CN108908375A - A kind of adjustable eddy effusion climbing level robot - Google Patents
A kind of adjustable eddy effusion climbing level robot Download PDFInfo
- Publication number
- CN108908375A CN108908375A CN201811125634.4A CN201811125634A CN108908375A CN 108908375 A CN108908375 A CN 108908375A CN 201811125634 A CN201811125634 A CN 201811125634A CN 108908375 A CN108908375 A CN 108908375A
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- China
- Prior art keywords
- nozzle
- block
- containment structures
- clamping
- motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
A kind of adjustable eddy effusion climbing level robot, including piston rod, cylinder barrel, upper cleaning structure, lower cleaning structure, trapezoidal slide block, containment structures, carrier base, water filling port, clamping structure, clamping cylinder, clamping bar, multi-section type clamping jaw, pivot node, bracket, motor, motor output shaft, purge block, link block, nozzle, nozzle motor shaft, annular channel, nozzle motor, nozzle turnover panel, helical flow path, pinion gear, clamping structure；The lower cleaning structure includes purge block, link block, nozzle, the nozzle is disposed radially inwardly, purge block is fixed in containment structures, the access inside access connection containment structures inside link block, and the access inside link block is in be obliquely installed from top to bottom and connect the annular channel.
Description
Technical field
The present invention relates to climbing level robot related fieldss, and in particular to a kind of adjustable eddy effusion climbing level robot.
Background technique
With the development of science and technology and expanding economy, skyscraper, electric pole, column are more and more, when maintenance,
Worker needs to climb electric pole with safeguarding to electric pole upper end, then needs to climb by pole-climbing tool, original climbing side
Formula is that pole-climbing shoe cover is put on worker's foot, and mobile another foot moves up and down when being supported by a straight feet, is inconvenient
And heaviness.
Have devised climbing level robot in the prior art to replace worker, but due to backward in technique, however it remains more to ask
Topic.In actual use, existing climbing level robot has the following problems：1, the climbing level robot of the prior art can carry out cleaning work
Industry, but additional increase container receiving cleaning solution or water, additional container is needed not only to be adapted to the ruler of robot when cleaning
It is very little, make it difficult to accommodate more liquid, while also will cause the imbalance of weight.
Even if 2, the climbing level robot of the prior art does not consider the problems of water, it is directly connected to cleaning part using water pipe,
But heavy caliber water pipe cannot be used, in order to avoid cause additional weight；Therefore bring consequence is exactly not have enough power when cleaning injection
The water flow of degree.
3, the cleaning nozzle of the prior art, structure is single, and flow path therein is unchanged, and water flow can not scatter and
Concentrate jet stream.
4, often there is the thickness difference of bar and the position bumps clamped not in the climbing level robot clamping device of the prior art
Flat situation, in these cases, usually select different model robot, increase economic cost, waste the time at
This.
5, the cleaning structure of the prior art, position are fixed, and can only clean different location by mobile robot, using multiple
It is miscellaneous, operating difficulties.
6, prior art cleaning structure, fluid path are right angles in turning, will cause energy loss.
Summary of the invention
In order to overcome the above problem, the present invention proposes while solving the scheme of above-mentioned various problems.
The technical solution adopted by the present invention to solve the technical problems is：A kind of adjustable eddy effusion climbing level robot,
Including piston rod, cylinder barrel, upper cleaning structure, lower cleaning structure, trapezoidal slide block, containment structures, carrier base, water filling port, clamp knot
Structure, clamping cylinder, clamping bar, multi-section type clamping jaw, pivot node, bracket, motor, motor output shaft, purge block, link block, nozzle,
Nozzle motor shaft, annular channel, nozzle motor, nozzle turnover panel, helical flow path, pinion gear, clamping structure；Between two carrier bases
Cylinder barrel and piston rod are connected, is moved up and down by the flexible realization of cylinder barrel and piston rod, the carrier base lower part of top and lower section
Carrier base top connects clamping structure, and the carrier base top of top and the carrier base lower part of lower section connect containment structures, upper cleaning
The superposed containment structures top of structure, lower cleaning structure are located at the containment structures lower part of lower part；The containment structures and branch
Stand is annular, and the annular is intermediate to be equipped with clamping structure, and trapezoidal slide block, the setting of carrier base side is arranged in containment structures side
Trapezoidal groove, trapezoidal slide block with containment structures rotation, can the rotational slide in trapezoidal groove, on carrier base by bracket to
Outer extension is connected with motor, and motor output end connects motor output shaft one end, and the motor output shaft other end connects pinion gear, small tooth
The tooth of wheel connection containment structures outer rim, so that containment structures be driven to rotate；The lower cleaning structure include purge block, link block,
Nozzle, the nozzle are disposed radially inwardly, and purge block is fixed in containment structures, and the access inside link block connects containment structures
Internal access, access inside link block is in being obliquely installed from top to bottom and connect the annular channel, link block lower flat
Face is clinoplain, and annular channel is arranged in purge block, and annular channel end connects the helical flow path of nozzle interior, purge block
Interior to be equipped with nozzle motor, nozzle motor drives nozzle rotation by nozzle described in nozzle motor axis connection, and the helical flow path is set
There are three or three or more, helical flow path end crosses jetting nozzle together, is articulated with nozzle turnover panel on the outside of nozzle, nozzle turns over
The flip angle of plate is adjustable, to adjust the spray angle of injection water；The clamping structure includes clamping cylinder, clamping bar, is led to
The flexible realization horizontal movement of clamping cylinder, clamping bar is crossed, clamping bar one end is equipped with multi-section type clamping jaw, and multi-section type clamping jaw includes six sections
Or six is more than section, is connected and fixed between two adjacent sections by pivoting node, so that the relative angle between two adjacent sections can adjust.
Preferably, the multi-section type clamping jaw inner wall is equipped with liner.
Preferably, the upper cleaning structure also includes purge block, link block, nozzle.
Preferably, the trapezoidal slide block replaces with T-shaped block.
Preferably, the nozzle turnover panel is four pieces.
Preferably, control valve is set between the upper and lower cleaning structure and corresponding containment structures.
Preferably, the link block minimum point and purge block minimum point be not in same level.
Preferably, purge block is bolted in containment structures.
Preferably, the piston rod, cylinder barrel form cylinder, and the number of cylinders is two.
Preferably, a half space of the containment structures is used to water storage.
The beneficial effects of the invention are as follows：1, be directed to the 1st point of background technique, by water storage container cleverly with the main body of robot
Structure, i.e. main body rack link together, and water storage container is arranged to a part of bracket, increase water storage so as to avoid additional
Weight caused by container or water storage container is uneven.
2, it is directed to the 2nd point of background technique, framework vortex injector drives nozzle rotation to generate centrifugal force by motor,
By the separation of fluid path and converge and spiral path generates vortex, so that obtaining clean-up performance preferably sprays water flow.
3, the 3rd point proposed for background technique, the nozzle turnover panel outside framework nozzle, is obtained by adjusting the angle of turnover panel
Obtain discrete water flow (large area injection is used) or concentrated flow (strength cleaning use).
4, the 4th point proposed for background technique, has used multi-section type clamping jaw, clamping jaw it is each save between adjustable angle, from
And the gripping angle of adjustable clamping jaw.
5, it is directed to the 5th point of background technique, uses annular water storage cavity, the annular water storage cavity can be in the manipulation backspin of motor
Turn any angle, to drive wiper mechanism rotation thereon, completes the jet cleaning of different angle.
6, it is directed to the 6th point of background technique, nozzle is designed using water conservancy diversion ramp type, saves energy loss.
Note：Above-mentioned design in no particular order, each all make the present invention compared with the prior art have difference and significantly into
Step.
Detailed description of the invention
Fig. 1 is overall schematic of the present invention.
Fig. 2 is cleaning structure schematic diagram under the present invention.
Fig. 3 is clamping structure schematic diagram of the present invention.
Fig. 4 is rotating-spray structural schematic diagram of the present invention.
In figure, appended drawing reference is as follows：1, piston rod 2, cylinder barrel 3, upper cleaning structure 4, lower cleaning structure 5, trapezoidal slide block 6,
Containment structures 7, water filling port 9, clamping structure 10, clamping cylinder 11, clamping bar 12, multi-section type clamping jaw 13, pivot node at carrier base 8
14, bracket 15, motor 16, motor output shaft 17, purge block 18, link block 19, nozzle 20, nozzle motor shaft 21, annular channel
22, nozzle motor 23, nozzle turnover panel 24, helical flow path 25, pinion gear 26, clamping structure.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
As shown in the figure：A kind of adjustable eddy effusion climbing level robot, including it is piston rod, cylinder barrel, upper cleaning structure, lower clear
It washes structure, trapezoidal slide block, containment structures, carrier base, water filling port, clamping structure, clamping cylinder, clamping bar, multi-section type clamping jaw, pivot
Node, bracket, motor, motor output shaft, purge block, link block, nozzle, nozzle motor shaft, annular channel, nozzle motor, spray
Mouth turnover panel, helical flow path, pinion gear, clamping structure；Cylinder barrel and piston rod are connected between two carrier bases, pass through cylinder barrel and piston
The flexible realization of bar moves up and down, and the carrier base lower part of top and the carrier base top of lower section connect clamping structure, the branch of top
The carrier base lower part of stand top and lower section connects containment structures, and upper cleaning structure bit is lower clear in the containment structures top on top
Clean structure is located at the containment structures lower part of lower part.
As shown in the figure：The containment structures and carrier base are annular, and the annular is intermediate to be equipped with clamping structure, water storage knot
Trapezoidal slide block is arranged in structure side, and trapezoidal groove is arranged in carrier base side, and trapezoidal slide block, can be trapezoidal with the rotation of containment structures
Rotational slide in groove is extended outwardly on carrier base by bracket and is connected with motor, and motor output end connects motor output shaft one
End, the motor output shaft other end connect pinion gear, and pinion gear connects the tooth of containment structures outer rim, so that containment structures be driven to revolve
Turn；The lower cleaning structure includes purge block, link block, nozzle, and the nozzle is disposed radially inwardly, and purge block is fixed on water storage
In structure, the access inside link block connects the access inside containment structures, and the access inside link block is in tilt from top to bottom
It is arranged and connects the annular channel, link block lower flat is clinoplain, and annular channel is arranged in purge block, annular flow
Road end connects the helical flow path of nozzle interior, and nozzle motor is equipped in purge block, and nozzle motor passes through nozzle motor axis connection
The nozzle drives nozzle rotation, and the helical flow path is equipped with three or three or more, and helical flow path end crosses and sprays together
Delivery nozzle, nozzle outside are articulated with nozzle turnover panel, and the flip angle of nozzle turnover panel is adjustable, to adjust the jet angle of injection water
Degree；As shown in the figure：The clamping structure includes clamping cylinder, clamping bar, is transported by the flexible realization level of clamping cylinder, clamping bar
Dynamic, clamping bar one end is equipped with multi-section type clamping jaw, and multi-section type clamping jaw includes six sections or six sections or more, passes through pivot between two adjacent sections
Node is connected and fixed, so that the relative angle between two adjacent sections can adjust.
The multi-section type clamping jaw inner wall is equipped with liner.
The upper cleaning structure also includes purge block, link block, nozzle.
The trapezoidal slide block replaces with T-shaped block.
The nozzle turnover panel is four pieces.
Control valve is set between the upper and lower cleaning structure and corresponding containment structures.
The link block minimum point and purge block minimum point be not in same level；Purge block is bolted on storage
On water-bound.
The piston rod, cylinder barrel form cylinder, and the number of cylinders is two.
One half space of the containment structures is used to water storage.
Above-listed detailed description is illustrating for possible embodiments of the present invention, and the embodiment is not to limit this hair
Bright the scope of the patents, all equivalence enforcements or change without departing from carried out by the present invention, is intended to be limited solely by the scope of the patents of this case.
Claims (10)
1. a kind of adjustable eddy effusion climbing level robot, including it is piston rod, cylinder barrel, upper cleaning structure, lower cleaning structure, trapezoidal
Sliding block, containment structures, carrier base, water filling port, clamping structure, bracket, motor, motor output shaft, purge block, link block, nozzle,
Nozzle motor shaft, annular channel, nozzle motor, nozzle turnover panel, helical flow path, pinion gear, clamping structure；It is characterized in that：Two
Cylinder barrel and piston rod are connected between a carrier base, are moved up and down by the flexible realization of cylinder barrel and piston rod, the carrier base of top
The carrier base top of lower part and lower section connects clamping structure, and the carrier base top of top and the carrier base lower part of lower section connect water storage
Structure, for upper cleaning structure bit in the containment structures top on top, lower cleaning structure is located at the containment structures lower part of lower part；The storage
Water-bound and carrier base are annular, and the annular is intermediate to be equipped with clamping structure, and trapezoidal slide block, bracket is arranged in containment structures side
Seat side is arranged trapezoidal groove, trapezoidal slide block with containment structures rotation, can the rotational slide in trapezoidal groove, on carrier base
Extended outwardly by bracket and be connected with motor, motor output end connects motor output shaft one end, the connection of the motor output shaft other end
Pinion gear, pinion gear connects the tooth of containment structures outer rim, so that containment structures be driven to rotate；The lower cleaning structure includes cleaning
The spout of block, link block, nozzle, the nozzle is disposed radially inwardly, and purge block is fixed in containment structures, inside link block
Access connects the access inside containment structures, and the access inside link block is in be obliquely installed from top to bottom and connect the annular flow
Road, link block lower flat are clinoplain, and annular channel is arranged in purge block, and annular channel end connects nozzle interior
Helical flow path, purge block is interior to be equipped with nozzle motor, and nozzle motor drives nozzle rotation by nozzle described in nozzle motor axis connection
Turn, the helical flow path is equipped with three or three or more, and helical flow path end crosses jetting nozzle together, pivot joint on the outside of nozzle
There is nozzle turnover panel, the flip angle of nozzle turnover panel is adjustable, to adjust the spray angle of injection water；The clamping structure includes
Clamping cylinder, clamping bar, by the flexible realization horizontal movement of clamping cylinder, clamping bar, clamping bar one end is equipped with multi-section type clamping jaw, more
Section formula clamping jaw includes six sections or six sections or more, is connected and fixed between two adjacent sections by pivoting node, thus between two adjacent sections
Relative angle can adjust.
2. a kind of adjustable eddy effusion climbing level robot according to claim 1, it is characterised in that：The multi-section type folder
Pawl inner wall is equipped with liner.
3. a kind of adjustable eddy effusion climbing level robot according to claim 1, it is characterised in that：The upper cleaning knot
Structure also includes purge block, link block, nozzle.
4. a kind of adjustable eddy effusion climbing level robot according to claim 1, it is characterised in that：The trapezoidal slide block
Replace with T-shaped block.
5. a kind of adjustable eddy effusion climbing level robot according to claim 1, it is characterised in that：The nozzle turnover panel
It is four pieces.
6. a kind of adjustable eddy effusion climbing level robot according to claim 1, it is characterised in that：It is described upper and lower clear
It washes between structure and corresponding containment structures and is respectively provided with control valve.
7. a kind of adjustable eddy effusion climbing level robot according to claim 1, it is characterised in that：The link block is most
Low spot and purge block minimum point be not in same level.
8. a kind of adjustable eddy effusion climbing level robot according to claim 1, it is characterised in that：Purge block passes through spiral shell
Bolt is fixed in containment structures.
9. a kind of adjustable eddy effusion climbing level robot according to claim 1, it is characterised in that：The piston rod,
Cylinder barrel forms cylinder, and the number of cylinders is two.
10. a kind of adjustable eddy effusion climbing level robot according to claim 1, it is characterised in that：The water storage knot
One half space of structure is used to water storage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811125634.4A CN108908375B (en) | 2018-09-26 | 2018-09-26 | Adjustable vortex jet pole-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811125634.4A CN108908375B (en) | 2018-09-26 | 2018-09-26 | Adjustable vortex jet pole-climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108908375A true CN108908375A (en) | 2018-11-30 |
| CN108908375B CN108908375B (en) | 2023-05-23 |
Family
ID=64409230
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811125634.4A Active CN108908375B (en) | 2018-09-26 | 2018-09-26 | Adjustable vortex jet pole-climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108908375B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201736227U (en) * | 2010-04-16 | 2011-02-09 | 洛阳理工学院 | Creeping rope-climbing and pole-climbing robot |
| JP2012081425A (en) * | 2010-10-13 | 2012-04-26 | Takehiro Yamanashi | Nozzle unit |
| CN105730540A (en) * | 2016-02-05 | 2016-07-06 | 国家电网公司 | Transformer substation patrol and inspection robot with rod climbing function and drive method for transformer substation patrol and inspection robot |
| CN206393631U (en) * | 2016-11-08 | 2017-08-11 | 天津职业技术师范大学 | A kind of hydraulic pressure climbing level robot |
-
2018
- 2018-09-26 CN CN201811125634.4A patent/CN108908375B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201736227U (en) * | 2010-04-16 | 2011-02-09 | 洛阳理工学院 | Creeping rope-climbing and pole-climbing robot |
| JP2012081425A (en) * | 2010-10-13 | 2012-04-26 | Takehiro Yamanashi | Nozzle unit |
| CN105730540A (en) * | 2016-02-05 | 2016-07-06 | 国家电网公司 | Transformer substation patrol and inspection robot with rod climbing function and drive method for transformer substation patrol and inspection robot |
| CN206393631U (en) * | 2016-11-08 | 2017-08-11 | 天津职业技术师范大学 | A kind of hydraulic pressure climbing level robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108908375B (en) | 2023-05-23 |
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