CN108016523B - Multifunctional pole-climbing robot and control method thereof - Google Patents
Multifunctional pole-climbing robot and control method thereof Download PDFInfo
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- CN108016523B CN108016523B CN201711066066.0A CN201711066066A CN108016523B CN 108016523 B CN108016523 B CN 108016523B CN 201711066066 A CN201711066066 A CN 201711066066A CN 108016523 B CN108016523 B CN 108016523B
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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
Abstract
The invention relates to a pole-climbing robot, in particular to a multifunctional pole-climbing robot and a control method thereof. The utility model provides a multi-functional pole climbing robot includes the transposition device, the inner circle device of crawling, the outer lane device of crawling, microprocessor, power supply unit and support, a serial communication port, the transposition device contains the fixed plate, transposition board and transposition motor, there are rack and sliding tray in the arc of arranging with one heart at the fixed plate middle part, the sliding tray is inboard at arc inner rack, the fixed plate crawls device fixed connection with the outer lane, the transposition board outside is fixed with the transposition motor, the fixed gear with arc inner rack meshing of transposition motor output, the transposition board passes through the sliding tray joint with the fixed plate, transposition board and inner circle crawl device fixed connection, the transposition motor is controlled by microprocessor. The invention has the beneficial effects that: the transposition device is added in the pole-climbing mechanism, and the problem that the pole-climbing mechanism can not be transposed in the pole-climbing process is solved.
Description
Technical Field
The invention relates to a pole-climbing mechanism, in particular to a multifunctional pole-climbing robot and a control method thereof.
Background
With the rapid development of the urbanization process, more high-pole facilities related to commercial or municipal engineering appear in urban infrastructure and buildings, such as street lamps, billboard posts, posts of building halls, road monitoring posts, telegraph poles and the like. These facilities need to be cleaned and maintained regularly, and most of them are done by manpower nowadays, and have low efficiency, high cost and high danger. Therefore, people invent the climbing rod mechanism and adopt machinery to replace manpower to carry out dangerous work such as climbing, high-point maintenance and the like. The method has the advantages of high efficiency and high safety, so that the method is widely concerned and researched, and the application of various industries is more and more extensive. However, the existing climbing rod mechanism cannot be rotated in the climbing process, namely, the existing climbing rod mechanism can only move linearly along the climbing rod, so that the application field of the climbing rod mechanism is limited. For example, when painting or cleaning, the whole painting or cleaning task cannot be completed because the rotation cannot be performed; or cannot avoid the obstacle by indexing when encountering a raised obstacle. It is necessary to develop a climbing rod mechanism that can be indexed in climbing.
Chinese patent No. CN 105128969 a, published 2015, 12 th, 9 th, a rod-climbing robot, which uses an elastic claw type design, utilizes a cam and a crank-link mechanism to drive claws to complete grasping and releasing actions, and two claws alternately act to drive a mechanism to climb along a rod. The climbing pole has a smart design structure, finishes the actions of clamping, loosening and lifting only by using one power source, and can adapt to the variable-diameter climbing pole within a certain range. But the pole-climbing mechanism cannot solve the problem that the pole-climbing mechanism is indexed in the pole-climbing process.
Disclosure of Invention
The invention aims to solve the problem that a pole climbing mechanism cannot be rotated in the pole climbing process, and provides a multifunctional pole climbing robot which solves the problem that the pole climbing mechanism cannot be rotated in the pole climbing process through the rotating action of a rotating device.
The technical scheme adopted by the invention for solving the problems is as follows: a multifunctional pole-climbing robot comprises a transposition device, an inner ring crawling device, an outer ring crawling device, a microprocessor, a power supply device and a bracket, wherein the transposition device comprises a fixed plate, a transposition plate and a transposition motor, an arc-shaped inner rack and a sliding groove are concentrically arranged in the middle of the fixed plate, the sliding groove is formed in the inner side of the arc-shaped inner rack, and the fixed plate is fixedly connected with the outer ring crawling device; the transposition board outside is fixed with the transposition motor, the transposition motor output fixed one with arc inner rack engaged gear, the transposition board with the fixed plate passes through the sliding tray joint, the transposition board with the inner circle device fixed connection of crawling, the transposition motor is controlled by microprocessor.
Through the sliding tray joint the rotor plate with the fixed plate can rotate relatively, and rotor plate and fixed plate respectively with a device fixed connection of crawling, specifically do: the rotating plate is fixedly connected with the inner ring crawling device, and the fixed plate is fixedly connected with the outer ring crawling device. When the outer ring crawling device clamps the climbing rod and the inner ring crawling device loosens the climbing rod, the inner ring crawling device and the rotating plate are in an unloaded state, the inner ring crawling device and the rotating plate are driven by the transposition motor to deviate at a certain angle relative to the outer ring crawling device and the fixed plate, then the inner ring crawling device clamps the climbing rod, the outer ring crawling device loosens the climbing rod, the outer ring crawling device and the fixed plate are in an unloaded state at the moment, then the transposition motor rotates reversely at the same angle, the inner ring crawling device and the rotating plate gradually recover relative to the outer ring crawling device and the fixed plate, and the climbing rod mechanism completes transposition work accordingly.
Preferably, the inner ring crawling device comprises an inner ring upper clamping jaw, an inner ring lower clamping jaw, an inner ring servo electric cylinder and an inner ring sliding rod, the inner ring upper clamping jaw and the inner ring lower clamping jaw are respectively fixed at two ends of the inner ring servo electric cylinder, one end of the inner ring sliding rod is fixedly connected with the inner ring lower clamping jaw, and the other end of the inner ring sliding rod penetrates through a sliding rod hole of the inner ring upper clamping jaw to form a sliding pair; the outer lane crawl device contains outer lane and circles jack catch, outer lane lower jack catch, outer lane servo electric cylinder and outer lane slide bar, outer lane circle the jack catch with the outer lane lower jack catch is fixed in respectively the both ends of outer lane servo electric cylinder, outer lane slide bar one end with jack catch fixed connection under the outer lane, the outer lane slide bar other end passes the outer lane circles the slide bar hole of jack catch and forms the sliding pair, and the inner circle crawl device is similar with the outer lane device structure of crawling, adopts two jack catch structures to make climbing rod mechanism press from both sides the climbing rod more firmly to can carry more loads.
Preferably, the inner ring upper jaw, the inner ring lower jaw, the outer ring upper jaw and the outer ring lower jaw respectively comprise a mechanical jaw, a mechanical jaw support, a driving connecting rod and a driving electric push rod, a hinged rod is fixed in the middle of the front end of the mechanical jaw support, sliding rod holes matched with the inner ring sliding rod and the outer ring sliding rod are processed on two sides of the front end of the mechanical jaw support, the mechanical jaw is provided with two edges which form an obtuse angle, the shorter edge of the mechanical jaw is hinged with the front end of the driving connecting rod, a hinged hole is processed at the turning position of the mechanical jaw and hinged with the hinged rod in the middle of the front end of the mechanical jaw support, the longer edge of the mechanical jaw is arc-shaped, a rubber layer is embedded on the inner side of the mechanical jaw, the tail end of the driving connecting rod is hinged on the driving electric push rod, the jaw structure allows the climbing rod to change in diameter within a, and allows the climbing rod to be round-like in cross-section, such as elliptical.
Preferably, a pressure sensor is embedded in the working surface of the inner side of the mechanical jaw and used for detecting the force value of the inner side of the mechanical jaw, the pressure sensor is connected to the microprocessor, and the microprocessor can judge whether the climbing rod mechanism is clamped or loosened or fails through analyzing the signals of the pressure sensor.
Preferably, the driving electric push rod is an electric push rod with a self-locking function, so that the climbing rod mechanism does not fall when power is suddenly cut off, and electric energy is not consumed due to clamping when the climbing rod mechanism stays on the climbing rod.
Preferably, the mechanical claw support is provided with at least two pairs of hinged rods with different intervals, and the hinged rods hinged with the mechanical claws can be changed if necessary to obtain different clamping ranges.
Preferably, a fault display is fixed on the fixing plate, and the fault display is connected to the microprocessor. When the microprocessor detects that the robot is currently out of order, a fault code is displayed on the fault display, and an audible and visual alarm is sent to assist an operator in determining and eliminating the fault.
Preferably, the microprocessor is wirelessly connected with a remote controller, so that the pole climbing mechanism can be controlled on site, and the application field of the pole climbing mechanism is expanded.
Preferably, microprocessor is connected with a camera, the remote controller has the display screen, when climbing pole mechanism climbing is higher, can observe pole mechanism's operating condition through the display screen, makes things convenient for pole mechanism's operation.
The invention has the beneficial effects that: through the transposition action of transposition device, realize the transposition action of pole climbing mechanism in the climbing process to can accomplish the traversal to whole climbing pole, and can avoid protruding barrier through the transposition.
Drawings
Fig. 1 is a structure view of the multifunctional pole-climbing robot.
Fig. 2 is a structure view of the multifunctional pole-climbing robot in a tilted up view.
Fig. 3 is a view of the structure of the jaws on the inner ring.
Fig. 4 is a structural view of a second embodiment of the indexing device.
Fig. 5 is a structural view of a third embodiment of the multifunctional pole-climbing robot.
Fig. 6 is a bottom view of the multifunctional pole-climbing robot in accordance with a third embodiment.
Wherein: 1. an outer ring upper jaw, 2, an inner ring upper jaw, 3, an inner ring sliding rod, 4, an inner ring servo electric cylinder, 5, an inner ring lower jaw, 6, an outer ring lower jaw, 7, an outer ring upper jaw driving electric push rod, 8, an inner ring upper jaw driving electric push rod, 9, an outer ring sliding rod, 10, an outer ring servo electric cylinder, 11, an indexing servo motor, 12, an indexing device indexing plate, 13, an indexing device fixing plate, 14, an inner ring lower jaw driving electric push rod, 15, an indexing gear, 16, an arc-shaped inner rack, 17, a pressure sensor, 18, a mechanical jaw, 19, a small-diameter hinge rod, 20, a large-diameter hinge rod, 21, a driving connecting rod, 22, a mechanical jaw support, 23, a driving electric push rod, 24, a fixing plate, 25, an indexing plate, 26, a speed reducing motor, 27, a limit switch, 28, an outer ring upper jaw, 29, an inner ring upper jaw, 30, 31. an inner ring lower jaw 32, an outer ring lower jaw 33, an outer ring support rod 34, an indexing motor 35, an indexing plate 36, a fixing plate 37, a servo electric cylinder 38, an indexing gear 39 and an arc-shaped inner rack.
Detailed Description
The following provides a more detailed description of the present invention, with reference to the accompanying drawings.
As shown in fig. 1-2, an inner ring upper jaw 2 and an inner ring lower jaw 5 are respectively fixed at two ends of an inner ring servo electric cylinder 4, the inner ring lower jaw drives an electric push rod 14 to be hinged with the rear end of the inner ring lower jaw 5 and drives the inner ring lower jaw 5 to work and loosen and work and clamp, the inner ring lower jaw 5 is fixedly connected with the bottom end of an inner ring sliding rod 3, the inner ring upper jaw drives an electric push rod 8 to be hinged with the rear end of the inner ring upper jaw 2 and drives the inner ring upper jaw 2 to work and loosen and work and clamp, the inner ring upper jaw 2 is penetrated by the inner ring sliding rod 3 through a hinge hole to form a sliding pair, so that the inner ring upper jaw 2 can slide up and down along the inner ring sliding rod 3. The inner ring crawling device is composed of an inner ring upper jaw 2, an inner ring sliding rod 3, an inner ring servo electric cylinder 4 and an inner ring lower jaw 5. The inner ring lower jaw 5 is simultaneously fixed on the indexing plate 12 of the indexing device, so that the inner ring crawling device is fixedly connected with the indexing plate 12 of the indexing device. The outer ring clamping jaw drives the electric push rod 7 to be hinged with the rear end of the outer ring upper clamping jaw 1, the outer ring upper clamping jaw 1 is driven to work and loosen and work and clamp tightly, the outer ring upper clamping jaw 1 and the outer ring lower clamping jaw 6 are fixed at two ends of an outer ring servo electric cylinder 10 respectively, the outer ring lower clamping jaw 6 is fixedly connected with the bottom end of an outer ring sliding rod 9, the outer ring upper clamping jaw 1 is penetrated through a hinge hole by an outer ring sliding rod 9 to form a sliding pair, and therefore the outer ring upper clamping jaw 1 can slide up and down along the outer ring sliding rod 9 under the driving of the outer ring servo. The outer ring crawling device is composed of an outer ring upper clamping jaw 1, an outer ring lower clamping jaw 6, an outer ring sliding rod 9 and an outer ring servo electric cylinder 10. The outer ring lower jaw 6 is fixed on the indexing device fixing plate 13, so that the outer ring crawling device is fixedly connected with the indexing device fixing plate 13. An indexing servo motor 11 is fixed on the indexing plate 12 of the indexing device, the output end of the indexing servo motor 11 is connected with an indexing gear 15, an arc-shaped inner rack 16 is fixed on the fixed plate 13 of the indexing device, and the arc-shaped inner rack 16 is meshed with the indexing gear 15. The transposition plate 12 and the transposition device fixing plate 13 are clamped through the sliding grooves and can rotate relatively, and transposition work of the pole climbing mechanism is achieved. The worktable or load of the climbing rod mechanism is fixed on the indexing device fixing plate 13.
Fig. 3 is a structure diagram of a claw on an inner ring, wherein two ends of a driving connecting rod 21 are respectively hinged with a mechanical claw 18 and a driving electric push rod 23, two groups of hinged rods are fixed on a mechanical claw support 22, the two groups of hinged rods are respectively a small-diameter hinged rod 19 and a large-diameter hinged rod 20, the middle part of the mechanical claw 18 can be hinged with the small-diameter hinged rod 19, and the mechanical claw is suitable for climbing a climbing rod with a small diameter and can also be hinged with the large-diameter hinged rod 20, and at the moment, the mechanical claw is suitable for climbing a climbing rod with a. When the electric push rod 23 is driven to work and extend and work and contract under the control of the microprocessor, the mechanical claw 18 is pushed to be clamped and loosened. The pressure sensor 17 is wrapped in the rubber anti-slip strip and embedded in the inner side of the mechanical jaw 18 to detect the stress value of the inner side of the mechanical jaw 18. The pressure sensor 17 is connected to the microprocessor, and inputs the mechanical jaw clamping force data to the microprocessor, so that the microprocessor can judge whether the climbing rod mechanism clamps the climbing rod or not, prevent the climbing rod mechanism from falling off because the climbing rod mechanism does not clamp the climbing rod, and can give an alarm in time when the climbing rod mechanism fails and cannot clamp the climbing rod. The inner ring lower jaw, the outer ring upper jaw and the outer ring lower jaw have the same structure as the inner ring upper jaw, and repeated description is omitted here.
A microprocessor of a multifunctional pole-climbing robot is provided with an alarm, an elastic feeler pressure sensor and a remote controller. The elastic antenna pressure sensor is used for sensing obstacles, the ground or the ceiling, and the alarm is used for giving an alarm. The remote controller is in wireless communication with the microprocessor, so that the on-site command operation can be carried out on the pole-climbing mechanism. The climbing work flow of the climbing rod mechanism under the control of the microprocessor is as follows: 1) the outer ring upper clamping jaw 1, the outer ring lower clamping jaw 6, the inner ring upper clamping jaw 2 and the inner ring lower clamping jaw 5 are clamped tightly, and the climbing rod mechanism is attached to a climbing rod; 2) the outer ring upper clamping jaw 1 and the inner ring upper clamping jaw 2 are loosened, the inner ring servo electric cylinder 4 and the outer ring servo electric cylinder 10 extend in work, and after the outer ring upper clamping jaw 1 and the inner ring upper clamping jaw 2 are pushed to move upwards for a certain distance, the inner ring servo electric cylinder 4 and the outer ring servo electric cylinder 10 stop extending; 3) clamping the outer ring upper clamping jaw 1 and the inner ring upper clamping jaw 2, receiving a signal of the pressure sensor 17 by the microprocessor to judge whether the clamping is performed or not, waiting if the clamping is not performed, judging that the climbing rod mechanism has a fault if the waiting time is out, starting an alarm to give an alarm at the moment, displaying a corresponding fault code on a fault display panel, and entering the step 4 if the clamping is judged; 4) the outer ring lower clamping jaw 6 and the inner ring lower clamping jaw 5 are loosened, the inner ring servo electric cylinder 4 and the outer ring servo electric cylinder 10 work and contract, and after the climbing rod mechanism is pulled to climb upwards by the same distance as the step 3, the inner ring servo electric cylinder 4 and the outer ring servo electric cylinder 10 stop contracting; 5) the outer ring lower jaw 6 and the inner ring lower jaw 5 are clamped, the microprocessor receives a signal of the pressure sensor 17 to judge whether the outer ring lower jaw and the inner ring lower jaw are clamped, if the outer ring lower jaw and the inner ring lower jaw are clamped, the step 1-5 is repeated, the climbing is continuously carried out, if the inner ring lower jaw and the inner ring lower jaw are not clamped, the fault of the pole-climbing mechanism is judged, the alarm is started to give an alarm, and a corresponding fault code.
The process of the pole-climbing mechanism for conducting transposition work under the control of the microprocessor is as follows: 1) the outer ring upper clamping jaw 1, the outer ring lower clamping jaw 6, the inner ring upper clamping jaw 2 and the inner ring lower clamping jaw 5 are clamped tightly, and the climbing rod mechanism is attached to a climbing rod; 2) the inner ring upper jaw 2 and the inner ring lower jaw 5 are loosened, the microprocessor controls the indexing servo motor 11 to rotate for a certain angle, and a certain angle is formed between the inner ring crawling device and the outer ring crawling device of the climbing rod mechanism; 3) clamping the inner ring upper clamping jaw 2 and the inner ring lower clamping jaw 5, judging whether the clamping is performed or not by the microprocessor after receiving a signal of the pressure sensor 17, waiting if the clamping is not performed, starting an alarm to give an alarm if the waiting is overtime, and entering the step 4 if the clamping is judged; 4) the outer ring upper clamping jaw 1 and the outer ring lower clamping jaw 6 are loosened, the microprocessor controls the transposition servo motor 11 to rotate reversely by the same angle as the step 2, the angle between the inner ring crawling device and the outer ring crawling device is recovered, and at the moment, the load of the climbing rod mechanism and the workbench finish transposition action along with the transposition device fixing plate 13; 5) clamping the outer ring upper clamping jaw 1 and the outer ring lower clamping jaw 6, judging whether the outer ring lower clamping jaw is clamped or not by the microprocessor after receiving a signal of the pressure sensor 17, waiting if the outer ring lower clamping jaw is not clamped, starting an alarm to give an alarm if the waiting time is out, displaying a corresponding fault code on a fault display panel, judging whether the outer ring lower clamping jaw is indexed to a target position or not if the outer ring lower clamping jaw is clamped, repeating the steps 1-5 to continuously index if the outer ring lower clamping jaw is not clamped to the target position, and quitting the indexing work flow if the.
In another embodiment of the indexing device shown in fig. 4, the fixing plate 24 and the indexing plate 25 are engaged with each other through a sliding slot and can rotate relatively. A speed reducing motor 26 is fixed on the indexing plate 25, an indexing gear 15 is mounted at the tail end of the speed reducing motor 26 and is meshed with the arc-shaped inner rack 16 on the fixing plate 24, and the indexing gear 15 and the arc-shaped inner rack 16 generate relative motion under the driving of the speed reducing motor 26, so that the indexing plate 25 and the fixing plate 24 are driven to generate relative rotation. The speed reducing motor 26 is controlled by a microprocessor, and the microprocessor is wirelessly connected with a remote controller, so that the start, stop and forward and reverse rotation of the speed reducing motor 26 can be directly controlled by the remote controller. A limit switch 27 is mounted on the fixed plate 24 to prevent rotational overtravel from collision. In this embodiment, the microprocessor can control the climbing operation of the climbing rod mechanism, but needs to manually control the indexing operation of the climbing rod mechanism, and the working process is as follows: 1) the outer ring upper clamping jaw 1, the outer ring lower clamping jaw 6, the inner ring upper clamping jaw 2 and the inner ring lower clamping jaw 5 are clamped tightly, the climbing rod mechanism is attached to a climbing rod, and the climbing rod mechanism is switched to a manual control state through a remote controller; 2) the inner ring upper clamping jaw 2 and the inner ring lower clamping jaw 5 are released through a remote controller instruction, the speed reducing motor 26 is instructed to rotate through the remote controller instruction, and at the moment, the inner ring crawling device and the outer ring crawling device of the climbing rod mechanism gradually deviate by a certain angle; 3) the deceleration motor 26 is instructed to stop rotating by a remote controller; 4) the inner ring upper jaw 2 and the inner ring lower jaw 5 are clamped through a remote controller instruction, and if the clamping is judged by manual observation, the step 5 is carried out; 5) the outer ring upper clamping jaw 1 and the outer ring lower clamping jaw 6 are loosened through a remote controller instruction, the speed reducing motor 26 is reversely rotated through a remote controller instruction, the offset angle between the inner ring crawling device and the outer ring crawling device of the climbing rod mechanism is gradually recovered, and at the moment, the load of the climbing rod mechanism and the workbench complete the transposition action along with the fixing plate 24; 6) and (3) clamping the outer ring upper clamping jaw 1 and the outer ring lower clamping jaw 6 through a remote controller instruction, manually observing and judging whether the outer ring upper clamping jaw and the outer ring lower clamping jaw are clamped or not, then judging whether the outer ring lower clamping jaw is indexed to the target position or not, repeating the steps 1-6 to continuously index if the outer ring lower clamping jaw does not reach the target position, and quitting manual control through a remote controller instruction if the outer ring lower clamping jaw reaches. If the position-limiting switch 27 mounted on the fixed plate 24 is triggered by the position-changing plate 25 during the position changing process, the climbing-rod mechanism only responds to the instruction of the reverse rotation, and simultaneously starts an alarm to prompt the operator that the rotating position is over-limited.
In another embodiment shown in fig. 5 to 6, the inner ring crawling device is composed of an inner ring upper jaw 29, an inner ring support rod 30 and an inner ring lower jaw 31, the inner ring upper jaw 29 is fixed at the upper end of the inner ring support rod 30, the inner ring lower jaw 31 is fixed at the lower end of the inner ring support rod 30, and the inner ring lower jaw 31 is fixedly connected with the indexing plate 35, so that the inner ring crawling device is fixed on the indexing plate 35. The fixed plate 36 and the indexing plate 35 are clamped through a middle sliding groove and can rotate mutually, an arc-shaped inner rack 39 is fixed on the outer side of the middle sliding groove of the fixed plate 36, the indexing motor 34 is fixed on the outer side of the indexing plate 35, the tail end of the indexing motor is connected with an indexing gear 38, and the indexing gear 38 is meshed with the arc-shaped inner rack 39. The bottom of the outer side of the fixed plate 36 is fixedly connected with the upper end of the servo electric cylinder 37, the lower end of the servo electric cylinder 37 is fixedly connected with the outer ring lower clamping jaw 32, the lower end of the outer ring supporting rod 33 is fixed on the outer ring lower clamping jaw 32 and fixed on the outer ring upper clamping jaw 28 after penetrating through the hinge hole in the outer side of the fixed plate 36, and the outer ring supporting rod 33 is hinged with the hinge hole in the outer side of the fixed plate 36 and can slide up and down relative to the fixed plate 36. The outer ring upper jaw 28, the outer ring support rod 33 and the outer ring lower jaw 32 form an outer ring crawling device. The climbing rod mechanism load or work table is fixed on the fixing plate 36. In this embodiment, the flow of climbing work of the pole climbing mechanism is: 1) the inner ring upper jaw 29, the inner ring lower jaw 31, the outer ring upper jaw 28 and the outer ring lower jaw 32 are clamped tightly, and the climbing rod mechanism is attached to a climbing rod; 2) the outer ring upper clamping jaw 28 and the outer ring lower clamping jaw 32 are loosened, the servo electric cylinder 37 works and contracts, and after the outer ring crawling device is driven to move upwards for a certain distance, the servo electric cylinder 37 stops contracting; 3) clamping an outer ring upper clamping jaw 28 and an outer ring lower clamping jaw 32, after the microprocessor judges that the clamping is performed, loosening an inner ring upper clamping jaw 29 and an inner ring lower clamping jaw 31, extending the work of the servo electric cylinder 37, driving the inner ring crawling device and the load to move upwards by a distance equal to the distance in the step 2, and stopping extending the servo electric cylinder 37; 4) and (3) clamping the inner ring upper clamping jaw 29 and the inner ring lower clamping jaw 31, judging whether the target position is reached or not after the microprocessor judges that the clamping is finished, repeating the steps 1-4 to climb continuously if the target position is not reached, and quitting the climbing work flow if the target position is reached. In this embodiment, the process of the indexing work performed by the climbing rod mechanism is as follows: 1) the inner ring upper jaw 29, the inner ring lower jaw 31, the outer ring upper jaw 28 and the outer ring lower jaw 32 are clamped tightly, and the climbing rod mechanism is attached to a climbing rod; 2) the inner ring upper jaw 29 and the inner ring lower jaw 31 are loosened, the indexing motor 34 is started to drive the rotating plate 35 to rotate for a certain angle relative to the fixed plate 36, and then the indexing motor 34 is turned off; 3) the inner ring upper clamping jaw 29 and the inner ring lower clamping jaw 31 are clamped, after the microprocessor judges that the clamping is performed, the outer ring upper clamping jaw 28 and the outer ring lower clamping jaw 32 are loosened, the indexing motor 34 rotates reversely, and after the angle of the rotating plate 35 relative to the fixed plate 36 is gradually restored, the indexing motor 34 is turned off; 4) and (3) clamping the outer ring upper clamping jaw 28 and the outer ring lower clamping jaw 32, judging whether the target position is reached or not after the microprocessor judges that the clamping is performed, repeating the steps 1-4 and continuously indexing if the target position is not reached, and quitting the indexing work flow if the target position is reached.
The above-described embodiments are only preferred embodiments of the present invention, and are not intended to limit the present invention in any way, and other variations and modifications may be made without departing from the spirit of the invention as set forth in the claims.
Claims (9)
1. A multifunctional pole-climbing robot comprises a transposition device, an inner ring crawling device, an outer ring crawling device, a microprocessor, a power supply device and a bracket,
the transposition device comprises a fixed plate, a transposition plate and a transposition motor, an arc-shaped inner rack and a sliding groove which are concentrically arranged are arranged in the middle of the fixed plate, the sliding groove is arranged on the inner side of the arc-shaped inner rack, and the fixed plate is fixedly connected with the outer ring crawling device;
a transposition motor is fixed on the outer side of the transposition plate, a gear meshed with the arc-shaped inner rack is fixed at the output end of the transposition motor, the transposition plate is clamped with the fixed plate through the sliding groove, the transposition plate is fixedly connected with the inner ring crawling device, and the transposition motor is controlled by the microprocessor; and a fault display is fixed on the fixing plate and connected to the microprocessor.
2. The multifunctional pole-climbing robot is characterized in that the inner ring crawling device comprises an inner ring upper clamping jaw, an inner ring lower clamping jaw, an inner ring servo electric cylinder and an inner ring sliding rod, the inner ring upper clamping jaw and the inner ring lower clamping jaw are respectively fixed at two ends of the inner ring servo electric cylinder, one end of the inner ring sliding rod is fixedly connected with the inner ring lower clamping jaw, and the other end of the inner ring sliding rod penetrates through a sliding rod hole of the inner ring upper clamping jaw to form a sliding pair;
the outer lane crawl device contains outer lane last jack catch, outer lane lower jack catch, outer lane servo electric jar and outer lane slide bar, outer lane last jack catch with the outer lane lower jack catch is fixed in respectively the both ends of outer lane servo electric jar, outer lane slide bar one end with jack catch fixed connection under the outer lane, the outer lane slide bar other end passes the outer lane goes up the slide bar hole of jack catch and forms the slip pair.
3. The multifunctional climbing robot as claimed in claim 2, wherein the inner ring upper jaw, the inner ring lower jaw, the outer ring upper jaw and the outer ring lower jaw comprise mechanical jaws, a mechanical jaw support, a driving connecting rod and a driving electric push rod, a hinge rod is fixed in the middle of the front end of the mechanical jaw support, slide rod holes matched with the inner ring slide rod and the outer ring slide rod are formed in two sides of the front end of the mechanical jaw support, the mechanical jaws have two edges with obtuse angles, the shorter edge of each mechanical jaw is hinged to the front end of the driving connecting rod, a hinge hole is formed in the turning position of each mechanical jaw and hinged to the hinge rod in the middle of the front end of the mechanical jaw support, the longer edge of each mechanical jaw is arc-shaped, a rubber layer is inlaid on the inner side of each mechanical jaw, and the tail end of the driving connecting rod is hinged to the driving electric push rod.
4. The multifunctional pole-climbing robot as claimed in claim 3, wherein a pressure sensor is embedded in the working surface inside the mechanical jaw, the pressure sensor detects the force value inside the mechanical jaw, and the pressure sensor is connected with the microprocessor.
5. The multifunctional pole-climbing robot as claimed in claim 3, wherein the driving electric push rod is an electric push rod with a self-locking function.
6. A multi-function pole-climbing robot as claimed in claim 3, wherein said mechanical jaw support has at least two pairs of articulated rods with different spacing.
7. The multi-function pole-climbing robot as recited in claim 1, wherein the microprocessor is wirelessly connected to a remote controller.
8. The multi-functional pole-climbing robot as recited in claim 7, wherein a camera is connected to the microprocessor, and the remote controller has a display screen.
9. A control method for a multifunctional pole-climbing robot, which is suitable for the multifunctional pole-climbing robot as claimed in claim 4,
the method comprises the following steps:
1) resetting the multifunctional climbing rod robot, wherein the inner ring upper clamping jaw, the inner ring lower clamping jaw, the outer ring upper clamping jaw and the outer ring lower clamping jaw are all in a loose state, the multifunctional climbing rod robot is placed on a climbing rod and started, the microprocessor controls and drives the electric push rod to enable the inner ring upper clamping jaw, the inner ring lower clamping jaw, the outer ring upper clamping jaw and the outer ring lower clamping jaw to perform clamping action, the microprocessor detects the state of pressure sensors on the inner sides of the clamping jaws, if one or more pressure sensors are still in a state of no pressure or the pressure is smaller than a preset working pressure value after a certain time, the multifunctional climbing rod robot immediately reports faults and performs sound-light alarm, an operator removes the faults and then performs step 1 again, otherwise, the operation enters step 2;
2) the driving electric push rod of the inner ring upper jaw and the outer ring upper jaw of the multifunctional climbing rod robot extends, the inner ring upper jaw and the outer ring upper jaw are opened, the microprocessor detects the states of the pressure sensors at the inner sides of the inner ring upper jaw and the outer ring upper jaw, controls the inner ring servo electric cylinder and the outer ring servo electric cylinder to extend after judging that no surface pressure exists, and stops acting after the extension length reaches the preset length;
3) the microprocessor controls the driving electric push rod of the inner ring upper jaw and the outer ring upper jaw to contract, the inner ring upper jaw and the outer ring upper jaw tightly grip the climbing rod, the microprocessor detects the states of the pressure sensors at the inner sides of the inner ring upper jaw and the outer ring upper jaw, the step 4 is carried out after the surface pressure reaches the working clamping pressure, and otherwise, a fault is reported;
4) the microprocessor controls the driving electric push rod of the inner ring lower clamping jaw and the outer ring lower clamping jaw to extend, the inner ring lower clamping jaw and the outer ring lower clamping jaw are opened, the microprocessor detects the states of pressure sensors at the inner sides of the inner ring lower clamping jaw and the outer ring lower clamping jaw, controls the inner ring servo electric cylinder and the outer ring servo electric cylinder to contract after judging that no surface pressure exists, and stops acting when the lengths of the inner ring servo electric cylinder and the outer ring servo electric cylinder are recovered to the lengths during resetting;
5) the microprocessor controls the inner ring lower clamping jaw and the outer ring lower clamping jaw to drive the electric push rod to extend, the inner ring lower clamping jaw and the outer ring lower clamping jaw tightly grasp the climbing rod, the microprocessor detects the states of pressure sensors on the inner ring lower clamping jaw and the inner side of the outer ring lower clamping jaw, judges that the surface pressure reaches the working clamping pressure and then drives the electric push rod to stop extending, at the moment, the multifunctional climbing rod robot finishes climbing work of one step length, and the robot continuously climbs along the climbing rod by repeating the steps 1-5.
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| CN201711066066.0A CN108016523B (en) | 2017-11-02 | 2017-11-02 | Multifunctional pole-climbing robot and control method thereof |
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| CN201711066066.0A CN108016523B (en) | 2017-11-02 | 2017-11-02 | Multifunctional pole-climbing robot and control method thereof |
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| CN108016523B true CN108016523B (en) | 2020-02-07 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109455241B (en) * | 2018-04-09 | 2020-09-29 | 国家电网公司 | Transposition pole climbing mechanism |
| CN110606140A (en) * | 2018-06-15 | 2019-12-24 | 深圳市朗驰欣创科技股份有限公司 | Telescopic tree climbing robot |
| CN108927813B (en) * | 2018-07-25 | 2023-08-29 | 沈阳航空航天大学 | Multifunctional climbing platform |
| CN108942964B (en) * | 2018-08-15 | 2021-12-17 | 武汉科技大学 | Bionic robot for detecting surface of columnar structure |
| CN112265946A (en) * | 2020-11-04 | 2021-01-26 | 国网河北省电力有限公司邢台市任泽区供电分公司 | Electric pole climbing device for field electric power overhaul |
| CN113996037B (en) * | 2021-11-15 | 2022-07-01 | 无锡职业技术学院 | Pole-climbing device for power maintenance |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101480972B (en) * | 2009-01-20 | 2011-05-04 | 山东理工大学 | Multifunctional pole-climbing robot |
| KR101211878B1 (en) * | 2010-11-30 | 2012-12-13 | 연세대학교 산학협력단 | External pipe driving robot |
| CN204472948U (en) * | 2015-03-20 | 2015-07-15 | 湖北工业大学 | A kind of screw mandrel moveable type climbing level robot |
| CN204840828U (en) * | 2015-05-26 | 2015-12-09 | 张建步 | Pneumatic pole -climbing robot |
| CN105128970A (en) * | 2015-08-12 | 2015-12-09 | 山东建筑大学 | Pole-climbing robot with grippers controlled by cams |
| CN205928630U (en) * | 2016-08-22 | 2017-02-08 | 常州信息职业技术学院 | Alternating pole -climbing robot |
| CN107214690B (en) * | 2017-05-31 | 2019-10-18 | 长沙理工大学 | A kind of climbing level robot and its track method for correcting error |
| CN207617839U (en) * | 2017-11-02 | 2018-07-17 | 国网浙江省电力公司嘉兴供电公司 | A kind of multifunctional pole-climbing robot |
| CN208372401U (en) * | 2018-04-09 | 2019-01-15 | 国家电网公司 | A kind of indexing pole-climbing mechanism |
| CN109455241B (en) * | 2018-04-09 | 2020-09-29 | 国家电网公司 | Transposition pole climbing mechanism |
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