot 408 can also make the reversing guide mechanism 4 on the guide rod 5 Automatic centering. In the present invention, both the straight rollers 204 and the rotating rollers 304 are rubber rollers, and the electric control device is designed and manufactured according to the prior art to control the coordinated action of the various components of the robot, and wireless remote control technology is used to manipulate the robot through the remote control handle at a relatively long distance. Actions. the

When using the present invention, the present invention is inserted into the guide rod 5, and the T-slot bolt 407 is rotated so that the linear bearings 406 on the three reversing wedges 405 are encircled on the guide rod 5, and the three straight rollers 204 and the three rotating The rollers 304 are respectively compressed on the guide rods 5 under the action of the spring force. the

As shown in Figures 1 and 2, when the reversing guide mechanism 4 is in the middle position, the straight roller 204 at the front end of the straight arm 201 and the rotating roller 304 at the front end of the rotating arm 301 are pressed against the guide rod 5 under the action of the spring force, Now the robot is stationary on the guide rod 5 . When the electronic control device controls the stepping motor 404 to drive the reversing guide mechanism 4 to move upwards to a certain position through the rack and pinion mechanism, the straight arm 201 of the robot will be opened under the effect of the reversing wedge 405 (the straight roller 204 is not in contact with the guide bar. 5 contact), the three rotating rollers 304 at the front end of the rotating arm 301 are pressed against the guide rod 5 under the action of the spring force, and the electric control device controls the stepping motor 306 to drive the three rotating rollers 304 through the synchronous toothed belt transmission mechanism 305 Rotate, thereby drive the robot to rotate around the guide rod 5. When the electronic control device controls the stepper motor 404 to drive the reversing guide mechanism 4 to move downward to a certain position through the rack and pinion mechanism, the rotating arm 301 of the robot will be opened under the effect of the reversing wedge 405 (the rotating roller 304 does not contact the guide. rod 5 contact), the straight roller 204 at the front end of the straight arm 201 is pressed on the guide rod 5 under the action of the spring force, and the electric control device controls the stepper motor 206 to drive the three row rollers 204 to rotate through the synchronous toothed belt transmission mechanism 205 , so as to realize the linear movement of the robot along the guide rod 5 . the

The motion status of the robot and the action status of each mechanism are shown in the table below: 

Robot motion status Reversing guide mechanism 4 Straight arm stepping motor 206 Rotary arm stepping motor 306 Straight running roller 204 and guide rod Rotary roller 304 and guide rod linear motion down open close touch separate Rotate up close open separate touch stop Set in close close touch touch

Claims (4)

1. A multi-posture pole-climbing robot, characterized in that: it comprises a support and an electric control device, a straight-running mechanism and a rotating mechanism are installed on both sides of the support respectively, a reversing guide mechanism is installed in the middle of the support, and the reversing guide The mechanism device is between the straight travel mechanism and the rotation mechanism. The straight travel mechanism drives the robot to move linearly along the axis of the guide rod, the rotation mechanism drives the robot to rotate around the axis of the guide rod, and the reversing guide mechanism guides the robot and changes its motion state; The straight-travel mechanism includes three straight-travel arms hinged on the support, and the three straight-travel arms are evenly arranged on the support with the center of the guide rod axis as a circle. Springs are connected between the three straight-travel arms, and the front ends of the straight-travel arms are respectively installed There are straight rollers, and the straight rollers are connected with the first stepping motor through the first transmission mechanism; The rotating mechanism includes three rotating arms hinged on the support. The installation position of the rotating arms corresponds to the straight arm. There are springs connected between the three rotating arms. The front ends of the rotating arms are equipped with rotating rollers respectively. The second transmission mechanism is connected with the second stepping motor; The reversing guide mechanism includes an annular reversing bracket, and a rack is installed on one side of the reversing bracket, and the rack is engaged with the reversing drive gear installed on the support, and the reversing drive gear is connected to the third stepping motor, and the reversing drive gear is connected to the third stepping motor. There are three reversing wedges installed on the support, the installation positions of the reversing wedges are corresponding to the rotating arm and the straight arm, and the inboard of the reversing wedges is equipped with a linear bearing. 2. According to the multi-posture pole-climbing robot according to claim 1, it is characterized in that: the reversing wedge is provided with a T-slot, the T-slot bolt is threaded with the reversing bracket, and the bolt head of the T-slot bolt It is cylindrical, and the bolt head slides in the T-shaped slot; the screw end of the T-shaped slot bolt is provided with a groove. 3. The multi-posture pole-climbing robot according to claim 1, wherein the support is in the shape of an equilateral hexagon. 4. The multi-posture pole-climbing robot according to claim 1, wherein the first transmission mechanism and the second transmission mechanism are synchronous toothed belt transmission mechanisms.

Images