CN108553839A - Wire pole climbing machine - Google Patents
Wire pole climbing machine Download PDFInfo
- Publication number
- CN108553839A CN108553839A CN201810211327.1A CN201810211327A CN108553839A CN 108553839 A CN108553839 A CN 108553839A CN 201810211327 A CN201810211327 A CN 201810211327A CN 108553839 A CN108553839 A CN 108553839A
- Authority
- CN
- China
- Prior art keywords
- machine
- climbing
- wire pole
- connecting rod
- clamping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B27/00—Apparatus for climbing poles, trees, or the like
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Manipulator (AREA)
Abstract
Wire pole climbing machine disclosed by the invention, including basic machine, the basic machine is by upper machine body, lower body and the middle part organization being vertically connected with, the upper machine body and lower body are respectively equipped with clamping device, the middle part body is equipped with lifting device, the clamping device is helical screw clamping device, the lifting device is helical screw lifting device, with good process condition, the operation is stable, save the job costs of staff, and the machine of security performance climbing electric pole up to standard, meet the needs of domestic market, strong thrust is provided for the development of national grid.
Description
Technical field
The present invention relates to climbing robot design field more particularly to a kind of wire pole climbing machines.
Background technology
With the fast development of society, covering surface of the electric system in China is also increasingly wider.In our daily life
In be seen everywhere the electric pole stood in roadside.But along with the continuous maintenance work for increasing electric pole of electricity needs
It is more and more heavier.At the same time, scientific and technological progress robot is widely used in industrial production and daily life increasingly.
There are many climbing level robot type, divided from power source, and mechanical and pneumatic type two major classes are broadly divided into.It is from whether there is or not controls
The level of system is divided, and plain edition and intelligent two major classes are broadly divided into.Plain edition is exactly there was only power source, executing agency,
It is intelligent to also have control mechanism compared to plain edition.
A new application field of the cement electric pole climbing robot as robot, working at height be in extreme danger, labor
The work that fatigue resistance is big and efficiency is low.In recent years, with the continuous development of national economy, the covering surface of national grid is also increasingly
Wide and thing followed electric wire electric pole maintenance work is also increasing.Bustling street, Wo Mensui from country field to city
Locate the presence of visible electric pole.We are usually frequently seen some works about electric power personnel and climb up the work climbed down on utility poles
Make.Not only work difficulty is high for this work, and input is big but working efficiency is but very low but also work is also along with prodigious danger
Property.Other working at height are such as：The paint of various rod-shaped urban architectures, spray paint, inspection, maintenance, electric system set up cable,
The work such as porcelain vase cleaning are mainly completed by artificial and large scale equipment.But they all concentrated expression go out efficiency is low, labor intensity is big,
The problems such as energy consumption is high, secondary pollution is serious is " with the appearance and development of robot technology and people's self safeguard protection consciousness
Enhancing, people start hope with robot replace manually carrying out these high-altitude dangerous operations to people from dangerous, severe, numerous
Free in the work situation of weight " exploitation can the column pole-climbing cleaning robot of practice at the construction field (site) will be very intentionally
Justice, in addition robot must with good economic efficiency and social benefit " use of cement electric pole pole-climbing cleaning robot
The input of electric pole high-altitude maintenance will be substantially reduced, improves the work situation of worker, raise labour productivity.This robot
Development will have prodigious social benefit, economic benefit and wide application prospect.
Currently there are high-altitude operation vehicle it is not only heavy but also bulky, cannot enter around there are many
The occasion of barrier can not enter the occasion of not road, allow for the electric power dimension of Chinese vast mountainous rural area in this way
Shield, which needs to put into a large amount of manpower and materials, goes to be engaged in the heavy physical work of task to safeguard normal supply of electric power.By observation
With analysis, it is believed that, it develops and is suitble to the cement electric pole climbing robot of working at height necessary.Relevant document shows
The application prospect of cement electric pole climbing robot has obtained extensive concern perhaps, has become research heat in robot field in recent years
Point.
Invention content
The purpose of the present invention is to provide a kind of wire pole climbing machines, effectively solve above-mentioned technical problem.
Effectively to solve above-mentioned technical problem, the technical solution adopted by the present invention is as follows：
A kind of wire pole climbing machine, including basic machine, the basic machine is by upper machine body, lower body and is vertically connected with
Middle part organization, the upper machine body and lower body are respectively equipped with clamping device, and the middle part body is equipped with lifting device, described
Clamping device is helical screw clamping device, and the lifting device is helical screw lifting device.
Particularly, the clamping device include the clamping manipulator being symmetrical set and centre spiral connecting rod, it is described
Clamping manipulator includes movable connecting rod and clamping limb, and the spiral connecting rod connects the movable connecting rod, and the spiral connecting rod drives
One driving motor of dynamic connection.
Particularly, driving motor connection one shaft coupling of setting.
Particularly, the lifting device is made of climbing lead screw and the lifting motor being drivingly connected therewith, the climbing silk
Bar is spiral lift bar, and the spiral lift bar is separately connected the upper machine body and lower body.
Particularly, the lifting motor carries retarder.
Beneficial effects of the present invention are：Wire pole climbing machine provided by the invention, the realization climbing motion that can stablize, together
When, which may be implemented the function of manned loading, to mitigate the task of electric power maintenance personnel；Entirely mechanism includes
Simple to power climbing device, clamping device, the location and installation of device and the design organization of machine human organism, assembling is reasonable,
The operation is stable has good process condition, and the operation is stable saves the job costs of staff, and security performance is up to standard
The machine for climbing electric pole, meets the needs of domestic market, strong thrust is provided for the development of national grid.
The present invention is described in detail below in conjunction with the accompanying drawings.
Description of the drawings
Fig. 1 is wire pole climbing machine structural schematic diagram of the present invention.
Fig. 2 is clamping device structural schematic diagram in wire pole climbing machine of the present invention.
Fig. 3 is the climbing principle schematic of line bar climbing machine shown in the present invention.
Specific implementation mode
Embodiment 1：
Referring to Fig. 1, Fig. 2 and Fig. 3, a kind of wire pole climbing machine provided in this embodiment, including basic machine, the machinery
Ontology is made of upper machine body 5, lower body 3 and the middle part body 1 that is vertically connected with, and the upper machine body 5 and lower body 3 are respectively equipped with folder
Device 2 is held, the middle part body 1 is equipped with lifting device 5, and the clamping device 2 is helical screw clamping device, the promotion dress
It is helical screw lifting device to set 5.
The clamping device 2 includes the clamping manipulator being symmetrical set and the spiral connecting rod 8 of centre, the clamping machine
Tool hand includes movable connecting rod 6 and clamping limb 7, and the spiral connecting rod 8 connects the movable connecting rod 6, and the spiral connecting rod 8 drives
Connect a driving motor 9.Connection one shaft coupling of setting of the driving motor 9.The lifting device 5 is by climbing lead screw and drives therewith
The lifting motor composition of dynamic connection, the climbing lead screw are spiral lift bar, and the spiral lift bar is separately connected described
Upper machine body 5 and lower body 3.The lifting motor carries retarder.
Applicant state, person of ordinary skill in the field on the basis of the above embodiments, by above-described embodiment
Step, it is combined with the technical solution of Summary, to generate new method, and the present invention record scope it
One, the application is to keep specification concise, no longer enumerates the other embodiment of these steps.
The technology path being different from the prior art in the present embodiment is：
The motion mode of cement electric pole climbing robot is a kind of creeping, and wriggling is a kind of periodically action, compacted
The variation of certain regularity is presented in the posture of kinetoplast.The ontology of robot refers to the part of robot movement operation designed by us
The body part of cement electric pole climbing robot be mainly made of three machine assemblies, be divided into upper and lower clamp system and transmission
Mechanism, transmission mechanism are connected with upper and lower clamp system respectively in centre.Upper and lower clamp system plays the work of retainer respectively
With, and torso portion then plays a part of propeller.Again because upper and lower clamping mechanism is all stepped up by lead screw to realize.Cause
This upper and lower clamping mechanism must have upper and lower two platforms as carrier.Climbing mechanism is needed when realizing that screw promotes
Motor between upper and lower clamping mechanism so should be arranged the carrier that a halfpace is used as intermediate motor.
The rising of leading screw upper end body, body must be threadedly coupled with rising.Leading screw rotation drives entire upper machine body to rise
With decline.Therefore leading screw lower end will be with middle-end body due to needing promotion lower end body and middle-end body during the motion for leading screw
It is stably connected with.Individual motor drives leading screw rotation, and the rated speed of motor needs speed change gear, in order to subtract so as to higher
The weight and volume of small lathe reduces the consumption of material, reduces cost, and comprehensive analysis determines the retarder carried using motor,
Since the output shaft of motor reducer is vertical with leading screw so being connected again by shaft coupling with leading screw by turbine and worm deceleration device
It connects.It realizes weight and volume that is compact-sized, reducing lathe, reduces the consumption of material, reduce cost, while it is defeated to solve motor
The shaft power vertical with leading screw transmits.
Be clamped leading screw transmission system be the extremely important part of entire robot, be equivalent to entire robot hand and
Foot.The leading screw is connected with shaft coupling to rotate by motor first, therefore the leading screw will spline in motor side.Lead screw and machinery
It is horizontal positioned that the connecting rod of hand, which is by the sliding block connection on leading screw and lead screw, so leading screw both ends will have bearing to support.
The positioning step of bearing should be had in screw both end by having bearing support just.Simultaneously because clamping lead screw is to be horizontally mounted, selecting
It is equally allowed for when selecting motor in order to reduce the weight and volume of body, reduce material consumption, cost-effective therefore choosing
Select decelerating motor.Leading screw is directly connected directly with decelerating motor by shaft coupling.
The effect that must be undertaken from entire robot in the design of upper machine body structure is realized.Upper machine body is in robot
Primarily as the mounting platform of upper manipulator in work, the dynamic rich shaft rotation of upper manipulator is by two guide rod realities on platform
It is existing.The design of platform must be provided with the threaded hole of installation guide rod, and the rising of body is realized by climbing leading screw.Therefore,
The threaded hole of climbing lead screw cooperation is set on body center line, the basic size of top body has, then considering machine
The weight and volume of people's entirety should be small as far as possible, but have the installation for not influencing leading screw and motor and robot whole
Rigidity and intensity.
Lower body structure and the structure of upper machine body have similarity, and still, lower body with upper machine body but also has difference not only.
The effect that lower body is mainly responsible for is carrier, and upper machine body has threads of lead screw hole lower body because with leading screw connection, therefore under
Body does not have the design of threaded hole.Meanwhile lower body is connect with middle part body.The mode of connection has very much.For example, spiral shell
Line connection, welding and the various ways such as hinged.Wherein be threadedly coupled and welding be rigid connection, robot to cement electric pole into
When row climbing, cement electric pole has certain taper.And the robot of this secondary design is for the scope of application of electric pole
The taper of 250mm-400mm, different electric poles are different.Therefore, hinge is selected to connect the connection of lower body and middle part body
Connect mode.
Middle part body be connect upper and lower body intermediate structure be entire robot main drive gear.With upper and lower machine
The connection type of body is different.It is to be connected to one by the climbing leading screw of two guide rods and running part with upper machine body connection type
It rises；It is connected together through the hinges with lower body.The determination of the diameter of hinge hole is by the gross mass of lower end body
Come what is determined, simultaneously as the lower end of climbing lead screw passes through middle part body (non-threaded connection), so to be stayed on the body of middle part
There is the hole that leading screw passes through.Leading screw is the positioning convex platform for rotating, therefore setting installation bearing with respect to middle part body.Bearing
There is lubrication at work, so to determine the installation site and its mounting means of end cap on the body of middle part.Middle part body is not
The connection function of upper and lower body is only assumed responsibility for, more also middle part body will also be responsible for the power of entire robot climbing lead screw
The support of output.
The another statement of applicant, the present invention illustrate the implementation method and apparatus structure of the present invention by above-described embodiment,
But the invention is not limited in the above embodiments, that is, do not mean that the present invention has to rely on the above method and structure could be real
It applies.Person of ordinary skill in the field is it will be clearly understood that any improvement in the present invention, to implementation method selected by the present invention etc.
Effect is replaced and the addition of step, the selection etc. of concrete mode, all falls within protection scope of the present invention and the open scope.
Present invention is not limited to the embodiments described above, all to realize the present invention using structure similar to the present invention and its method
All embodiments of purpose are within the scope of the present invention.
Claims (5)
1. a kind of wire pole climbing machine, which is characterized in that including basic machine, the basic machine by upper machine body, lower body and
The middle part organization being vertically connected with, the upper machine body and lower body are respectively equipped with clamping device, and the middle part body is equipped with and carries
Device is risen, the clamping device is helical screw clamping device, and the lifting device is helical screw lifting device.
2. wire pole climbing machine according to claim 1, which is characterized in that the clamping device includes being symmetrical set
Clamping manipulator and centre spiral connecting rod, the clamping manipulator includes movable connecting rod and clamping limb, the spiral connecting rod
The movable connecting rod is connected, and the spiral connecting rod is drivingly connected a driving motor.
3. wire pole climbing machine according to claim 2, which is characterized in that driving motor connection one shaft coupling of setting
Device.
4. wire pole climbing machine according to claim 1, which is characterized in that the lifting device is by climbing lead screw and therewith
The lifting motor of drive connection forms, and the climbing lead screw is spiral lift bar, and the spiral lift bar is separately connected institute
State upper machine body and lower body.
5. wire pole climbing machine according to claim 4, which is characterized in that the lifting motor carries retarder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810211327.1A CN108553839A (en) | 2018-03-14 | 2018-03-14 | Wire pole climbing machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810211327.1A CN108553839A (en) | 2018-03-14 | 2018-03-14 | Wire pole climbing machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108553839A true CN108553839A (en) | 2018-09-21 |
Family
ID=63532687
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810211327.1A Pending CN108553839A (en) | 2018-03-14 | 2018-03-14 | Wire pole climbing machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108553839A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0041490A1 (en) * | 1980-05-29 | 1981-12-09 | Henry Bergstedth | Pole climbing irons |
| CN204380131U (en) * | 2014-11-26 | 2015-06-10 | 国网重庆市电力公司电力科学研究院 | A kind of climbing robot and drive lacking formula climbing hand thereof are grabbed |
| CN204395351U (en) * | 2015-01-23 | 2015-06-17 | 国家电网公司 | Electric power pole-climbing inspection device |
| CN105396270A (en) * | 2015-11-20 | 2016-03-16 | 国家电网公司 | Automatic electric pole climbing mechanism |
| CN207980320U (en) * | 2018-03-14 | 2018-10-19 | 长沙学院 | Wire pole climbing machine |
-
2018
- 2018-03-14 CN CN201810211327.1A patent/CN108553839A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0041490A1 (en) * | 1980-05-29 | 1981-12-09 | Henry Bergstedth | Pole climbing irons |
| CN204380131U (en) * | 2014-11-26 | 2015-06-10 | 国网重庆市电力公司电力科学研究院 | A kind of climbing robot and drive lacking formula climbing hand thereof are grabbed |
| CN204395351U (en) * | 2015-01-23 | 2015-06-17 | 国家电网公司 | Electric power pole-climbing inspection device |
| CN105396270A (en) * | 2015-11-20 | 2016-03-16 | 国家电网公司 | Automatic electric pole climbing mechanism |
| CN207980320U (en) * | 2018-03-14 | 2018-10-19 | 长沙学院 | Wire pole climbing machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207980320U (en) | Wire pole climbing machine | |
| CN201656340U (en) | Tool for replacing supporting insulator of high-voltage tube bus | |
| CN205916992U (en) | Street lamp maintenance hoisting device | |
| CN208327235U (en) | A kind of building machinery hoistable platform convenient for adjusting | |
| CN108334021A (en) | A kind of comprehensive ocean engineering platform | |
| CN205312977U (en) | Portable elevating gear | |
| CN108553839A (en) | Wire pole climbing machine | |
| CN205555914U (en) | Transformer overhauls uses hoisting apparatus | |
| CN208680430U (en) | A kind of turnover forging processing unit (plant) | |
| CN203938403U (en) | A kind of Manual hanger | |
| CN110778290A (en) | Intelligent pumping unit capable of operating when pump is full | |
| CN217264706U (en) | Electric power installation and maintenance platform | |
| CN202550348U (en) | Folding multifunctional overhauling frame for overhauling isolating switch | |
| CN211666693U (en) | Intelligent pumping unit capable of operating when pump is full | |
| CN108756421A (en) | A kind of communication steel tower convenient for safeguarding | |
| CN214247285U (en) | Intelligent intermittent pumping device of pumping unit | |
| CN202957491U (en) | Lifting and hanging support for on-load voltage regulating device body | |
| CN208684299U (en) | A kind of production Extendible dynamic formula elevator | |
| CN207143731U (en) | A kind of Bridge guardrail equipment simple to install hanging basket | |
| CN207578759U (en) | A kind of novel evolution device of silicon rod | |
| CN205901172U (en) | Nearly pole of transmission line overhauls corridor hanger device | |
| CN206872351U (en) | A kind of I-beam wheel dismounting Pneumatic power elevator apparatus | |
| CN217519598U (en) | Adjustable heavy door frame type support frame | |
| CN206015533U (en) | A kind of prestressing force draws high narrow region aids construction stretching chassis | |
| CN203065072U (en) | Outdoor substation equipment hoisting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |