CN106741266B - A kind of screw rod promotion type climbing level robot - Google Patents
A kind of screw rod promotion type climbing level robot Download PDFInfo
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- CN106741266B CN106741266B CN201510818874.2A CN201510818874A CN106741266B CN 106741266 B CN106741266 B CN 106741266B CN 201510818874 A CN201510818874 A CN 201510818874A CN 106741266 B CN106741266 B CN 106741266B
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- screw rod
- motor
- screw
- wheel
- level robot
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- 230000009194 climbing Effects 0.000 title claims abstract description 37
- 230000008878 coupling Effects 0.000 claims abstract description 10
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- 238000005859 coupling reaction Methods 0.000 claims abstract description 10
- 229920003023 plastic Polymers 0.000 claims description 11
- 239000004033 plastic Substances 0.000 claims description 11
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical group O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 8
- 239000000741 silica gel Substances 0.000 claims description 4
- 229910002027 silica gel Inorganic materials 0.000 claims description 4
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 3
- 229910052782 aluminium Inorganic materials 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 239000004411 aluminium Substances 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract description 3
- 238000007689 inspection Methods 0.000 abstract description 3
- 230000007246 mechanism Effects 0.000 abstract description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 3
- 238000005034 decoration Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000012423 maintenance Methods 0.000 abstract description 2
- 238000007592 spray painting technique Methods 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
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Abstract
The invention discloses a kind of screw rod promotion type climbing level robots, including moving body, the pole-climbing mechanical arm being fixed on the moving body, the moving body includes vehicle body hanger, the wheel that the vehicle body hanger bottom is arranged in, and the wheel is connected with driving motor；The pole-climbing mechanical arm includes: lead screw motor, shaft coupling, screw rod, screw rod bushing, sliding block, lock-screw, two connecting rods, two holding arms, two motor cabinets, two motors that climb, two active friction wheels, a driven friction pulley, the T shape rack equipped with sliding slot.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, high-altitude pole-climbing operation suitable for various different technologies fields, such as electric system sets up cable, the inspection of high-altitude water pipe, the maintenance of high-altitude fluorescent tube, construction and decoration spray painting, can bring convenience to the staff of detection, reduce the risk of high altitude operation.
Description
Technical field
The present invention relates to a kind of climbing level robot, in particular to a kind of screw rod promotion type for being adapted to multi-section shape is climbed
Bar robot.
Technical background
As economic construction of China continues to develop, scientific and technological level is increasingly promoted, and the various bodies of rod or pipe structure exist
Using more and more extensive in people's life, such as natural gas line, water pipe, electric pole, light pole, high altitude operation become now
The more and more common task of society.Various relevant enterprise mechanisms need a robot that can be creeped on the body of rod, from
And replace the high altitude operation of artificial pole-climbing, on the one hand, greatly improve the efficiency of work；On the other hand, allow staff from danger
It frees in the working environment of danger.It is then desired to design a kind of climbing pole machine that can replace staff and carry out high altitude operation
Device people, and need can carry weight, adapt to various shapes section, climbing rapidly, can linear or spiral or rotation
Turn the climbing level robot of certain angle formula pole-climbing.
Summary of the invention
The present invention be directed to above-mentioned technical need, provide it is a kind of be adapted to multiple section shape using screw rod push
Climbing level robot, the robot are adapted to various different-diameters, roofbolt of different shapes, and may be implemented straight line climbing,
Spiral climbing rotates by a certain angle while climbing, carries the functions such as weight.
The purpose of the present invention is achieved through the following technical solutions:
A kind of screw rod promotion type climbing level robot, it is mechanical including moving body, the pole-climbing being fixed on the moving body
Arm,
The moving body includes vehicle body hanger, the wheel that the vehicle body hanger bottom is arranged in, and the wheel and is driven
Dynamic motor is connected；
The pole-climbing mechanical arm includes: lead screw motor, shaft coupling, screw rod, screw rod bushing, sliding block, lock-screw, two companies
Bar, two motor cabinets, two motors that climb, two active friction wheels, a driven friction pulley, is equipped with sliding slot at two holding arms
T shape rack,
The lead screw motor is fixed on rear end of rack, and is connect by shaft coupling with screw rod；The screw rod bushing is covered in screw rod
On, and connect by screw with the sliding block being movably arranged in T shape chassis runners, one end of two connecting rods is by being fixed on cunning
Lock-screw on block is movably hinged, and the other end is movably hinged with the tail end of two holding arms respectively by pin shaft, two holdings
Arm passes through the left and right sides that fixed pin shaft is hinged on front end of rack respectively, and two motor cabinets are separately fixed at two by screw-nut
In a holding arm, two motors that climb are separately fixed on two motor cabinets by screw, and the active friction wheel, which is mounted on, climbs
On lifting motor output shaft, the driven friction pulley is mounted in vehicle body hanger, clamps the body of rod together with two active friction wheels.
When climbing level robot works, lead screw motor rotation drives screw rod rotation by shaft coupling, pushes screw rod bushing forward
Sliding block increases the angle of two connecting rods, and pushing holding arm to rotate by a certain angle reduces angle between two holding arms, from
And make climb motor and active friction wheel clamping roofbolt；After clamping roofbolt, the motor that climbs drives active friction wheel rotation, to make
Active friction wheel scrolls up along roofbolt, and driven friction pulley scrolls up also along roofbolt, and entire climbing level robot realization is climbed
The movement of bar.
Further, the position by adjusting two motor cabinets is provided with to adjust two on the holding arm and motor cabinet
Climb the angle of motor and the straight trough mouth of relative positional relationship, before use, can be by adjusting position of the screw on straight trough mouth
The angle of two transport motors is controlled to adjust the position of two motor cabinets, to adapt to different-diameter, different cross section shape
Tubing, bar.
Further, the active friction wheel and driven friction pulley include plastic wheel and silica gel ring, the silica gel snare
On plastic wheel, the plastic wheel of the active friction wheel is directly anchored to climb on the motor shaft of motor, silica gel ring frictional force system
Number is larger, and the frictional force to materials in the tube can be improved, prevent from skidding.
Further, the driven friction pulley further includes unilateral bearing, and the plastics wheel case of the driven friction pulley exists
On unilateral bearing, the unilateral bearing is fixed in vehicle body hanger, and due to the effect of unilateral bearing, robot will not in pole-climbing
It falls back.
Further, one end that the connecting rod and lock-screw are movably hinged is provided with bearing, the lock-screw and axis
Inner hole is held to match.
Further, the bearing is deep groove ball bearing.
Further, the vehicle body hanger is connected by screw to by aluminum corner brace builds, and can reduce self weight well.
It further, further include being provided in vehicle body hanger for providing the battery of electric power to each motor, convenient in inconvenience
The outdoor use of electric power is provided.
Further, the motor that climbs is speed regulating motor, by adjusting the revolving speed of two motors that climb, to adjust master
The revolving speed of dynamic friction wheel, allows robot to rotate by a certain angle while climbing around roofbolt, so as to realize straight line
It climbs, corkscrew climb, movement of climbing etc. around fixed angle.
The present invention compared with prior art the advantages of and beneficial effect be, the climbing level robot can pass through change two masters
The angle of dynamic friction wheel adapts to the roofbolt of different-diameter, different cross section shape, so as to creep on a variety of roofbolts again；This hair
It is bright to increase substantially the pole-climbing speed of climbing level robot in such a way that the motor that climbs drives active friction wheel to climb, and
And three friction pulleys are mutually 120 degree of angles can clamp roofbolt well, and have unilateral bearing on driven friction pulley, prevent pole-climbing
There is setback in pole-climbing or while being parked on bar in robot；The present invention can be realized by adjusting the different rotating speeds of wheel
It is moved on level land, obstacle detouring, meanwhile, the present invention realizes the self-locking of two holding arms using the self-locking of screw thread on screw rod, makes machinery
Arm will not unclamp or fall off after holding tubing tightly, can steadily realize operation of climbing, the height suitable for various different technologies fields
Idle job, such as electric system set up cable, the inspection of high-altitude water pipe, the maintenance of high-altitude fluorescent tube, construction and decoration spray painting, can be to inspection
The staff of survey brings convenience, reduces the risk of high altitude operation.
Detailed description of the invention
Fig. 1 is the whole axonometric schematic diagram of one embodiment of the invention.
Fig. 2 is the partial structural diagram of the screw rod 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.
Fig. 4 is the axonometric schematic diagram that the sliding block of one embodiment of the invention is connect with connecting rod.
Fig. 5 is the schematic diagram of pole-climbing state of the present invention.
Serial number in figure are as follows: 1-vehicle body hanger, 2-active friction wheels, 3-driven friction pulleys, 4-climb motor, 5-electricity
Base, 6-holding arms, 7-connecting rods, 8-sliding blocks, 9-screw rod bushings, 10-screw rods, 11-shaft couplings, 12-lead screw motors,
13-batteries, 14-wheels, 15-lock-screws, 16-deep groove ball bearings；17- rack.
Specific embodiment
In order to illustrate the technical solution of the embodiments of the present invention more clearly, with reference to the accompanying drawing, by embodiment to this hair
It is bright to be further described.
As shown in Figures 1 to 4, a kind of screw rod promotion type climbing level robot, including moving body, it is fixed on the locomotive
Pole-climbing mechanical arm on body,
The moving body includes being connected by screw to the vehicle body hanger 1 built by aluminum corner brace, being arranged in the vehicle
The wheel 14 of 1 bottom of body support frame, the wheel 14 are connected with driving motor；
The pole-climbing mechanical arm includes: lead screw motor 12, shaft coupling 11, screw rod 10, screw rod bushing 9, sliding block 8, lock-screw
15, two 7, two, connecting rod holding arms 6, two motor cabinet 5, two are climbed, and 4, two, motor active friction wheel 2, one is driven to rub
Wheel 3, the T shape rack 17 equipped with sliding slot are wiped,
The lead screw motor 12 is fixed on 17 rear end of rack, and is connect by shaft coupling 11 with screw rod 10；The screw rod bushing 9
It covers on screw rod 10, and is connect by screw with the sliding block 8 being movably arranged in 17 sliding slot of T shape rack, the one of two connecting rods 7
End is movably hinged by the lock-screw 15 being fixed on sliding block 8, and the other end passes through the pin shaft tail end with two holding arms 6 respectively
It is movably hinged, two holding arms 6 are hinged on the left and right sides of 17 front end of rack by fixed pin shaft respectively, and two motor cabinets 5 are logical
It crosses screw-nut to be separately fixed in two holding arms 6, two motors 4 that climb are separately fixed at two motor cabinets 5 by screw
On, the active friction wheel 2, which is mounted on, to climb on 4 output shaft of motor, and the driven friction pulley 3 is mounted in vehicle body hanger 1, with
Two active friction wheels 2 are mutually 120 degree of clamping bodies of rod together.
In one embodiment, as shown in Figures 2 and 3, it is provided on the holding arm 6 and motor cabinet 5 by adjusting two
The position of a motor cabinet 5 adjusts the angle of two motors 4 that climb and the straight trough mouth of relative positional relationship, before use, can lead to
Position of the screw on straight trough mouth is overregulated to adjust the position of two motor cabinets and control the angle of two transport motors, thus
Adapt to different-diameter, the tubing of different cross section shape, bar.
In one embodiment, the active friction wheel 2 and driven friction pulley 3 include plastic wheel and silica gel ring, described
Silica gel snare is on plastic wheel, and the plastic wheel of the active friction wheel 2 is directly anchored to climb on the motor shaft of motor 4, silica gel
It is larger to enclose friction coefficient, the frictional force to materials in the tube can be improved, prevent from skidding.
In one embodiment, the driven friction pulley 3 further includes unilateral bearing, the modeling of the driven friction pulley 3
Material wheel covers on unilateral bearing, and the unilateral bearing is fixed in vehicle body hanger 1, and due to the effect of unilateral bearing, robot exists
It will not be fallen back when pole-climbing.
In one embodiment, one end that the connecting rod 7 is movably hinged with lock-screw 15 is provided with deep groove ball bearing, institute
It states lock-screw 15 to match with brearing bore, to reduce the friction of hinged place.
In one embodiment, be provided in vehicle body hanger 1 for each motor provide electric power battery 13, can be used for
Entire climbing level robot provides electric power, convenient for providing the outdoor use of electric power inconvenient.
In one embodiment, the motor 4 that climbs is speed regulating motor, by adjusting the revolving speed of two motors that climb, from
And the revolving speed of active friction wheel is adjusted, so that robot is rotated by a certain angle while climbing around roofbolt, so as to
Realize straight line climb, corkscrew climb, movement of climbing etc. around fixed angle.
As shown in figure 5, when climbing level robot works, lead screw motor rotation drives screw rod 10 to rotate, makes by shaft coupling 11
Screw rod bushing pushes forward sliding block, increases the angle of two connecting rods 7, and push holding arm to rotate by a certain angle to make two holding arms
Between angle reduce, to make to climb motor and active friction wheel clamps roofbolt；After clamping roofbolt, the motor 4 that climbs is driven actively
Friction pulley 2 rotates, so that active friction wheel 2 be made to scroll up along roofbolt, driven friction pulley 3 scrolls up also along roofbolt,
Entire climbing level robot realizes the movement of pole-climbing.The screw rod promotion type climbing level robot can be by adjusting two electricity that climb
The revolving speed of machine 4 allows robot to rotate certain angle around roofbolt while climbing to adjust the revolving speed of active friction wheel
Degree, so as to realize straight line climb, corkscrew climb, movement of climbing etc. around fixed angle.
The above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be to the present invention
Embodiment restriction.For those of ordinary skill in the art, it can also make on the basis of the above description
Other various forms of variations or variation.There is no necessity and possibility to exhaust all the enbodiments.It is all of the invention
Made any modifications, equivalent replacements, and improvements etc., should be included in the protection of the claims in the present invention within spirit and principle
Within the scope of.
Claims (9)
1. a kind of screw rod promotion type climbing level robot, it is characterised in that: including moving body, be fixed on the moving body
Pole-climbing mechanical arm,
The moving body includes the wheel (14) of vehicle body hanger (1), setting in the vehicle body hanger (1) bottom, the wheel
Sub (14) are connected with driving motor；
The pole-climbing mechanical arm includes: lead screw motor (12), shaft coupling (11), screw rod (10), screw rod bushing (9), sliding block (8), lock
Tight screw (15), two connecting rods (7), two holding arms (6), two motor cabinets (5), two motors that climb (4), two actives rub
Wheel (2), a driven friction pulley (3), the T shape rack (17) equipped with sliding slot are wiped,
The lead screw motor (12) is fixed on rack (17) rear end, and is connect by shaft coupling (11) with screw rod (10)；The silk
Rod set (9) covers on screw rod (10), and is connect by screw with the sliding block (8) being movably arranged in T shape rack (17) sliding slot,
One end of two connecting rods (7) is movably hinged by the lock-screw (15) being fixed on sliding block (8), and the other end is distinguished by pin shaft
It is movably hinged with the tail end of two holding arms (6), two holding arms (6) are hinged on rack (17) front end by fixed pin shaft respectively
The left and right sides, two motor cabinets (5) are separately fixed on two holding arms (6) by screw-nut, two motors that climb (4)
It being separately fixed on two motor cabinets (5) by screw, the active friction wheel (2) is mounted on the motor that climbs (4) output shaft,
The driven friction pulley (3) is mounted on vehicle body hanger (1), clamps the body of rod together with two active friction wheels (2).
2. screw rod promotion type climbing level robot according to claim 1, it is characterised in that: the holding arm (6) and electricity
The position by adjusting two motor cabinets (5) is provided on base (5) to adjust the angle of two motors that climb (4) and relative position
The straight trough mouth of relationship.
3. screw rod promotion type climbing level robot according to claim 1, it is characterised in that: the active friction wheel (2)
Include plastic wheel and silica gel ring with driven friction pulley (3), the silica gel snare on plastic wheel, the active friction wheel (2)
Plastic wheel is directly anchored to climb on the motor shaft of motor (4).
4. screw rod promotion type climbing level robot according to claim 3, it is characterised in that: the driven friction pulley (3)
It further include unilateral bearing, for the plastics wheel case of the driven friction pulley (3) on unilateral bearing, the unilateral bearing is fixed on vehicle
On body support frame (1).
5. screw rod promotion type climbing level robot according to claim 1, it is characterised in that: the connecting rod (7) and locking screw
One end that nail (15) is movably hinged is provided with bearing, and the lock-screw (15) matches with brearing bore.
6. screw rod promotion type climbing level robot according to claim 5, it is characterised in that: the bearing is deep-groove ball axis
It holds.
7. screw rod promotion type climbing level robot according to claim 1, it is characterised in that: the vehicle body hanger (1) is by angle
Aluminium, which is connected by screw to, to build.
8. screw rod promotion type climbing level robot according to claim 1, it is characterised in that: further include on vehicle body hanger (1)
It is provided with for providing the battery (13) of electric power to each motor.
9. screw rod promotion type climbing level robot according to any one of claim 1 to 8, it is characterised in that: described to climb
Motor (4) is speed regulating motor.
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 |
|---|---|
| CN106741266A CN106741266A (en) | 2017-05-31 |
| CN106741266B true CN106741266B (en) | 2019-10-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510818874.2A Expired - Fee Related CN106741266B (en) | 2015-11-20 | 2015-11-20 | A kind of screw rod promotion type climbing level robot |
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| Country | Link |
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| CN (1) | CN106741266B (en) |
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| CN107472392B (en) * | 2017-07-07 | 2023-04-07 | 武汉科技大学 | Wheel type obstacle-crossing pole-climbing robot |
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| CN110271619A (en) * | 2018-03-15 | 2019-09-24 | 天津工业大学 | A kind of quickly wheeled climbing level robot |
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| 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 |
| 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 |
| CN113844563B (en) * | 2021-09-30 | 2022-10-21 | 国网四川省电力公司南充供电公司 | Continuous mobile pole climbing device with obstacle crossing function |
| CN114082579B (en) * | 2021-11-26 | 2023-05-23 | 邵长广 | Spraying device and spraying process for processing outdoor equipment of power grid |
| CN114261456B (en) * | 2021-12-31 | 2023-03-31 | 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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|---|---|---|---|---|
| US5542496A (en) * | 1994-12-15 | 1996-08-06 | St. Denis; Carroll R. | Robotic centering device |
| CN101480972A (en) * | 2009-01-20 | 2009-07-15 | 山东理工大学 | Multifunctional pole-climbing robot |
| CN102745276A (en) * | 2011-04-22 | 2012-10-24 | 长春理工大学 | Walking type climbing pole robot |
| CN205203185U (en) * | 2015-11-20 | 2016-05-04 | 华南理工大学 | Lead screw repulsive -type maglev pole -climbing robot |
-
2015
- 2015-11-20 CN CN201510818874.2A patent/CN106741266B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5542496A (en) * | 1994-12-15 | 1996-08-06 | St. Denis; Carroll R. | Robotic centering device |
| CN101480972A (en) * | 2009-01-20 | 2009-07-15 | 山东理工大学 | Multifunctional pole-climbing robot |
| CN102745276A (en) * | 2011-04-22 | 2012-10-24 | 长春理工大学 | Walking type climbing pole robot |
| CN205203185U (en) * | 2015-11-20 | 2016-05-04 | 华南理工大学 | Lead screw repulsive -type maglev pole -climbing robot |
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| CN106741266A (en) | 2017-05-31 |
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Granted publication date: 20191018 |