CN108724158A - Climbing level robot - Google Patents
Climbing level robot Download PDFInfo
- Publication number
- CN108724158A CN108724158A CN201710261247.2A CN201710261247A CN108724158A CN 108724158 A CN108724158 A CN 108724158A CN 201710261247 A CN201710261247 A CN 201710261247A CN 108724158 A CN108724158 A CN 108724158A
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- China
- Prior art keywords
- frame body
- climbing
- level robot
- folder
- climbing level
- Prior art date
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- 230000009194 climbing Effects 0.000 title claims abstract description 47
- 230000009193 crawling Effects 0.000 claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims description 30
- 210000000078 claw Anatomy 0.000 claims description 13
- 210000000080 chela (arthropods) Anatomy 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 8
- 238000012806 monitoring device Methods 0.000 claims description 5
- 239000000523 sample Substances 0.000 claims description 3
- 210000003205 muscle Anatomy 0.000 abstract description 3
- 238000012544 monitoring process Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000006378 damage Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 238000012795 verification Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 208000032368 Device malfunction Diseases 0.000 description 1
- 206010023230 Joint stiffness Diseases 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of climbing level robot, including frame body, with frame body is hinged embraces folder, embraces embracing folder shaft and being arranged on frame body for drive the operating robotic arm unit embraced driving lever apparatus that folder shaft rotates and being arranged on frame body and be used for grasping manipulation tool for folder and frame body for connect；Frame body side is equipped with and the arcwall face that is coordinated by pole-climbing body, arcwall face is equipped at least one crawling wheel and at least one deflecting roller, the medial surface for embracing folder is equipped with driven wheel, and the shaft of crawling wheel is vertical with by the axis of pole-climbing body, and the shaft of deflecting roller is parallel with by the axis of pole-climbing body；The tool buckle for fixed operation tool is additionally provided on the other side of frame body.Climbing level robot provided by the invention avoids the limitation of requirement and operating efficiency of the manual work to muscle power, ensure that the safety of operating personnel, improve work efficiency.
Description
Technical field
The invention belongs to electrical equipment technical fields, are to be related to a kind of climbing level robot more specifically.
Background technology
In electric system, 10kV cement shaft towers are widely used in power matching network circuit, and power failure, electrical verification, installing ground wire are
Ensure the technical safety measures of electric operating personnel in power construction, maintenance and maintenance.Due to the limitation of objective condition, at present this
A little conventional electric operating safety measures are finished artificially, and are relied primarily on and are manually used Kick lever foot fastener, and safety belt, insurance are aided with
Rope carries out pole-climbing operation, and personnel is needed to carry electroscope, ground wire (grounding rod) in head of mast progress relevant operation.Pass through
Artificial climbing shaft tower carries out operation, needs constantly to adjust safety belt during climbing, safety rope is moved upwards along the body of rod, imitates
Rate is relatively low and personnel's physical demand is larger, and there are larger security risks to jeopardize personal safety.When field work, do not know because
Element is more, it is understood that there may be the case where being not suitable for climbing.When artificial carrying operation tool carries out operation, powers on or make if there is accident
Industry device malfunction may lead to the personal injury of bigger.
Invention content
The purpose of the present invention is to provide a kind of climbing level robots, it is intended to solve conventional electric operating in the prior art
There is a problem of that larger security risk, efficiency are low by artificial pole-climbing operation.
To achieve the above object, the technical solution adopted by the present invention is：A kind of climbing level robot is provided, including frame body, with
The hinged armful folder of the frame body is used for for connecting armful folder shaft for embracing folder and the frame body and being arranged on the frame body
Driving is described to embrace the driving lever apparatus and the operation machinery for grasping manipulation tool is arranged on the frame body that folder shaft rotates
Arm unit；The frame body side is equipped with is equipped at least one crawling wheel with the arcwall face that is coordinated by pole-climbing body, the arcwall face
With at least one deflecting roller, the medial surface of described armful of folder is equipped with driven wheel, the shaft of the crawling wheel and by the axis of pole-climbing body
Line is vertical, and the shaft of the deflecting roller is parallel with by the axis of pole-climbing body；It is additionally provided on the other side of the frame body for fixing
The tool of operation instrument buckles.
Further, described armful of folder shaft is T-type axis.
Further, the operating robotic arm unit includes interlocking mechanism arm and the gripper machine for grasping manipulation tool
Structure.
Further, the operating robotic arm unit further includes the video surveillance dress being arranged in the mechanical claw Mechanism
It sets.
Further, the interlocking mechanism arm includes the connecting seat being fixedly connected with the frame body, is arranged in the connection
First mechanical arm that the first rotary joint, one end on seat are arranged on first rotary joint is arranged described first
Second rotary joint of mechanical arm the other end, the second mechanical arm being arranged on second rotary joint and described second
The third rotary joint of mechanical arm connection and the connector for connecting the gripper and being connect with the third rotary joint.
Further, the mechanical claw Mechanism include pawl seat, the first cylinder for being arranged in the pawl seat, be fixed on it is described
The drive link that is slidably connected on the telescopic rod of first cylinder and with the pawl seat is respectively hinged at the drive link both ends
Pawl clamps and the connecting rod for connecting the pawl pincers and the pawl seat, the connecting rod are cut with scissors with pawl pincers and the pawl seat respectively
It connects, the one end of the pawl pincers is hinged with the drive link, and the other end is equipped with the card slot for clipping operation tool.
Further, the driven wheel is universal wheel.
Further, the driving lever apparatus is cylinder or hydraulic cylinder.
Further, the frame body upper edge is equipped with anticollision probe by the both ends of the axis direction of pole-climbing body.
Further, it is additionally provided with communication antenna on the frame body.
The advantageous effect of climbing level robot provided by the invention is：Compared with prior art, climbing level robot of the present invention,
The embrace folder hinged with frame body is pushed into rotation by the driving lever apparatus on frame body, is climbed to which the climbing level robot to be fixed on
On the body of rod, crawling wheel on the arcwall face of frame body side drives frame body to creep upwards, and deflecting roller is additionally provided on arcwall face, needs pair
The steered wheel rotation when position of climbing level robot is adjusted, adjustment climbing level robot is by the position on pole-climbing body circumferencial direction
It sets, reaches specified operating position, the operating robotic arm unit picks on the other side of frame body are connected to the behaviour of tool card buckle
Operation is repaired or detected as tool, using climbing level robot replace it is artificial carry out body of rod climbing, carrying operation tool into
The operation of row head of mast.Operating personnel are exempted from and have been in direct contact personal injury caused by operation instrument and shaft tower ontology possibility, has ensured
Safety.Operation is carried out using climbing level robot, the limitation of requirement and operating efficiency of the manual work to muscle power is avoided, improves
Working efficiency.
Description of the drawings
Fig. 1 is the configuration schematic diagram of climbing level robot provided in an embodiment of the present invention；
Fig. 2 is the A direction views in Fig. 1；
Fig. 3 is the structural schematic diagram of operating robotic arm unit used by the embodiment of the present invention；
Fig. 4 is the structural schematic diagram of mechanical claw Mechanism used by the embodiment of the present invention；
Fig. 5 is Shared control schematic diagram used by the embodiment of the present invention.
In figure：1, frame body；11, crawling wheel；12, deflecting roller；13, the second cylinder；14, tool buckles；15, anticollision is popped one's head in；
16, communication antenna；17, loud speaker；18, state display lamp；19, switch button；2, folder is embraced；21, driven wheel；3, folder shaft is embraced；
4, operating robotic arm unit；41, interlocking mechanism arm；411, connecting seat；412, the first rotary joint；413, first mechanical arm；
414, the second rotary joint；415, second mechanical arm；416, third rotary joint；417, connector；42, mechanical claw Mechanism；
421, pawl seat；422, the first cylinder；423, drive link；424, pawl clamps；425, connecting rod；526, fixing sleeve；43, visible light phase
Machine.
Specific implementation mode
In order to make technical problems, technical solutions and advantages to be solved be more clearly understood, tie below
Accompanying drawings and embodiments are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
To explain the present invention, it is not intended to limit the present invention.
It should be noted that when element is referred to as " being fixed on " or " being set to " another element, it can be directly another
On one element or it is connected on another element.When an element is known as " being connected to " another element, it can
To be directly to another element or be indirectly connected on another element.
It is to be appreciated that term " length ", " width ", "upper", "lower", "front", "rear", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "top", "bottom" "inner", "outside" is that orientation based on ... shown in the drawings or position are closed
System, is merely for convenience of description of the present invention and simplification of the description, not indicating or implying the indicated device or element must have
Specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more this feature.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
Also referring to Fig. 1 and Fig. 2, now climbing level robot provided by the invention is illustrated.The climbing level robot,
It is used including frame body 1, with hinged the embracing folder 2, armful folder shaft 3 for connecting armful folder 2 and frame body 1 and be arranged on frame body 1 of frame body 1
The driving lever apparatus that folder shaft 3 rotates is embraced in driving and the operating robotic arm list for grasping manipulation tool is set on frame body 1
Member 4；1 side of frame body is equipped with is equipped at least one crawling wheel 11 and at least one with the arcwall face that is coordinated by pole-climbing body, arcwall face
A deflecting roller 12, the medial surface for embracing folder 2 are equipped with driven wheel 21, and the shaft of crawling wheel 11 is vertical with by the axis of pole-climbing body, turns
Shaft to wheel 12 is parallel with by the axis of pole-climbing body；The tool for fixed operation tool is additionally provided on the other side of frame body 1
Buckle 14.
Climbing level robot provided by the invention compared with prior art will be with frame body by the driving lever apparatus on frame body 1
1 hinged folder 2 of embracing pushes rotation, to be fixed on the climbing level robot by pole-climbing body, on the arcwall face of 1 side of frame body
Crawling wheel 11 drives frame body 1 to creep upwards, and deflecting roller 12 is additionally provided on arcwall face, needs to adjust the position of climbing level robot
Deflecting roller 12 rotates when whole, and adjustment climbing level robot reaches specified operating position by the position on pole-climbing body circumferencial direction,
Operating robotic arm unit 4 on the other side of frame body 1 capture the operation instrument being connected at tool buckle 14 repair or
Detection operation replaces artificial progress body of rod climbing, carrying operation tool to carry out head of mast operation using climbing level robot.Exempt from
Operating personnel are in direct contact personal injury caused by operation instrument and shaft tower ontology possibility, ensure that safety.Using pole-climbing machine
People carries out operation, avoids the limitation of requirement and operating efficiency of the manual work to muscle power, improves work efficiency.
Specifically, 1 arcwall face of frame body is U-shaped, embraces folder 2 and embraces folder 2 for arc, frame body 1 is provided at both ends with two arcs and embraces folder
2, frame body 1 is internally provided with power module, driving device, middle control module, communication module etc., and what is be arranged on 1 arcwall face of frame body climbs
Row wheel 11, deflecting roller 12, are connected with internal drive.
Specifically, power tool buckle 14 can be realized to electrical verification operation, ground wire power tool (electroscope, grounding rod)
Clamping, for robot manipulating task use.
Further, it please refers to Fig.1 and Fig. 2, as a kind of specific implementation mode of climbing level robot provided by the invention,
It is T-type axis to embrace folder shaft 3.It is T shapes to embrace folder shaft 3, realizes that embracing folder 2 and the both direction for mobile mechanism end of creeping rotates, top
Handling device is the second cylinder 13, embraces folder 2 and is internally provided with driven wheel 21, driven wheel 21 is universal wheel.Carrying out pole-climbing campaign
When, ejecting mechanism driving both sides embrace folder 2 and turn to the inside and clamping force is kept to realize clamping of the mobile mechanism to the body of rod of creeping, and climb
Row wheel 11, universal wheel are realized to whole support, drive the rotation of crawling wheel 11 to realize by driving device whole along by pole-climbing
Body moves back and forth；By embracing the rotation design of folder 2, the climbing to the reducing body of rod can be realized；Deflecting roller 12 and crawling wheel 11
It rotates synchronously, packs up under normal circumstances, when needing the when of turning to stretch out, realize steering during pole-climbing.In operation process,
In the case of robot docked state or powered-off fault, by motor self-locking and the self-locking pressed from both sides 2 power and realize robot entirety is embraced, is prevented
Robot is fallen.
Further, it please refers to Fig.1 to Fig.4, as a kind of specific implementation mode of climbing level robot provided by the invention,
Operating robotic arm unit 4 includes interlocking mechanism arm 41 and the mechanical claw Mechanism 42 for grasping manipulation tool.
Further, it please refers to Fig.1 and Fig. 2, as a kind of specific implementation mode of climbing level robot provided by the invention,
Operating robotic arm unit 4 further includes the video monitoring device being arranged in mechanical claw Mechanism 42.It is carried by robot body
Video monitoring device is, it can be achieved that monitoring in operation process to operation details.Video monitoring device be Visible Light Camera 43 and/or
Infrared camera.
Further, it please refers to Fig.1 to Fig.3, as a kind of specific implementation mode of climbing level robot provided by the invention,
Interlocking mechanism arm 41 includes the connecting seat 411 being fixedly connected with frame body 1, the first rotary joint being arranged on connecting seat 411
412, one end is arranged on the first rotary joint 412 first mechanical arm 413 is arranged in 413 the other end of first mechanical arm
The second rotary joint 414, be arranged on the second rotary joint 414 second mechanical arm 415, connect with second mechanical arm 415
Third rotary joint 416 and connector 417 for connecting gripper and being connect with third rotary joint 416.
Operating robotic arm unit is installed on the frame body 1 of climbing level robot, and main body is multi-shaft interlocked mechanical arm 41, gear
The design length of tool arm 41 meets robot manipulating task area requirement, and rotary joint 360 rotates, and quantity meets mechanical arm tail end arrival
Arbitrary point in operating radius, interlocking mechanism arm 41 are provided with flexible control, when motion process is always interfered with remaining equipment,
It can realize flexible obstacle, avoid the damage to interlocking mechanism arm 41 structure, peripheral equipment；There is connection in 41 end of interlocking mechanism arm
Device 417 can be compatible with several work end, be not limited solely to electrical verification, ground connection operation；Connector 417 is along 41 end of interlocking mechanism arm
Axial rotation is held, mechanical claw Mechanism 42 is installed, mechanical claw Mechanism 42 can realize the crawl to power tool；Mechanical claw Mechanism
The visible light camera of 180 ° of rotations is installed on 42, it is real-time for being carried out to job area and operation process in operation process
Monitoring.
Consider that 41 application environment of interlocking mechanism arm has environmental parameter unknown or dynamic change, human-computer interaction uncertainty etc.
Feature, safety and compliance are one of the important goals that interlocking mechanism arm 41 controls, and combine force threshold to supervise for position control
The control strategy of control.Referring to Fig. 5, xd is the joint location of instruction in figure, x is joint physical location, and Δ xd is that joint position is inclined
Difference, Kf are force feedback coefficient, and C1 is joint moment threshold value, and C2 is that force threshold submissive mechanical arm tail end pose instructions in end pass through
Inverse Kinematics Solution generates joint control instruction, drives joint motor by bottom PID SERVO CONTROLs, motor is via SEA by power
Connecting rod is passed to, the code-disc that SEA output ends are equipped with detects connecting rod actual displacement, feeds back to command end by forward kinematics solution and formed
The position closed loop of mechanical arm acquires the deflection of SEA springs using the difference of motor corner and connecting rod corner, is asked using joint stiffness
Practical joint moment, the monitoring by being mutated threshold value to joint moment realize that mechanical arm is anti-to the safety of abnormal load or collision
Answer simultaneously, the force snesor that mechanical arm tail end is equipped with can obtain the contact force of cartesian space, be adjusted according to end contact force
Input position signal realizes the Shared control of interlocking mechanism arm 41.
Further, it please refers to Fig.1 and Fig. 2, as a kind of specific implementation mode of climbing level robot provided by the invention,
It is additionally provided with communication antenna 16 on frame body 1, for improving wireless communication signals, loud speaker 17, state display lamp are additionally provided on frame body 1
18, switch button 19.In order to allow the manipulation flexibility at robot system more suitable operation scene, whole system to use channel radio
Letter mode carries out human-computer dialogue, and by wireless remote control flat-bed format, realizes completely de- between operating personnel and detection device
From.Remote control platform can realize the condition monitoring to the action control, robot and platform itself of robot system.Action control packet
Speed of service setting, position locking and time setting of each section containing robot etc.；Condition monitoring includes electricity monitoring, communication letter
Number monitoring, device hardware parameter etc..
Further, Fig. 3 and Fig. 4 is please referred to, as a kind of specific implementation mode of climbing level robot provided by the invention,
Mechanical claw Mechanism 42 includes pawl seat 421, the first cylinder 422 being arranged in pawl seat 421, is fixed on the flexible of the first cylinder 422
It the drive link 423 that is slidably connected on bar and with pawl seat 421, the pawl pincers 424 for being respectively hinged at 423 both ends of drive link and is used for
The connecting rod 425 of pawl pincers 424 and pawl seat 421 is connected, connecting rod 425 is hinged with pawl pincers 424 and pawl seat 421 respectively, pawl pincers 424
One end is hinged with drive link 423, and the other end is equipped with the card slot for clipping operation tool.Video monitoring device is mounted on the
It on one cylinder 422 or pawl seat 421, pushes drive link 423 to move by the first cylinder 422, is clamped using lever principle band pawl
424 folding realizes that the clamping of pawl pincers 424, clamping are stablized, using reliable, effect is good, specifically, be fixed in pawl seat 421
Fixing sleeve 526, connecting rod 425 are hinged on fixing sleeve 526, and fixing sleeve 526 and the telescopic rod coaxial line of the first cylinder 422 are set
It sets, it is easy to assembly, it is convenient for parts processing and repair, production efficiency high.
Further, it please refers to Fig.1 and Fig. 2, as a kind of specific implementation mode of climbing level robot provided by the invention,
It is the second cylinder 13 or hydraulic cylinder to drive lever apparatus.
Further, it please refers to Fig.1 and Fig. 2, as a kind of specific implementation mode of climbing level robot provided by the invention,
1 upper edge of frame body is equipped with anticollision probe 15 by the both ends of the axis direction of pole-climbing body.In moving process of creeping, robot body
Anticollision by being installed on mobile mechanism's upper and lower ends of creeping pops one's head in 15 into row distance detection, and it is real to send switching value to middle control module
Whole anticollision during existing pole-climbing；The wireless data exchange between remote control platform is realized by communication module；It is aobvious by state
Show that lamp 18 indicates robotary.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.
Claims (10)
1. climbing level robot, it is characterised in that：Including frame body, with the frame body it is hinged embrace folder, for connect it is described embrace folder with
Embracing folder shaft and being arranged on the frame body for the frame body is used to drive the driving lever apparatus for embracing folder shaft rotation and sets
Set the operating robotic arm unit that grasping manipulation tool is used on the frame body；The frame body side is equipped with to be coordinated with by pole-climbing body
Arcwall face, the arcwall face be equipped at least one crawling wheel and at least one deflecting roller, described armful folder medial surface on set
Have driven wheel, the shaft of the crawling wheel is vertical with by the axis of pole-climbing body, the shaft of the deflecting roller with by the axis of pole-climbing body
Line is parallel；The tool buckle for fixed operation tool is additionally provided on the other side of the frame body.
2. climbing level robot as described in claim 1, it is characterised in that：Described armful of folder shaft is T-type axis.
3. climbing level robot as claimed in claim 1 or 2, it is characterised in that：The operating robotic arm unit includes gear
Tool arm and mechanical claw Mechanism for grasping manipulation tool.
4. climbing level robot as claimed in claim 3, it is characterised in that：The operating robotic arm unit further includes being arranged in institute
State the video monitoring device in mechanical claw Mechanism.
5. climbing level robot as claimed in claim 3, it is characterised in that：The interlocking mechanism arm includes being fixed with the frame body
The connecting seat of connection, the first rotary joint being arranged on the connecting seat, one end are arranged on first rotary joint
First mechanical arm, be arranged described first mechanical arm the other end the second rotary joint, setting it is described second rotation close
Second mechanical arm on section, the third rotary joint being connect with the second mechanical arm and for connect the gripper and with institute
State the connector of third rotary joint connection.
6. climbing level robot as claimed in claim 3, it is characterised in that：The mechanical claw Mechanism includes pawl seat, is arranged in institute
The first cylinder in pawl seat is stated, is fixed on the telescopic rod of first cylinder and the driving being slidably connected with the pawl seat connects
Bar, the pawl pincers for being respectively hinged at the drive link both ends and the connecting rod for connecting the pawl pincers and the pawl seat, it is described
Connecting rod is hinged with pawl pincers and the pawl seat respectively, and the one end of the pawl pincers and the drive link are hinged, the other end
Equipped with the card slot for clipping operation tool.
7. climbing level robot as claimed in claim 1 or 2, it is characterised in that：The driven wheel is universal wheel.
8. climbing level robot as claimed in claim 1 or 2, it is characterised in that：The driving lever apparatus is cylinder or hydraulic cylinder.
9. climbing level robot as claimed in claim 1 or 2, it is characterised in that：The frame body upper edge is by the axis side of pole-climbing body
To both ends be equipped with anticollision probe.
10. climbing level robot as claimed in claim 1 or 2, it is characterised in that：It is additionally provided with communication antenna on the frame body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710261247.2A CN108724158B (en) | 2017-04-20 | 2017-04-20 | Pole climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710261247.2A CN108724158B (en) | 2017-04-20 | 2017-04-20 | Pole climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108724158A true CN108724158A (en) | 2018-11-02 |
| CN108724158B CN108724158B (en) | 2024-02-27 |
Family
ID=63933541
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710261247.2A Active CN108724158B (en) | 2017-04-20 | 2017-04-20 | Pole climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108724158B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109572842A (en) * | 2018-12-12 | 2019-04-05 | 杭州申昊科技股份有限公司 | A kind of pole-climbing mechanism, pole-climbing intelligent inspection robot and its substation's pole-climbing method |
| CN109969663A (en) * | 2019-03-12 | 2019-07-05 | 苏州得尔达国际物流有限公司 | A kind of climbing robot and its mating shelf for monitoring |
| CN112864949A (en) * | 2021-01-07 | 2021-05-28 | 云南电网有限责任公司电力科学研究院 | Distribution line grounding wire assembling and disassembling device and control method thereof |
| CN112896359A (en) * | 2021-01-27 | 2021-06-04 | 国网安徽省电力有限公司电力科学研究院 | Pole-climbing robot |
| CN114132404A (en) * | 2021-11-26 | 2022-03-04 | 国网河南省电力公司卢氏县供电公司 | Electric power climbing device with structure of preventing falling |
| CN114261456A (en) * | 2021-12-31 | 2022-04-01 | 广东省科学院智能制造研究所 | Climbing robot |
| CN114700973A (en) * | 2022-04-24 | 2022-07-05 | 应急管理部国家自然灾害防治研究院 | Climbing manipulator device for laying high-position slope wireless sensors |
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