CN108556942A - A kind of pole climbing device that robot uses - Google Patents
A kind of pole climbing device that robot uses Download PDFInfo
- Publication number
- CN108556942A CN108556942A CN201711379634.2A CN201711379634A CN108556942A CN 108556942 A CN108556942 A CN 108556942A CN 201711379634 A CN201711379634 A CN 201711379634A CN 108556942 A CN108556942 A CN 108556942A
- Authority
- CN
- China
- Prior art keywords
- guide rod
- gripper
- push rod
- partition board
- rod
- 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
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Classifications
-
- 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 present invention provides a kind of pole climbing device that robot uses, including pedestal, motor and two guide rods are equipped on its pedestal, first gripper and the second gripper axis are connected on the lower end of two guide rods, it is also connected with third gripper and the 4th gripper in the upper end of its guide rod, it is equipped with two symmetrically placed disc cams in the end of the shaft of motor, turn the tip of the axis at it and is connected with crank and connecting rod, it is connected on one end of translating cam in an end axis of connecting rod, the present invention can make the apish action climbing column body of rod of robot, the climbing task completed instead of manually.
Description
Technical field
The present invention relates to a kind of pole climbing device, more particularly to a kind of pole climbing device that robot uses.
Background technology
When facing to high idle jobs such as electric pole, light pole, bridge oblique pull cable wires, the working environment of worker is not only
Badly, and there is certain risk.With the appearance and development of robot technology and people self safeguard protection consciousness
Enhancing, it is highly desirable to be replaced manually carrying out these high-altitude dangerous operations with robot, thus people from dangerous, severe, heavy
Work situation in free, therefore need to develop a kind of pole climbing device that can be used in robot.
Invention content
The technical problem to be solved in the present invention is to provide a kind of pole climbing devices that robot uses, and robot can be made to imitate
The column body of rod, the climbing task completed instead of manually are climbed in the action of people.
To solve the above-mentioned problems, the technical scheme is that：A kind of pole climbing device that robot uses, including bottom
Seat, driving motor is installed on pedestal, the first guide rod and the second guide rod are additionally provided on pedestal, and the first guide rod and second is led
Bar is located at the both sides of driving motor；It is connected with lower guide sleeve on the one end of the first guide rod close to pedestal, positioned at lower guide sleeve
It is connected with the first gripper on first guide rod of top；It is connected with the second gripper in the lower end of the second guide rod；In the first machinery
Pawl is installed with the first push rod on one end of driving motor output revolving shaft；In the second gripper close to driving motor output revolving shaft
One end on be installed with cushion block, the second push rod is installed on the cushion block；It is symmetrically fixedly connected on driving motor output revolving shaft
There are two the identical disc cams of shape size；First push rod is in contact with the disc cam close to driving motor, and second
Push rod is in contact with the disc cam far from driving motor；The both ends of first spring are respectively fixedly connected in the first gripper and
Two grippers are far from guide rod；It is fixedly connected on one end of crank, the crank in the end of driving motor output revolving shaft
Other end axis be connected on one end of connecting rod, the other end of the connecting rod is connected with translating cam portion；It is remote in the second guide rod
End from pedestal is connected with third gripper, and upper guide bush is connected in end of first guide rod far from pedestal；In the first guide rod
Be connected with partition board on the second guide rod, and axis hole is equipped on end face of its partition board far from guide rod；It is convex in first guide rod
For being connected with the 4th gripper on one end of partition board；The both ends of second spring are respectively fixedly connected in third gripper and the 4th
Gripper is far from guide rod；Third push rod, the 4th machine are connected on the described one end of third gripper far from guide rod
Machinery claw is connected with the 4th push rod on one end far from guide rod, and third push rod and the 4th push rod are located at the two of translating cam
Side；The translating cam portion includes below partition board and one end extends to the cam chair in partition board, further includes in the cam chair
Protrude from vertical fixed translating cam on the end face of partition board；It extends on the end face in partition board and is installed in the cam chair
Translating cam axis, and the camshaft is located in the axis hole of partition board.
The translating cam is trapezoidal.
One end of the translating cam axis is installed with flange, and the diameter of the flange is more than the diameter of partition board upper shaft hole.
First push rod and the second push rod are " L ", and the axis of the one end contacted with disc cam is on the same line.
The axis of the third push rod and the 4th push rod is on the same line.
After this structure, technique effect of the invention is：The revolution of disc cam and the up and down motion of translating cam
The open and close movement of upper and lower gripper can be realized respectively.Disc cam and crank link together, and the rotation of crank can control
The movement of two cams realizes the asynchronous folding of gripper up and down, to realize the wriggling of pole climbing device.Spring acts on
In can be always ensured that pole climbing device is clamped on bar always without external forces, be clamped in by initial tension of spring
On light pole, the association of more actions between each mechanism of pole climbing device is realized with mechanical structures such as cam mechanism, toggles
Adjust linkage climbing；The shape of its gripper is suitable for the obvolvent of column.
Description of the drawings
It is further explanation to be done below in conjunction with the accompanying drawings to the present invention；
Fig. 1 is the dimensional structure diagram of the present invention.
Fig. 2 is the dimensional structure diagram of the present invention.
Fig. 3 is the front view of the present invention；
Fig. 4 is the schematic diagram of mechanism of the present invention.
Specific implementation mode
As shown in fig. 1 to 4：A kind of pole climbing device that robot uses, is installed with driving motor 2, in pedestal on pedestal 1
The first guide rod 4 and the second guide rod 3 are additionally provided on 1, and the first guide rod 4 and the second guide rod 3 are located at the both sides of driving motor 2；
Lower guide sleeve 18 is connected on one end of pedestal 1 in the first guide rod 4, the axis on the first guide rod 4 above lower guide sleeve 18
It is connected to the first gripper 5；It is connected with the second gripper 6 in the lower end of the second guide rod 3；In the first gripper 5 close to driving motor 2
The first push rod 51 is installed on one end of output revolving shaft 201；In the second gripper 6 close to the one of 2 output revolving shaft 201 of driving motor
It is installed with cushion block 63 on end, the second push rod 61 is installed on the cushion block 63；It is symmetrically solid on 2 output revolving shaft 201 of driving motor
There are two the identical disc cams of shape size 15 for fixed connection；First push rod 51 and the disc cam close to driving motor 2
15 are in contact, and the second push rod 61 is in contact with the disc cam 15 far from driving motor 2；The both ends of first spring 10 are fixed respectively
The first gripper 5 and the second gripper 6 are connected to far from guide rod；It is fixed in the end of 2 output revolving shaft 201 of driving motor
It is connected to one end of crank 14, the other end axis of the crank 14 is connected on one end of connecting rod 13, and the connecting rod 13 is in addition
One end is connected with translating cam 111；It is connected with third gripper 7 in the second end of the guide rod 3 far from pedestal 1, in the first guide rod 4
End far from pedestal 1 is connected with upper guide bush；Partition board 19 is connected on the first guide rod 4 and the second guide rod 3, and in its partition board 19
End face far from guide rod is equipped with axis hole；The 4th machinery is connected on one end that first guide rod 4 protrudes from partition board 19
Pawl 8；The both ends of second spring are respectively fixedly connected in third gripper 7 and the 4th gripper 8 far from guide rod；Described
Third push rod is connected on three one end of gripper 7 far from guide rod, the 4th gripper 8 is connected on one end far from guide rod
4th push rod, and third push rod and the 4th push rod are located at the both sides of translating cam 111；The translating cam 111 includes position
Below partition board 19 and one end extends to the cam chair 11 in partition board 19, further includes the end that partition board 19 is protruded from the cam chair 11
Vertical fixed translating cam 111 on face；It is convex that movement is installed on the end face that the cam chair 11 extends in partition board 19
111 axis are taken turns, and the camshaft is located in the axis hole of partition board 19.
The translating cam 111 is trapezoidal.
One end of 111 axis of the translating cam is installed with flange, and the diameter of the flange is more than the straight of 19 upper shaft hole of partition board
Diameter.
First push rod, 51 and second push rod 61 is " L ", and the axis of the one end contacted with disc cam 15 is same
On straight line.
The axis of the third push rod and the 4th push rod is on the same line.
The making material of the present invention is preferably aluminium alloy, and in addition can wind upper rubber in the end of its gripper is prevented
It is sliding.
Arranged crosswise is on guide rod in scissor manner for the gripper of each same layer, using guide rod as rotation axis, in upper and lower machinery
The other end of hand is respectively arranged with prefastening force spring.The effect of prefastening force spring is that gripper is made to generate enough frictional force
Hold column tightly.
Motor rotation drives the rotation of two disc cams 15, and disc cam 15 is in 51 and second push rod 61 of open-top first push rod
While, driving translating cam 111 moves up and down, 111 driving third push rods of translating cam and the movement of the 4th push rod, into
And gripper is driven to clamp or loosen；Turn to mix two pole climbing devices in its robot, using the present invention alternately to electric pole
It is clamped, imitates animal pole-climbing, you can move up and down electric pole is cofree.
Claims (5)
1. a kind of pole climbing device that robot uses, it is characterised in that：Including pedestal (1), driving electricity is installed on pedestal (1)
Machine (2) is additionally provided with the first guide rod (4) and the second guide rod (3), and the first guide rod (4) and the second guide rod (3) point on pedestal (1)
Not Wei Yu driving motor (2) both sides；It is connected with lower guide sleeve (18) on the one end of the first guide rod (4) close to pedestal (1), in place
It is connected with the first gripper (5) on the first guide rod (4) above lower guide sleeve (18)；It is connected in the lower end of the second guide rod (3)
Second gripper (6)；First is installed on the one end of the first gripper (5) close to driving motor (2) output revolving shaft (201) to push away
Bar (51)；It is installed with cushion block (63) on the one end of the second gripper (6) close to driving motor (2) output revolving shaft (201), at this
The second push rod (61) is installed on cushion block (63)；Shape there are two being symmetrically fixedly connected on driving motor (2) output revolving shaft (201)
The identical disc cam of shape size (15)；First push rod (51) connects with the disc cam (15) close to driving motor (2)
It touches, the second push rod (61) is in contact with the disc cam (15) far from driving motor (2)；The both ends of first spring (10) are solid respectively
Surely the first gripper (5) and the second gripper (6) are connected to far from guide rod；One end of crank (14) is fixedly connected on drive
The end of dynamic motor (2) output revolving shaft (201), the other end axis of the crank (14) are connected on one end of connecting rod (13), institute
The other end for stating connecting rod (13) is connected with translating cam portion；It is connected with third in end of the second guide rod (3) far from pedestal (1)
Gripper (7) is connected with upper guide bush (17) in end of the first guide rod (4) far from pedestal (1)；In the first guide rod (4) and second
It is connected with partition board (19) on guide rod (3), and is equipped with axis hole on end face of its partition board (19) far from guide rod；It is led described first
Bar (4) protrudes from one end of partition board (19) and is connected with the 4th gripper (8)；The both ends of second spring are respectively fixedly connected with
Three grippers (7) and the 4th gripper (8) are far from guide rod；The third gripper (7) is solid on one end far from guide rod
It is connected to third push rod (71), the 4th gripper (8) is connected with the 4th push rod (81) on one end far from guide rod, and third pushes away
Bar (71) and the 4th push rod (81) are located at the both sides of translating cam；The translating cam portion includes being located at below partition board (19)
And one end extends to the cam chair (11) in partition board (19), further includes being protruded from the end face of partition board (19) in the cam chair (11)
Vertical fixed translating cam (111)；Movement fixed on the end face in partition board (19) is extended in the cam chair (11)
Camshaft (112), and the camshaft (112) is located in the axis hole of partition board (19).
2. the pole climbing device that a kind of robot according to claim 1 uses, it is characterised in that：The translating cam
(111) it is trapezoidal.
3. the pole climbing device that a kind of robot according to claim 1 uses, it is characterised in that：The translating cam axis
(112) one end is installed with flange, and the diameter of the flange is more than the diameter of partition board (19) upper shaft hole.
4. the pole climbing device that a kind of robot according to claim 1 uses, it is characterised in that：First push rod (51)
It is " L " with the second push rod (61), and the axis of the one end contacted with disc cam (15) is on the same line.
5. the pole climbing device that a kind of robot according to claim 1 uses, it is characterised in that：The third push rod (71)
On the same line with the axis of the 4th push rod (81).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711379634.2A CN108556942A (en) | 2017-12-20 | 2017-12-20 | A kind of pole climbing device that robot uses |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711379634.2A CN108556942A (en) | 2017-12-20 | 2017-12-20 | A kind of pole climbing device that robot uses |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108556942A true CN108556942A (en) | 2018-09-21 |
Family
ID=63529339
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711379634.2A Pending CN108556942A (en) | 2017-12-20 | 2017-12-20 | A kind of pole climbing device that robot uses |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108556942A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113315032A (en) * | 2021-05-31 | 2021-08-27 | 国网山东省电力公司平阴县供电公司 | Auxiliary device for installing bird repeller in electrified mode |
| CN113353168A (en) * | 2021-08-11 | 2021-09-07 | 西南石油大学 | Outer pipeline detection robot and walking method |
| CN113996037A (en) * | 2021-11-15 | 2022-02-01 | 无锡职业技术学院 | Pole-climbing device for power maintenance |
| CN114028781A (en) * | 2021-11-22 | 2022-02-11 | 贵州电网有限责任公司 | Can carry on platform type climbers |
-
2017
- 2017-12-20 CN CN201711379634.2A patent/CN108556942A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113315032A (en) * | 2021-05-31 | 2021-08-27 | 国网山东省电力公司平阴县供电公司 | Auxiliary device for installing bird repeller in electrified mode |
| CN113315032B (en) * | 2021-05-31 | 2022-06-10 | 国网山东省电力公司平阴县供电公司 | Auxiliary device for installing bird repeller in electrified mode |
| CN113353168A (en) * | 2021-08-11 | 2021-09-07 | 西南石油大学 | Outer pipeline detection robot and walking method |
| CN113353168B (en) * | 2021-08-11 | 2021-10-12 | 西南石油大学 | Outer pipeline detection robot and walking method |
| CN113996037A (en) * | 2021-11-15 | 2022-02-01 | 无锡职业技术学院 | Pole-climbing device for power maintenance |
| CN114028781A (en) * | 2021-11-22 | 2022-02-11 | 贵州电网有限责任公司 | Can carry on platform type climbers |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180921 |