CN108657302A - A kind of climbing level robot and its pole-climbing method - Google Patents
A kind of climbing level robot and its pole-climbing method Download PDFInfo
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- CN108657302A CN108657302A CN201810726555.2A CN201810726555A CN108657302A CN 108657302 A CN108657302 A CN 108657302A CN 201810726555 A CN201810726555 A CN 201810726555A CN 108657302 A CN108657302 A CN 108657302A
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- level robot
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- 230000009194 climbing Effects 0.000 title claims abstract description 143
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 189
- 230000005540 biological transmission Effects 0.000 claims description 24
- 210000000078 claw Anatomy 0.000 claims description 17
- 230000008878 coupling Effects 0.000 claims description 8
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 230000000694 effects Effects 0.000 claims description 8
- 230000000452 restraining effect Effects 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 abstract description 5
- 230000006735 deficit Effects 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 230000007812 deficiency Effects 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
Classifications
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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 discloses a kind of climbing level robots, it is related to robot Development Techniques field, in order to solve the problems, such as that existing climbing level robot can not avoidance or barrier avoiding function, inefficiency, mainly include paw mechanism, climbing mechanism and rotation avoidance mechanism, climbing mechanism realizes that the avoidance of paw mechanism, climbing mechanism and rotation avoidance mechanism is realized in the climbing of paw mechanism, climbing mechanism and rotation avoidance mechanism, rotation avoidance mechanism in paw mechanism and climbing mechanism under paw mechanism and the collaboration of rotation avoidance mechanism.The present invention also provides the pole-climbing methods of above-mentioned climbing level robot.The present invention can realize avoidance posture adjustment during pole-climbing, so that climbing level robot hides partial impairment during pole-climbing；Pole-climbing and avoidance can be carried out at the same time, and cooperated with each other and do not interfere with each other but, to ensure that the efficiency of pole-climbing and avoidance.
Description
Technical field
The present invention relates to robot Development Techniques field more particularly to a kind of climbing level robots and its application process.
Background technology
In the operation of various operations, especially power industry, generally require to carry out pole-climbing operation.Traditional pole-climbing operation
All it is manually to carry out, i.e., operating personnel relies on various auxiliary device pole-climbings, to realize various operations.This mode has prodigious limit
System, on the one hand, even if there is auxiliary tool help, but pole-climbing operation is still the work for extremely consuming muscle power, to pole-climbing
Personnel's body requires high；Moreover it is exactly that pole-climbing operation danger is very big, first, operation of ascending a height, accidentally has the risk fallen,
Second is that the operation on bar, increases task difficulty, to increase danger coefficient.With the development of robot industry, climbing pole machine
Device people comes into being, and pole-climbing operation is carried out for replacing the mankind.Operation robot can replace mankind's pole-climbing operation, avoid
Adverse effect of the physically-draining to working efficiency and personnel safety when manual work.Then existing climbing level robot is mainly noted
The pole-climbing efficiency of weight robot, and often do not have it is contemplated that avoidance during pole-climbing and avoidance efficiency, are sometimes touched
There are some obstacles just to cannot achieve in upper lever, still remains prodigious deficiency in practical applications.
Invention content
For the above deficiency, the present invention provides a kind of climbing level robot with good barrier avoiding function.
In order to achieve the above objectives, the present invention adopts the following technical scheme that：
A kind of climbing level robot includes paw mechanism, climbing mechanism and rotation avoidance mechanism, and the climbing mechanism includes organic
Frame, climbing motor, connecting rod, crank, paw lifting bogie and polished rod, the climbing motor are fixedly installed in the rack,
The crank is mounted on by shaft coupling on the output shaft of the climbing motor, and described connecting rod one end is hinged with the crank, separately
One end and paw lifting bogie are hinged, and the polished rod is vertically arranged in the rack；Rotation avoidance mechanism packet
Avoidance motor, transmission shaft, transmission gear, circular arc rotary part and limiting component are included, the avoidance motor is fixedly installed on institute
It states below rack, the transmission shaft is mounted on by shaft coupling on the output shaft of the avoidance motor, the transmission gear peace
On the transmission shaft；The circular arc rotary part is the circular ring structure with opening, the periphery of the circular arc rotary part
On be provided with the gear teeth to match with the transmission gear, the transmission gear and the gear teeth meshing on the circular arc rotary part
Connection, the circular arc rotary part are provided with arc groove in the circumferential, and the top of the limiting component is fixedly connected on described
The bottom surface of rack, bottom end pass through the arc groove, and the bottom end of the limiting component is provided with limited block so that the limit
Component can only mutually be circumferentially rotated with the arc groove；The paw mechanism is two or more, at least one paw machine
Structure is fixedly installed on the bottom surface of the circular arc rotary part, and at least one paw mechanism is set to the paw lifting driving
On frame, restraining position ring block is arranged in the paw mechanism being located on paw lifting bogie, and the spacing ring is set in described
On polished rod.
Further, each paw mechanism includes gripper motor, claw, paw shell, leading screw, feed screw nut,
The gripper motor is fixedly installed on the paw shell, and the leading screw is mounted on the defeated of the gripper motor by shaft coupling
On shaft, the feed screw nut is mounted on the leading screw, and the claw in each paw mechanism is two, is symmetrically disposed on
The leading screw both sides are rotatablely arranged on the paw shell in the middle part of the claw, and the rear end of the claw offers
Sliding slot is provided with sliding block on the both sides of the feed screw nut, and the sliding block is located in the sliding slot.
Further, the climbing motor, avoidance motor and gripper motor are DC speed-reducing.
Further, two paw mechanisms are that two paw mechanisms are oppositely arranged in one group, same group；One group
The paw mechanism is fixedly installed on the bottom surface of the circular arc rotary part, and paw mechanism described in one group is set to the paw liter
It drops on bogie.
Further, the arc panel that the limiting component is vertically arranged.
Further, the climbing level robot stacked on top setting, the hand for the climbing level robot being located above
The bottom of pawl mechanism is fixedly connected with the polished rod of the underlying climbing level robot.
The present invention also provides a kind of pole-climbing methods of climbing level robot, have above-mentioned climbing level robot, climbing level robot
Each motor connect with power supply by conducting wire, include the following steps：
1）By the climbing level robot close to rod piece to be creeped, the paw mechanism being fixedly installed on the circular arc rotary part
Clamping rod piece to be creeped；The climbing mechanism driving is set to the paw mechanism on the paw lifting bogie along institute
State polished rod rising；When rising to certain position to be placed on the paw mechanism on paw lifting bogie, it is set to
The paw lifts the rod piece to be creeped of the paw mechanism clamping on bogie；It is fixedly installed on the circular arc rotary part
On paw mechanism unclamped from rod piece to be creeped；The climbing mechanism rotates avoidance mechanism and is fixedly installed on described
Paw mechanism on circular arc rotary part rises under climbing mechanism effect, and entire climbing level robot realization is once climbed upwards
It climbs；
2）Repeat step 1）To realize that climbing level robot is continuously climbed upwards；
3）The paw mechanism clamping on the circular arc rotary part is fixedly installed on when the rod piece creeped, the climbing mechanism drives
The dynamic paw mechanism being set on the paw lifting bogie declines along the polished rod, is lifted to be placed on the paw
When the paw mechanism on bogie drops to certain position, the paw machine that is set on paw lifting bogie
It is loose from rod piece to be creeped to be fixedly installed on the paw mechanism on the circular arc rotary part for structure clamping rod piece to be creeped
It opens, the climbing mechanism rotates avoidance mechanism and the paw mechanism being fixedly installed on the circular arc rotary part described
Climbing mechanism effect is lower to be declined, and entire climbing level robot realizes primary climbing downwards；
4）Repeat step 3）To realize that climbing level robot is continuously climbed downwards；
5）When climbing level robot needs avoidance posture adjustment, it is fixedly installed on the circular arc rotary part when climbing level robot is in
Paw mechanism clamping rod piece to be creeped, the paw mechanism being set on the paw lifting bogie unclamp to be creeped
When the state of rod piece, the rotation avoidance mechanism drives the circular arc rotary part rotation, to adjust the climbing mechanism and rotation
Turn the position of avoidance mechanism to realize the climbing mechanism, rotation avoidance mechanism and be set on the paw lifting bogie
The paw mechanism avoidance posture adjustment；When climbing level robot is in the paw machine being fixedly installed on the circular arc rotary part
Structure unclamps rod piece to be creeped, the paw mechanism clamping rod piece to be creeped that is set on paw lifting bogie
When state, rotation avoidance mechanism driving circular arc rotary part rotation, with adjust the position of the rotation avoidance mechanism to
Realize the avoidance posture adjustment of the rotation avoidance mechanism and the paw mechanism being set on the paw lifting bogie；
6）Repeat step 5）To realize climbing level robot continuous obstacle posture adjustment.
Compared with prior art, the beneficial effects of the invention are as follows：The present invention provides a kind of climbing level robots, with biography
On the basis of the pole-climbing function of system, barrier avoiding function is increased, avoidance posture adjustment can be realized during pole-climbing, so that
Climbing level robot hides partial impairment during pole-climbing, to ensure being smoothed out for pole-climbing；Climbing level robot in the present invention
Pole-climbing and avoidance can be carried out at the same time, and cooperated with each other and do not interfere with each other but, to ensure that the efficiency of pole-climbing and avoidance.The present invention is also
A kind of pole-climbing method based on above-mentioned climbing level robot is provided, efficient pole-climbing, avoidance can be realized by this method.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described.
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of climbing mechanism；
Fig. 3 is the scheme of installation for rotating avoidance mechanism；
Fig. 4 is the structural schematic diagram of paw mechanism；
Fig. 5 is the structural schematic diagram of paw mechanism（Perspective diagram）.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes.Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without creative efforts
Embodiment shall fall within the protection scope of the present invention.
Fig. 1 is please referred to, the preferred embodiment of the invention provides a kind of climbing level robot, mainly includes paw mechanism 1, climbs
Climb mechanism 2 and rotation avoidance mechanism 3.
Fig. 2 is please referred to, climbing mechanism 2 includes organic frame 21, climbing motor 22, connecting rod 23, crank 24, paw lifting driving
Frame 25 and polished rod 26, climbing motor 22 are DC speed-reducing, are fixedly installed in rack 21, and rack 21 is plate-like structure,
When having notch at middle part and edge one to facilitate climbing level robot pole-climbing, rod piece is located in notch, and crank 24 passes through shaft coupling
On the output shaft of climbing motor 22,23 one end of connecting rod is hinged with crank 24, and the other end is cut with scissors with paw lifting bogie 25
It connects, polished rod 26 is more, is vertically arranged in rack 21（The polished rod 26 of the other side is not drawn into Fig. 2）.
Fig. 3 is please referred to, rotation avoidance mechanism 3 includes avoidance motor 31, transmission shaft 32, transmission gear 33, circular arc rotation
Component 34 and limiting component 35, avoidance motor 31 are DC speed-reducing, and machine is fixedly installed on by avoidance motor mount 37
Below frame 21, transmission shaft 32 is mounted on by shaft coupling on the output shaft of avoidance motor 31, and transmission gear 33 is mounted on transmission
On axis 32；Circular arc rotary part 34 is the circular ring structure with opening, and opening is consistent with the notch direction of rack 21, circular arc rotation
The gear teeth to match with transmission gear 33, transmission gear 33 and the wheel on circular arc rotary part 34 are provided on the periphery of component 34
Tooth engagement connects, and circular arc rotary part 34 is provided with arc groove 36 in the circumferential, and the top of limiting component 35 is fixedly connected on
The bottom surface of rack 21, bottom end pass through arc groove 36, the arc panel that limiting component 35 is vertically arranged, the radian and arc of arc panel
The radian of connected in star 36 is consistent, and the bottom end of limiting component 35 is provided with limited block 37 so that limiting component 35 can only be recessed with circular arc
Slot 36 mutually circumferentially rotates.Limiting component 35 and the restriction that circumferentially rotates of arc groove 36 can be realized by some limited blocks,
Limited block is fixedly installed on limiting component, is located at the upper and lower surface of circular arc rotary part 34；Or by arc groove 36
Open up limiting groove on side wall, be fixedly installed spacer pin on limiting component 35, limit pin part be located at limiting groove it is interior with
Make axial（Upper and lower directions）Limit.
In this preferred embodiment, paw mechanism 1 is four, and in pairs, two paw mechanisms 1 are fixedly installed on circular arc
The bottom surface of rotary part 34, two paw mechanisms 1 are set on paw lifting bogie 25,1 phase of paw mechanism being arranged two-by-two
To setting；Restraining position ring block 18 is arranged in paw mechanism 1 on paw lifting bogie 25, and spacing ring 18 is set in polished rod 26
On.
When implementation, climbing motor 22 drives crank 24 to rotate, and connecting rod 23 and paw is driven to lift bogie 25, is passed in crank
Under the action of motivation structure, the axial movement along polished rod 26 can only be done in the case where polished rod 26 and spacing ring 18 limit so that be set to hand
Paw mechanism 1 on pawl lifting bogie 25 rises or falls along polished rod 26.Correspondingly, when being set to paw lifting bogie 25
On 1 clamping of paw mechanism when climbing rod piece, climbing motor 22 drive crank 24 rotate, drive connecting rod 23 and paw lifting drive
Moving frame 25 can only do the axial direction fortune along polished rod 26 in the case where polished rod 26 and spacing ring 18 limit under the action of crank driving mechanism
Dynamic, climbing mechanism 2, the paw mechanism 1 for rotating avoidance mechanism 3 and being fixedly installed on circular arc rotary part 34 can only be done along light
The axial up and down motion of bar 26.Avoidance motor 31 drives the rotation of transmission gear 33 that circular arc rotary part 34 is driven to rotate, and is adjusted with this
The position of whole climbing mechanism 2 and rotation avoidance mechanism 3, allows the barrier on rod piece to be climbed and the notch and circle in rack 21
The register of hook rotation member 34, to realize the avoidance posture adjustment of climbing mechanism 2, rotation avoidance mechanism 3.Paw mechanism 1 is climbed
Mechanism 2 and the collaboration mutually of rotation avoidance mechanism 3 are climbed, pole-climbing and barrier avoiding function, and climbing mechanism 2 and rotation avoidance machine may be implemented
Structure 3 will not condition each other in operation, carried out while capable of realizing pole-climbing and avoidance, ensure that working efficiency.
Fig. 4 and Fig. 5 are please referred to, each paw mechanism 1 includes gripper motor 11, claw 12, paw shell 13, leading screw
14, feed screw nut 15, gripper motor 11 are DC speed-reducing, are fixedly installed on paw shell 13, leading screw 14 passes through shaft coupling
Device is mounted on the output shaft of gripper motor 11, and feed screw nut 15 is mounted on leading screw 14, the claw 12 in each paw mechanism 1
It is two, is symmetrically disposed on 14 both sides of leading screw, the middle part of claw 12 is rotatablely arranged on paw shell 13, after claw 12
End offers sliding slot 16, sliding block 17 is provided on the both sides of feed screw nut 15, sliding block 17 is located in sliding slot 16.Gripper motor 11 drives
Dynamic leading screw 14 rotates, and feed screw nut 15 axially moves on leading screw 14, with the movement of feed screw nut 15, feed screw nut 15
The also movement in sliding slot 16 of sliding block 17 on both sides, around its middle part rotation, two claws 12 are done to be opened or is closed claw 12 at this time
Movement, the clamping or release of the rod piece for treating climbing are realized with this.
It is worth noting that, the climbing level robot in the present invention can carry out stacked on top setting, to realize a kind of series connection
Formula connects, and the climbing level robot by the way that multiple tandem connections are arranged may be implemented the multiple robot collaborations in more positions and make
Industry.Specifically series system is：The bottom of the paw mechanism 1 for the climbing level robot being located above and underlying climbing level robot
Polished rod 26 be fixedly connected.
The present invention also provides a kind of pole-climbing methods of climbing level robot, have above-mentioned climbing level robot, that is, are based on above-mentioned machine
Each motor of the pole-climbing method of device people, climbing level robot is connect by conducting wire with power supply, is included the following steps：
1）By climbing level robot close to rod piece to be creeped, the paw mechanism 1 on circular arc rotary part 34 is fixedly installed in hand
Under the action of pawl motor 11, two 12 clampings of claw rod piece to be creeped；Climbing motor 22 in climbing mechanism 2 drives crank 24
Rotation drives connecting rod 23 and paw to lift bogie 25, allows paw lifting bogie 25 to be moved upwards in whole so as to be set to
Paw lifts the paw mechanism 1 on bogie 25 and rises along polished rod 26；To be placed on the paw machine on paw lifting bogie 25
When structure 1 rises to certain position, the paw mechanism 1 on paw lifting bogie 25 is set under the action of gripper motor 11,
Two 12 clampings of claw rod piece to be creeped；The paw mechanism 1 on circular arc rotary part 34 is fixedly installed in gripper motor 11
Under the action of, two claws 12 are unclamped from rod piece to be creeped；Climbing motor 22 drives crank 24 to rotate, and drives 23 He of connecting rod
Paw lifts bogie 25, and climbing mechanism 2, rotation avoidance mechanisms 3 and the paw that is fixedly installed on circular arc rotary part 34
Mechanism 1, which is lifted in paw under bogie 25, connecting rod 23 and crank 24 act on, to be risen, and entire climbing level robot realization is once climbed upwards
It climbs；
2）Repeat step 1）To realize that climbing level robot is continuously climbed upwards；
It is worth noting that, the realization method of climbing level robot climbed upwards can also be first fixed（Clamping）It is set to paw
Lift the paw mechanism 1 on bogie 25（It is loose on rod piece that it is fixedly installed on the paw mechanism 1 on circular arc rotary part 34 at this time
It opens）, then acted on by climbing mechanism 2 and allow climbing mechanism 2, rotation avoidance mechanism 3 and be fixedly installed on circular arc rotary part
Paw mechanism 1 on 34 first rises, then fixes（Clamping）The paw mechanism 1 being fixedly installed on circular arc rotary part 34 and pine
The paw mechanism 1 being placed on paw lifting bogie 25 is opened up, then is acted on by climbing mechanism 2 and being driven so that being set to paw lifting
Paw mechanism 1 in moving frame 25 rises, and above steps may be repeated multiple times, and achievable climbing level robot is continuously climbed upwards；This is continuous
Climbing mode and step 2）It is substantially identical；
3）When the rod piece creeped, climbing motor 22 drives for 1 clamping of paw mechanism being fixedly installed on circular arc rotary part 34
Crank 24 rotates, and connecting rod 23 and paw is driven to lift bogie 25 so that the paw machine being set on paw lifting bogie 25
Structure 1 declines along polished rod 26, when dropping to certain position to be placed on the paw mechanism 1 on paw lifting bogie 25, is set to
Paw lifts the rod piece to be creeped of 1 clamping of paw mechanism on bogie 25, the hand being fixedly installed on circular arc rotary part 34
Pawl mechanism 1 is unclamped from rod piece to be creeped, and climbing motor 22 drives crank 24 to rotate, and drives connecting rod 23 and paw lifting driving
Frame 25 so that climbing mechanism 2 rotates avoidance mechanism 3 and the paw mechanism 1 being fixedly installed on circular arc rotary part 34 in hand
Pawl lifts bogie 25, connecting rod 23 and the effect of crank 24 and declines, the entire primary climbing downwards of climbing level robot realization；
4）Repeat step 3）To realize that climbing level robot is continuously climbed downwards；
It is worth noting that, climbing level robot climbing downwards can also be the hand being first fixedly installed on paw lifting bogie 25
Pawl mechanism 1（The paw mechanism 1 being fixedly installed at this time on circular arc rotary part 34 unclamps）, under the effect of climbing mechanism 2 so that
Climbing mechanism 2, rotation avoidance mechanism 3 and the decline of paw mechanism 1 being fixedly installed on circular arc rotary part 34, are then fixed
The 1 clamping rod piece of paw mechanism being set on circular arc rotary part 34,（The paw being set at this time on paw lifting bogie 25
Mechanism 1 is unclamped）, under the effect of climbing mechanism 2, the paw mechanism 1 being set on paw lifting bogie 25 is upward, is repeated several times
Above-mentioned steps can realize that climbing level robot is continuously climbed downwards；This continuous climbing mode and step 4）It is substantially identical
5）When climbing level robot needs avoidance posture adjustment, when climbing level robot is in the hand being fixedly installed on circular arc rotary part 34
1 clamping of pawl mechanism rod piece to be creeped, the paw mechanism 1 being set on paw lifting bogie 25 unclamp rod piece to be creeped
When state, avoidance motor 31 drives the rotation of transmission gear 33 that circular arc rotary part 34 is driven to rotate, to adjust climbing mechanism 2 and rotation
Turn the position of avoidance mechanism 3 to realize climbing mechanism 2, rotation avoidance mechanism 3 and be set on paw lifting bogie 25
The avoidance posture adjustment of paw mechanism 1；It is unclamped when climbing level robot is in the paw mechanism 1 being fixedly installed on circular arc rotary part 34
Wait the rod piece creeped, 1 clamping of paw mechanism being set on paw lifting bogie 25 when the state for the rod piece creeped, avoidance
Motor 31 drives the rotation of transmission gear 33 that circular arc rotary part 34 is driven to rotate, with the position of adjustment rotation avoidance mechanism 3 to
It realizes rotation avoidance mechanism 3 and is set to the avoidance posture adjustment for the paw mechanism 1 that paw lifts on bogie 25；
6）Repeat step 5）To realize climbing level robot continuous obstacle posture adjustment.
It is worth noting that, in the pole-climbing method of above-mentioned climbing level robot, pole-climbing（Including climbing and climbing downwards upwards）
It can be carried out at the same time with avoidance posture adjustment.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, all answer by the change or replacement that can be readily occurred in
It is included within the scope of the present invention.Therefore, protection scope of the present invention should be with the scope of the claims
It is accurate.
Claims (7)
1. a kind of climbing level robot includes paw mechanism（1）, climbing mechanism（2）With rotation avoidance mechanism（3）, feature exists
In：
The climbing mechanism（2）Including organic frame（21）, climbing motor（22）, connecting rod（23）, crank（24）, paw lifting driving
Frame（25）And polished rod（26）, the climbing motor（22）It is fixedly installed on the rack（21）On, the crank（24）Pass through connection
Axis device is mounted on the climbing motor（22）Output shaft on, the connecting rod（23）One end and the crank（24）It is hinged, it is another
End lifts bogie with the paw（25）It is hinged, the polished rod（26）It is vertically arranged at the rack（21）On；
The rotation avoidance mechanism（3）It include avoidance motor（31）, transmission shaft（32）, transmission gear（33）, circular arc rotating part
Part（34）And limiting component（35）, the avoidance motor（31）It is fixedly installed on the rack（21）Below, the transmission shaft
（32）It is mounted on the avoidance motor by shaft coupling（31）Output shaft on, the transmission gear（33）Mounted on the transmission
Axis（32）On；The circular arc rotary part（34）For the circular ring structure with opening, the circular arc rotary part（34）Periphery
On be provided with and the transmission gear（33）The gear teeth to match, the transmission gear（33）With the circular arc rotary part（34）
On gear teeth meshing connection, the circular arc rotary part（34）It is provided with arc groove in the circumferential（36）, the limiting component
（35）Top be fixedly connected on the rack（21）Bottom surface, bottom end pass through the arc groove（36）, the limiting component
（35）Bottom end be provided with limited block（37）So that the limiting component（35）It can only be with the arc groove（36）Mutually week
To rotation；
The paw mechanism（1）For two or more, at least one paw mechanism（1）It is fixedly installed on the circular arc rotating part
Part（34）Bottom surface, at least one paw mechanism（1）It is set to the paw lifting bogie（25）On, it is located at the hand
Pawl lifts bogie（25）On the paw mechanism（1）Restraining position ring block is set（18）, the spacing ring（18）It is set in described
Polished rod（26）On.
2. climbing level robot according to claim 1, it is characterised in that：Each paw mechanism（1）It include paw
Motor（11）, claw（12）, paw shell（13）, leading screw（14）, feed screw nut（15）, the gripper motor（11）Fixed setting
In the paw shell（13）On, the leading screw（14）It is mounted on the gripper motor by shaft coupling（11）Output shaft on,
The feed screw nut（15）Mounted on the leading screw（14）On, each paw mechanism（1）In claw（12）It is two, it is right
Title is set to the leading screw（14）Both sides, the claw（12）Middle part be rotatablely arranged at the paw shell（13）On,
The claw（12）Rear end offer sliding slot（16）, the feed screw nut（15）Both sides on be provided with sliding block（17）, described
Sliding block（17）Positioned at the sliding slot（16）It is interior.
3. climbing level robot according to claim 1, it is characterised in that：The climbing motor（22）, avoidance motor（31）
And gripper motor（11）For DC speed-reducing.
4. climbing level robot according to claim 1, it is characterised in that：Two paw mechanisms（1）It is one group, it is same
Two paw mechanisms in group（1）It is oppositely arranged；Paw mechanism described in one group（1）It is fixedly installed on the circular arc rotary part
（34）Bottom surface, paw mechanism described in one group（1）It is set to the paw lifting bogie（25）On.
5. climbing level robot according to claim 1, it is characterised in that：The limiting component（35）The arc being vertically arranged
Shape plate.
6. climbing level robot according to claim 1, it is characterised in that：The climbing level robot stacked on top setting, position
In the paw mechanism of the climbing level robot of top（1）Bottom and the underlying climbing level robot polished rod
（26）It is fixedly connected.
7. a kind of pole-climbing method of climbing level robot has claim 1-6 any one of them climbing level robots, pole-climbing machine
Each motor of people is connect by conducting wire with power supply, which is characterized in that is included the following steps：
1）By the climbing level robot close to rod piece to be creeped, it is fixedly installed on the circular arc rotary part（34）On paw
Mechanism（1）Clamping rod piece to be creeped；The climbing mechanism（2）Driving is set to the paw lifting bogie（25）On institute
State paw mechanism（1）Along the polished rod（26）Rise；Bogie is lifted to be placed on the paw（25）On the paw machine
Structure（1）When rising to certain position, it is set to the paw lifting bogie（25）On the paw mechanism（1）Clamping waits climbing
Capable rod piece；It is fixedly installed on the circular arc rotary part（34）On paw mechanism（1）It is unclamped from rod piece to be creeped；Institute
State climbing mechanism（2）, rotation avoidance mechanism（3）And it is fixedly installed on the circular arc rotary part（34）On paw mechanism
（1）In the climbing mechanism（2）Effect is lower to be risen, and entire climbing level robot realizes primary climbing upwards；
2）Repeat step 1）To realize that climbing level robot is continuously climbed upwards；
3）It is fixedly installed on the circular arc rotary part（34）On paw mechanism（1）Clamping is described to climb when the rod piece creeped
Climb mechanism（2）Driving is set to the paw lifting bogie（25）On the paw mechanism（1）Along the polished rod（26）Under
Drop lifts bogie to be placed on the paw（25）On the paw mechanism（1）When dropping to certain position, it is set to institute
State paw lifting bogie（25）On the paw mechanism（1）Clamping rod piece to be creeped is fixedly installed on the circular arc rotation
Rotation member（34）On paw mechanism（1）It is unclamped from rod piece to be creeped, the climbing mechanism（2）, rotation avoidance mechanism（3）
And it is fixedly installed on the circular arc rotary part（34）On paw mechanism（1）In the climbing mechanism（2）Effect is lower to be declined,
Entire climbing level robot realizes primary climbing downwards；
4）Repeat step 3）To realize that climbing level robot is continuously climbed downwards；
5）When climbing level robot needs avoidance posture adjustment, the circular arc rotary part is fixedly installed on when climbing level robot is in（34）
On paw mechanism（1）Clamping rod piece to be creeped is set to the paw lifting bogie（25）On the paw mechanism
（1）It unclamps when the state for the rod piece creeped, the rotation avoidance mechanism（3）Drive the circular arc rotary part（34）Rotation,
To adjust the climbing mechanism（2）With rotation avoidance mechanism（3）Position to realize the climbing mechanism（2）, rotation avoidance
Mechanism（3）Bogie is lifted with the paw is set to（25）On the paw mechanism（1）Avoidance posture adjustment；When pole-climbing machine
People, which is in, is fixedly installed on the circular arc rotary part（34）On paw mechanism（1）It unclamps rod piece to be creeped, be set to institute
State paw lifting bogie（25）On the paw mechanism（1）Clamping is when the state for the rod piece creeped, the rotation avoidance
Mechanism（3）Drive circular arc rotary part（34）Rotation, to adjust the rotation avoidance mechanism（3）Position to realize the rotation
Turn avoidance mechanism（3）Bogie is lifted with the paw is set to（25）On the paw mechanism（1）Avoidance posture adjustment；
6）Repeat step 5）To realize climbing level robot continuous obstacle posture adjustment.
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| CN201810726555.2A CN108657302B (en) | 2018-07-04 | 2018-07-04 | Pole climbing robot and pole climbing method thereof |
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| CN108657302B CN108657302B (en) | 2024-04-09 |
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| CN113911224A (en) * | 2021-10-18 | 2022-01-11 | 山东科技大学 | Obstacle-crossing pole-climbing robot |
| CN114571911A (en) * | 2021-12-31 | 2022-06-03 | 南京赫曼机器人自动化有限公司 | Active wheel claw deformation mechanism for high-mobility robot |
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