CN106741266A - A kind of screw mandrel promotion type climbing level robot - Google Patents
A kind of screw mandrel promotion type climbing level robot Download PDFInfo
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- CN106741266A CN106741266A CN201510818874.2A CN201510818874A CN106741266A CN 106741266 A CN106741266 A CN 106741266A CN 201510818874 A CN201510818874 A CN 201510818874A CN 106741266 A CN106741266 A CN 106741266A
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Abstract
The invention discloses a kind of screw mandrel promotion type climbing level robot, including moving body, the pole-climbing mechanical arm being fixed on the moving body, described moving body includes vehicle body hanger, is arranged on the wheel of the vehicle body hanger bottom, and the wheel is connected with motor；The pole-climbing mechanical arm includes：Lead screw motor, shaft coupling, screw mandrel, screw rod bushing, sliding block, lock-screw, two connecting rods, two holding arms, two motor cabinets, two motors that climb, two active friction wheels, driven friction pulley, the T-shaped frame that is provided with chute.Mechanism of the present invention is simple, it is easy to operate, it is reliable and stable, adapt to different-diameter, the tubing of cross sectional shape, bar, suitable for the high-altitude pole-climbing operation in various different technologies fields, such as power system sets up cable, the inspection of high-altitude water pipe, the maintenance of high-altitude fluorescent tube, construction and decoration spray painting, brings convenience can to the staff of detection, reduces the danger of work high above the ground.
Description
Technical field
The present invention relates to a kind of climbing level robot, more particularly to a kind of screw mandrel promotion type climbing level robot for being adapted to multi-section shape.
Technical background
As China's economic construction is continued to develop, scientific and technological level is increasingly lifted, the various bodies of rod or pipe structure are applied more and more extensively in people live, such as natural gas line, water pipe, electric pole, light pole, and work high above the ground becomes the more and more universal task of today's society.Various relevant enterprise mechanisms need a robot that can be creeped on the body of rod, so that instead of the work high above the ground of artificial pole-climbing, on the one hand, greatly improve the efficiency of work；On the other hand, staff is allowed to be freed from dangerous working environment.Thus, need that design is a kind of can to carry out the climbing level robot of work high above the ground instead of staff, and need can carry weight, adapt to various shapes section, climbing it is rapid, can be with linear or the spiral or formula pole-climbing that rotates to an angle climbing level robot.
The content of the invention
The present invention is directed to above-mentioned technical need, the climbing level robot that a kind of utilization screw mandrel for being adapted to multiple section shape is promoted is provided, the robot is adapted to various different-diameters, roofbolt of different shapes, and can realize straight line climbing, spiral climbing, climb while rotating to an angle, carrying the functions such as weight.
The purpose of the present invention is achieved through the following technical solutions：
A kind of screw mandrel promotion type climbing level robot, including moving body, the pole-climbing mechanical arm that is fixed on the moving body,
Described moving body includes vehicle body hanger, is arranged on the wheel of the vehicle body hanger bottom, and the wheel is connected with motor；
The pole-climbing mechanical arm includes：Lead screw motor, shaft coupling, screw mandrel, screw rod bushing, sliding block, lock-screw, two connecting rods, two holding arms, two motor cabinets, two motors that climb, two active friction wheels, driven friction pulley, the T-shaped frame that is provided with chute,
The lead screw motor is fixed on frame rear end, and is connected with screw mandrel by shaft coupling；The screw rod bushing is enclosed within screw mandrel, and it is connected with the sliding block being movably arranged in T-shaped chassis runners by screw, two one end of connecting rod are movably hinged by the lock-screw being fixed on sliding block, tail end of the other end by bearing pin respectively with two holding arms is movably hinged, two holding arms are hinged on the left and right sides of frame front end by fixed pin shaft respectively, two motor cabinets are separately fixed in two holding arms by screw-nut, two motors that climb are separately fixed on two motor cabinets by screw, the active friction wheel is arranged on and climbs on motor output shaft, the driven friction pulley is arranged in vehicle body hanger, the body of rod is clamped together with two active friction wheels.
When climbing level robot works, lead screw motor is rotated, and drives screw mandrel to rotate by shaft coupling, screw rod bushing is set to promote sliding block forward, increase the angles of two connecting rods, and promote holding arm rotate to an angle make two holding arms between angle reduce so that climbing motor and active friction wheel clamps roofbolt；After clamping roofbolt, the motor that climbs drives active friction wheel to rotate, so that active friction wheel scrolls up along roofbolt, driven friction pulley scrolls up also along roofbolt, and whole climbing level robot realizes the action of pole-climbing.
Further, it is provided with by adjusting two positions of motor cabinet to adjust the angle of two motors that climb and the straight trough mouthful of relative position relation in described holding arm and motor cabinet, using preceding, position that can be by adjusting screw on straight trough mouthful controls two angles of transport motor to adjust two positions of motor cabinet, so as to adapt to different-diameter, the tubing of different cross section shape, bar.
Further, described active friction wheel and driven friction pulley include plastic wheel and silica gel ring, the silica gel ring is enclosed within plastic wheel, the plastic wheel of the active friction wheel be directly anchored to climb motor motor shaft on, silica gel ring friction coefficient is larger, the frictional force to materials in the tube can be improved, prevents from skidding.
Further, described driven friction pulley also includes unilateral bearing, and the plastic wheel of described driven friction pulley is enclosed within unilateral bearing, and the unilateral bearing is fixed in vehicle body hanger, and due to the effect of unilateral bearing, robot will not fall back in pole-climbing.
Further, the connecting rod is provided with bearing with one end that lock-screw is movably hinged, and the lock-screw is engaged with brearing bore.
Further, the bearing is deep groove ball bearing.
Further, the vehicle body hanger is connected by screw by aluminum corner brace and built, and can well reduce deadweight.
Further, also it is easy to the open air for providing electric power in inconvenience to use including being provided with the battery for providing electric power to each motor in vehicle body hanger.
Further, the motor that climbs is for buncher, by adjusting two rotating speeds of the motor that climbs, so as to adjust the rotating speed of active friction wheel, robot is rotated to an angle around roofbolt while climbing, such that it is able to realize straight line climb, corkscrew climb, action of being climbed etc. around fixed angle.
Advantage and beneficial effect compared with prior art of the invention is that the climbing level robot can adapt to the roofbolt of different-diameter, different cross section shape by changing two angles of active friction wheel, such that it is able to be creeped on various roofbolts again；The present invention is by way of the motor that climbs drives active friction wheel to climb, the pole-climbing speed of climbing level robot can be increased substantially, and three friction pulleys are mutually 120 degree of angles and can well clamp roofbolt, and there is unilateral bearing on driven friction pulley, prevent climbing level robot from setback occur in pole-climbing or when being parked on bar；The present invention can realize being moved on level land by adjusting the different rotating speeds of wheel, obstacle detouring, simultaneously, the present invention realizes two self-lockings of holding arm using the self-locking of screw thread on screw mandrel, mechanical arm is set not unclamp or come off after holding tubing tightly, operation of climbing can stably be realized, suitable for the work high above the ground in various different technologies fields, such as power system sets up cable, the inspection of high-altitude water pipe, the maintenance of high-altitude fluorescent tube, construction and decoration spray painting, bring convenience can to the staff of detection, reduce the danger of work high above the ground.
Brief description of the drawings
Fig. 1 is the overall axonometric schematic diagram of one embodiment of the invention.
Fig. 2 is the partial structural diagram of the screw mandrel pushing structure of one embodiment of the invention.
Fig. 3 is the local structural scheme of mechanism of the Slipper of one embodiment of the invention.
The axonometric schematic diagram that Fig. 4 is connected for the sliding block of one embodiment of the invention with connecting rod.
Fig. 5 is the schematic diagram of pole-climbing state of the present invention.
Serial number in figure：1-vehicle body hanger, 2-active friction wheel, 3-driven friction pulley, the 4-motor that climbs, 5-motor cabinet, 6-holding arm, 7-connecting rod, 8-sliding block, 9-screw rod bushing, 10-screw mandrel, 11-shaft coupling, 12-lead screw motor, 13-battery, 14-wheel, 15-lock-screw, 16-deep groove ball bearing；17- frames.
Specific embodiment
Technical scheme in order to illustrate more clearly the embodiments of the present invention, below in conjunction with the accompanying drawings, by embodiment, the present invention will be further described.
As shown in Figures 1 to 4, a kind of screw mandrel promotion type climbing level robot, including moving body, the pole-climbing mechanical arm being fixed on the moving body,
Described moving body includes being connected by screw the vehicle body hanger 1 for building, the wheel 14 for being arranged on the bottom of the vehicle body hanger 1 by aluminum corner brace, and the wheel 14 is connected with motor；
The pole-climbing mechanical arm includes：Lead screw motor 12, shaft coupling 11, screw mandrel 10, screw rod bushing 9, sliding block 8,7, two, the connecting rod motor cabinet 5, two of holding arm 6, two of lock-screw 15, two climb 4, two, motor active friction wheel 2, driven friction pulley 3, the T-shaped frame 17 that is provided with chute
The lead screw motor 12 is fixed on the rear end of frame 17, and is connected with screw mandrel 10 by shaft coupling 11；The screw rod bushing 9 is enclosed within screw mandrel 10, and it is connected with the sliding block 8 being movably arranged in the chute of T-shaped frame 17 by screw, two one end of connecting rod 7 are movably hinged by the lock-screw 15 being fixed on sliding block 8, tail end of the other end by bearing pin respectively with two holding arms 6 is movably hinged, two holding arms 6 are hinged on the left and right sides of the front end of frame 17 by fixed pin shaft respectively, two motor cabinets 5 are separately fixed in two holding arms 6 by screw-nut, two motors 4 that climb are separately fixed on two motor cabinets 5 by screw, the active friction wheel 2 is arranged on and climbs on the output shaft of motor 4, the driven friction pulley 3 is arranged in vehicle body hanger 1, 120 degree of clamping bodies of rod are mutually together with two active friction wheels 2.
In one embodiment, as shown in Figures 2 and 3, it is provided with by adjusting two positions of motor cabinet 5 to adjust the angle of two motors 4 that climb and the straight trough mouthful of relative position relation in described holding arm 6 and motor cabinet 5, using preceding, position that can be by adjusting screw on straight trough mouthful controls two angles of transport motor to adjust two positions of motor cabinet, so as to adapt to different-diameter, the tubing of different cross section shape, bar.
In one embodiment, described active friction wheel 2 and driven friction pulley 3 include plastic wheel and silica gel ring, the silica gel ring is enclosed within plastic wheel, the plastic wheel of the active friction wheel 2 be directly anchored to climb motor 4 motor shaft on, silica gel ring friction coefficient is larger, the frictional force to materials in the tube can be improved, prevents from skidding.
In one embodiment, described driven friction pulley 3 also includes unilateral bearing, and the plastic wheel of described driven friction pulley 3 is enclosed within unilateral bearing, and the unilateral bearing is fixed in vehicle body hanger 1, and due to the effect of unilateral bearing, robot will not fall back in pole-climbing.
In one embodiment, the connecting rod 7 is provided with deep groove ball bearing with one end that lock-screw 15 is movably hinged, and the lock-screw 15 is engaged with brearing bore, so as to reduce the friction of hinged place.
In one embodiment, the battery 13 for providing electric power to each motor is provided with vehicle body hanger 1, can be used to provide electric power to whole climbing level robot, be easy to the open air for providing electric power in inconvenience to use.
In one embodiment, the motor 4 that climbs is for buncher, by adjusting two rotating speeds of the motor that climbs, so as to adjust the rotating speed of active friction wheel, robot is rotated to an angle around roofbolt while climbing, such that it is able to realize straight line climb, corkscrew climb, action of being climbed etc. around fixed angle.
As shown in Figure 5, when climbing level robot works, lead screw motor is rotated, screw mandrel 10 is driven to rotate by shaft coupling 11, screw rod bushing is set to promote sliding block forward, increase the angles of two connecting rods 7, and promote holding arm rotate to an angle make two holding arms between angle reduce so that climbing motor and active friction wheel clamps roofbolt；After clamping roofbolt, the motor 4 that climbs drives active friction wheel 2 to rotate, so that active friction wheel 2 scrolls up along roofbolt, driven friction pulley 3 scrolls up also along roofbolt, and whole climbing level robot realizes the action of pole-climbing.Described screw mandrel promotion type climbing level robot can be by adjusting two rotating speeds of the motor 4 that climbs, so as to adjust the rotating speed of active friction wheel, robot is rotated to an angle around roofbolt while climbing, such that it is able to realize straight line climb, corkscrew climb, action of being climbed etc. around fixed angle.
The above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not the restriction to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.There is no need and unable to be exhaustive to all of implementation method.All any modification, equivalent and improvement made within the spirit and principles in the present invention etc., should be included within the protection domain of the claims in the present invention.
Claims (9)
1. a kind of screw mandrel promotion type climbing level robot, it is characterised in that：Including moving body, the pole-climbing mechanical arm being fixed on the moving body,
Described moving body includes vehicle body hanger（1）, be arranged on the vehicle body hanger（1）The wheel of bottom（14）, the wheel（14）It is connected with motor；
The pole-climbing mechanical arm includes：Lead screw motor（12）, shaft coupling（11）, screw mandrel（10）, screw rod bushing（9）, sliding block（8）, lock-screw（15）, two pieces connecting rods（7）, two pieces holding arms（6）, two motor cabinets（5）, two motors that climb（4）, two active friction wheels（2）, driven friction pulley (3), the T-shaped frame that is provided with chute（17）,
The lead screw motor（12）It is fixed on frame（17）Rear end, and by shaft coupling（11）With screw mandrel（10）Connection；The screw rod bushing（9）It is enclosed within screw mandrel（10）On, and by screw be movably arranged on T-shaped frame（17）Sliding block in chute（8）Connection, two connecting rods（7）One end by being fixed on sliding block（8）On lock-screw（15）Be movably hinged, the other end by bearing pin respectively with two holding arms（6）Tail end be movably hinged, two holding arms（6）Frame is hinged on by fixed pin shaft respectively（17）The left and right sides of front end, two motor cabinets（5）Two holding arms are separately fixed at by screw-nut（6）On, two motors that climb（4）Two motor cabinets are separately fixed at by screw（5）On, the active friction wheel（2）Installed in the motor that climbs（4）On output shaft, the driven friction pulley（3）Installed in vehicle body hanger（1）On, with two active friction wheels（2）The body of rod is clamped together.
2. screw mandrel promotion type climbing level robot according to claim 1, it is characterised in that：Described holding arm（6）And motor cabinet（5）On be provided with by adjust two motor cabinets（5）Position adjust two motors that climb（4）Angle and relative position relation straight trough mouthful.
3. screw mandrel promotion type climbing level robot according to claim 1, it is characterised in that：Described active friction wheel（2）With driven friction pulley（3）Including plastic wheel and silica gel ring, the silica gel ring is enclosed within plastic wheel, the active friction wheel（2）Plastic wheel be directly anchored to the motor that climbs（4）Motor shaft on.
4. screw mandrel promotion type climbing level robot according to claim 3, it is characterised in that：Described driven friction pulley（3）Also include unilateral bearing, described driven friction pulley（3）Plastic wheel be enclosed within unilateral bearing, the unilateral bearing is fixed on vehicle body hanger（1）On.
5. screw mandrel promotion type climbing level robot according to claim 1, it is characterised in that：The connecting rod（7）With lock-screw（15）The one end being movably hinged is provided with bearing, the lock-screw（15）It is engaged with brearing bore.
6. screw mandrel promotion type climbing level robot according to claim 1, it is characterised in that：The bearing is deep groove ball bearing.
7. screw mandrel promotion type climbing level robot according to claim 1, it is characterised in that：The vehicle body hanger（1）It is connected by screw by aluminum corner brace and is built.
8. screw mandrel promotion type climbing level robot according to claim 1, it is characterised in that：Also include vehicle body hanger（1）On be provided with for each motor provide electric power battery（13）.
9. screw mandrel promotion type climbing level robot according to any one of claim 1 to 8, it is characterised in that：The motor that climbs（4）It is buncher.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510818874.2A CN106741266B (en) | 2015-11-20 | 2015-11-20 | A kind of screw rod promotion type climbing level robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510818874.2A CN106741266B (en) | 2015-11-20 | 2015-11-20 | A kind of screw rod promotion type climbing level robot |
Publications (2)
| Publication Number | Publication Date |
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| CN106741266A true CN106741266A (en) | 2017-05-31 |
| CN106741266B CN106741266B (en) | 2019-10-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510818874.2A Active CN106741266B (en) | 2015-11-20 | 2015-11-20 | A kind of screw rod promotion type climbing level robot |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107472392A (en) * | 2017-07-07 | 2017-12-15 | 武汉科技大学 | A kind of wheel type barrier-crossing climbing level robot |
| CN108072395A (en) * | 2017-11-15 | 2018-05-25 | 浙江华电器材检测研究所有限公司 | A kind of universal chuck of electric power pylon stationary monitoring device |
| CN108674511A (en) * | 2018-05-31 | 2018-10-19 | 杭州展翔智能科技有限公司 | It is a kind of can frame carry application device autonomous climbing device |
| CN109557188A (en) * | 2017-09-25 | 2019-04-02 | 南京驰新科技有限责任公司 | Flaw detection crawl frame |
| CN110104085A (en) * | 2019-06-10 | 2019-08-09 | 大连民族大学 | A kind of climbing robot for pipe detection |
| CN110271619A (en) * | 2018-03-15 | 2019-09-24 | 天津工业大学 | A kind of quickly wheeled climbing level robot |
| CN110271620A (en) * | 2018-03-15 | 2019-09-24 | 天津工业大学 | A kind of wheeled climbing level robot of controllable manufacturing |
| CN111661345A (en) * | 2020-06-10 | 2020-09-15 | 安阳全丰航空植保科技股份有限公司 | Unmanned aerial vehicle battery compartment structure |
| CN112373592A (en) * | 2020-11-26 | 2021-02-19 | 重庆大学 | Space ladder climbing robot for high-speed heavy-load transportation |
| CN112455563A (en) * | 2018-12-12 | 2021-03-09 | 杭州申昊科技股份有限公司 | Intelligent inspection robot with pole-climbing mechanism |
| CN113800359A (en) * | 2021-09-27 | 2021-12-17 | 中国矿业大学 | Mine steel wire rope dust and dirt removing robot and working method |
| CN113844563A (en) * | 2021-09-30 | 2021-12-28 | 国网四川省电力公司南充供电公司 | Continuous mobile pole climbing device with obstacle crossing function |
| CN114082579A (en) * | 2021-11-26 | 2022-02-25 | 邵长广 | Spraying device for processing outdoor equipment of power grid and spraying process thereof |
| CN114261456A (en) * | 2021-12-31 | 2022-04-01 | 广东省科学院智能制造研究所 | Climbing robot |
| CN115158505A (en) * | 2022-06-24 | 2022-10-11 | 永康市光明送变电工程有限公司 | Climbing robot for climbing lightning arrester tower |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107472392B (en) * | 2017-07-07 | 2023-04-07 | 武汉科技大学 | Wheel type obstacle-crossing pole-climbing robot |
| CN107472392A (en) * | 2017-07-07 | 2017-12-15 | 武汉科技大学 | A kind of wheel type barrier-crossing climbing level robot |
| CN109557188A (en) * | 2017-09-25 | 2019-04-02 | 南京驰新科技有限责任公司 | Flaw detection crawl frame |
| CN108072395A (en) * | 2017-11-15 | 2018-05-25 | 浙江华电器材检测研究所有限公司 | A kind of universal chuck of electric power pylon stationary monitoring device |
| CN108072395B (en) * | 2017-11-15 | 2023-10-20 | 浙江华电器材检测研究所有限公司 | Universal clamp for fixing and monitoring device of power transmission tower |
| CN110271620A (en) * | 2018-03-15 | 2019-09-24 | 天津工业大学 | A kind of wheeled climbing level robot of controllable manufacturing |
| CN110271619A (en) * | 2018-03-15 | 2019-09-24 | 天津工业大学 | A kind of quickly wheeled climbing level robot |
| CN110271620B (en) * | 2018-03-15 | 2023-10-10 | 天津工业大学 | Wheeled pole-climbing robot of steerable operation |
| CN108674511B (en) * | 2018-05-31 | 2024-04-09 | 杭州展翔智能科技有限公司 | Autonomous climbing device capable of carrying application device |
| CN108674511A (en) * | 2018-05-31 | 2018-10-19 | 杭州展翔智能科技有限公司 | It is a kind of can frame carry application device autonomous climbing device |
| CN112455563A (en) * | 2018-12-12 | 2021-03-09 | 杭州申昊科技股份有限公司 | Intelligent inspection robot with pole-climbing mechanism |
| CN112455563B (en) * | 2018-12-12 | 2022-02-08 | 杭州申昊科技股份有限公司 | Intelligent inspection robot with pole-climbing mechanism |
| CN110104085A (en) * | 2019-06-10 | 2019-08-09 | 大连民族大学 | A kind of climbing robot for pipe detection |
| CN111661345A (en) * | 2020-06-10 | 2020-09-15 | 安阳全丰航空植保科技股份有限公司 | Unmanned aerial vehicle battery compartment structure |
| CN112373592A (en) * | 2020-11-26 | 2021-02-19 | 重庆大学 | Space ladder climbing robot for high-speed heavy-load transportation |
| CN113800359A (en) * | 2021-09-27 | 2021-12-17 | 中国矿业大学 | Mine steel wire rope dust and dirt removing robot and working method |
| CN113800359B (en) * | 2021-09-27 | 2022-11-22 | 中国矿业大学 | Mine steel wire rope dust and dirt removing robot and working method |
| CN113844563A (en) * | 2021-09-30 | 2021-12-28 | 国网四川省电力公司南充供电公司 | Continuous mobile pole climbing device with obstacle crossing function |
| CN114082579A (en) * | 2021-11-26 | 2022-02-25 | 邵长广 | Spraying device for processing outdoor equipment of power grid and spraying process thereof |
| CN114261456A (en) * | 2021-12-31 | 2022-04-01 | 广东省科学院智能制造研究所 | Climbing robot |
| CN115158505A (en) * | 2022-06-24 | 2022-10-11 | 永康市光明送变电工程有限公司 | Climbing robot for climbing lightning arrester tower |
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