CN109625112B - Pole-climbing robot - Google Patents
Pole-climbing robot Download PDFInfo
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- CN109625112B CN109625112B CN201811428981.4A CN201811428981A CN109625112B CN 109625112 B CN109625112 B CN 109625112B CN 201811428981 A CN201811428981 A CN 201811428981A CN 109625112 B CN109625112 B CN 109625112B
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- climbing
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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
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Abstract
Disclosed is a pole-climbing robot, including: the climbing wheel sets are connected with the support, the support circumferentially surrounds the climbing rod, and the climbing wheel sets are distributed on the support at intervals; the support is a telescopic structure and can adapt to climbed poles with different diameters; the climbing wheel in the climbing wheel group is contacted with the surface of the pole to be climbed, the axis of the climbing wheel is vertical to the axial direction of the pole to be climbed, and the climbing wheel group can roll or stop rolling along the axial direction of the pole to be climbed; at least one of a plurality of wheelsets of climbing climbs the wheelset for pressing from both sides tightly climbing the wheelset, presss from both sides tightly to climb the wheelset and is equipped with clamping device, and clamping device is used for making and climbs the wheelset along the radial operation by the pole climbing to the messenger climbs the wheelset and is fixed on by the pole climbing with the surface locking by the pole climbing and make pole climbing robot. According to the invention, by controlling the mechanism action changing along with the diameter of the cylinder to be separated from the clamping climbing wheel action, the elongation of the clamping device of the clamping climbing wheel is reduced, the system rigidity and the response speed of the anti-skid clamping action are improved, and the working efficiency and the safety are improved.
Description
Technical Field
The invention relates to the field of special robots, in particular to a pole-climbing robot.
Background
As society progresses, more and more dangerous or worker-inaccessible maintenance tasks need to be completed by climbing the robot. Wherein pole climbing robot is an important branch in the climbing robot, the pole and some medium-sized diameter by the pole climbing of the piston rod of the cover hydraulic hoist in the hydropower station, the light pole of standing in the city.
The environments for detecting the climbed rods are severe and heavy, and the manual climbing operation is low in efficiency and often difficult or even dangerous.
Disclosure of Invention
The invention aims to provide a pole-climbing robot, which realizes intelligent operation through the robot and replaces manual operation, so that workers are released from dangerous, severe and heavy working environments, the working efficiency is improved, and unsafe factors in the climbing process of the workers are avoided.
In order to achieve the above object, the present invention provides a pole-climbing robot, comprising: the climbing wheel sets are connected with the support, the support circumferentially surrounds the climbed rod, and the climbing wheel sets are distributed on the support at intervals;
the support is a telescopic structure and can adapt to climbed poles with different diameters;
the climbing wheel in the climbing wheel group is in contact with the surface of the pole to be climbed, the axis of the climbing wheel is vertical to the axial direction of the pole to be climbed, and the climbing wheel group can roll or stop rolling along the axial direction of the pole to be climbed;
it is a plurality of climb at least one in the wheelset and climb the wheelset for pressing from both sides tightly climbing the wheelset, it is equipped with clamping device to press from both sides tightly climbing the wheelset, clamping device is used for making it follows the radial operation by the pole climbing to climb the wheelset, thereby makes it fixes on by the pole climbing with the surface locking by the pole climbing and make the pole climbing robot.
Preferably, the support is a triangular frame, three connecting plates are respectively arranged at three vertexes of the triangular frame, and three sides of the triangular frame are telescopic loop bars.
Preferably, the telescopic loop bar on one of the three sides of the triangular frame is an openable loop bar, one end of the openable loop bar is hinged to the support, and a locking switch is arranged at the joint of the other end of the openable loop bar and the support.
Preferably, one of the three connecting plates is connected with the clamping climbing wheel set, and the other two connecting plates are respectively connected with the two climbing wheel sets.
Preferably, the connecting plate connected with the clamping wheel climbing group is provided with a guide rail hole, a screw hole and a transmission gear, and the transmission gear is arranged in the connecting plate.
Preferably, clamping device includes lead screw and guide rail, the lead screw passes the lead screw hole can the downthehole axial motion of following of lead screw, the guide rail passes the guide rail hole can the downthehole axial slip of following of guide rail, the one end of guide rail with press from both sides tight creeping wheel group and connect, the one end of lead screw with press from both sides tight creeping wheel group and connect.
Preferably, the clamping device further comprises a screw driving motor, a motor shaft of the screw driving motor is provided with a driving gear, the driving gear is meshed with the transmission gear, and the transmission gear is matched with the screw.
Preferably, each wheel climbing group comprises at least one wheel climbing driving motor and a plurality of wheel climbing groups, a motor shaft of the wheel climbing driving motor is connected with a wheel shaft of the wheel climbing group through a gear set, and the wheel climbing driving motor drives the plurality of wheel climbing groups to rotate along the same direction and at the same speed through the gear set.
Preferably, a plurality of in the climbing wheel group climb the wheel and set up side by side parallel, the surface of climbing the wheel is the convex circular arc of indent.
Preferably, the locking device further comprises a control unit, wherein the control unit is electrically connected with the climbing wheel driving motor and the lead screw driving motor and is used for controlling the plurality of climbing wheel sets to synchronously work and controlling the locking device to work.
The invention has the beneficial effects that: according to the invention, the mechanism action changing along with the diameter of the cylinder is separated from the action of the clamping climbing wheel, so that the radial movement distance of the clamping climbing wheel is reduced, the system rigidity is improved, the response speed of the anti-skid clamping action is improved, and the robot replaces manual operation, so that workers are released from dangerous, severe and heavy working environments, the working efficiency is improved, and unsafe factors in the climbing process of the workers are avoided.
The apparatus of the present invention has other features and advantages which will be apparent from or are set forth in detail in the accompanying drawings and the following detailed description, which are incorporated herein, and which together serve to explain certain principles of the invention.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings, wherein like reference numerals generally represent like parts in exemplary embodiments of the present invention.
Fig. 1 shows a schematic structural diagram of a pole-climbing robot according to an embodiment of the present invention.
Fig. 2 shows a detailed schematic view of a pole-climbing robot according to an embodiment of the present invention.
Fig. 3 shows a schematic diagram of an openable and closable sleeve of a pole-climbing robot according to an embodiment of the present invention.
Description of reference numerals:
1. the device comprises a support, 2 and a climbing wheel set; 3. clamping the climbing wheel set; 4. a telescopic loop bar; 5. a connecting plate; 6. climbing wheels; 7. a climbing wheel driving motor; 8. a guide rail; 9. a lead screw; 10. a lead screw drive motor; 11. the loop bar can be opened and closed; 12. and (5) locking the switch.
Detailed Description
The invention will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
The present invention provides a pole-climbing robot comprising: the climbing wheel sets are connected with the support, the support circumferentially surrounds the climbing rod, and the climbing wheel sets are distributed on the support at intervals;
the support is a telescopic structure and can adapt to climbed poles with different diameters;
the climbing wheel in the climbing wheel group is contacted with the surface of the pole to be climbed, the axis of the climbing wheel is vertical to the axial direction of the pole to be climbed, and the climbing wheel group can roll or stop rolling along the axial direction of the pole to be climbed;
at least one of a plurality of wheelsets of climbing climbs the wheelset for pressing from both sides tightly climbing the wheelset, presss from both sides tightly to climb the wheelset and is equipped with clamping device, and clamping device is used for making and climbs the wheelset along the radial operation by the pole climbing to the messenger climbs the wheelset and is fixed on by the pole climbing with the surface locking by the pole climbing and make pole climbing robot.
Specifically, a plurality of wheel groups of climbing evenly distributed and surround on telescopic bracket by the pole-climbing, climb the wheel group and can with by the surface contact of pole-climbing and along by the axial roll of pole-climbing, press from both sides tight and climb the wheel group and can radially move to can make the robot stop in the optional position by the pole-climbing, realized the control along with the mechanism action of cylinder diameter change with press from both sides the action separation that presss from both sides tight wheel group, improve system rigidity and promote the response speed that antiskid presss from both sides tight action.
In one example, the support is a triangular frame, three connecting plates are respectively arranged at three vertexes of the triangular frame, and three sides of the triangular frame are telescopic loop bars.
Particularly, adopt the stability that the triangle-shaped frame can effectively guarantee mechanical strength and structure, the telescopic link can be through flexible regulation adaptation different diameters by the pole of climbing, has realized the scalability of triangle-shaped frame, has the ability of adaptation different by the pole of climbing.
In one example, the telescopic loop bar on one of the three sides of the triangular frame is an openable loop bar, one end of the openable loop bar is hinged with the support, and a locking switch is arranged at the joint of the other end of the openable loop bar and the support.
Specifically, be equipped with hinge and locking switch on the telescopic link on one side, open the locking switch cover on by the pole-climbing, adjust the pole-climbing messenger who adapts to different diameters through the telescopic link and climb the wheelset and by pole-climbing surface contact then close locking switch and can climb.
In one example, one of the three connecting plates is connected with the clamping climbing wheel set, and the other two connecting plates are respectively connected with the two climbing wheel sets.
Specifically, three summits in the triangle-shaped support set up one respectively and press from both sides tightly climb the wheelset and climb the wheelset two, use one to press from both sides tightly to climb the wheelset and can realize the clamping action of robot promptly, owing to use the triangle-shaped structure to make to press from both sides tightly to climb the wheelset and can climb simultaneously, realized that the multiunit is climbed the wheel to the heart action synchronous, avoid climbing resistance increase that leads to by not being in the coplanar multiunit climbing wheel to the heart deviation.
In one example, a connecting plate connected with the clamping climbing wheel set is provided with a guide rail hole, a screw hole and a transmission gear, and the transmission gear is arranged inside the connecting plate.
In one example, the clamping device comprises a lead screw and a guide rail, the lead screw penetrates through a lead screw hole and can move in the lead screw hole along the axial direction, the guide rail penetrates through a guide rail hole and can slide in the guide rail hole along the axial direction, one end of the guide rail is connected with the clamping climbing wheel set, and one end of the lead screw is connected with the clamping climbing wheel set.
In one example, the clamping device further comprises a lead screw driving motor, a motor shaft of the lead screw driving motor is provided with a driving gear, the driving gear is meshed with a transmission gear, and the transmission gear is matched with the lead screw.
Specifically, clamping device through the guide rail with press from both sides tight crawl wheel group fixed connection and through motor drive lead screw rotation and then drive the guide rail with press from both sides tight crawl the wheelset to by the surface motion of pole, owing to press from both sides tight crawl wheelset and climb the wheelset triangle-shaped and arrange, can drive the tight action of clamp of all crawl wheelsets to the pole of being climbed.
In one example, each climbing wheel group comprises at least one climbing wheel driving motor and a plurality of climbing wheels, a motor shaft of each climbing wheel driving motor is connected with a wheel shaft of each climbing wheel through a gear set, and each climbing wheel driving motor drives the plurality of climbing wheels to rotate in the same direction at the same speed through the gear set.
In one example, a plurality of climbing wheels in the climbing wheel group are arranged in parallel side by side, and the surfaces of the climbing wheels are in an inwards concave arc shape.
Specifically, climb a plurality of wheels of climbing of wheel motor drive and move together, climb the cambered surface design that the contact surface of wheel and cylinder adopted the indent, increase the area of contact of wheel and cylinder, make the contact surface of climbing wheel and cylinder become the face contact by the dotted line contact to do not destroy the climbing surface.
In one example, the locking device further comprises a control unit, wherein the control unit is electrically connected with the climbing wheel driving motor and the lead screw driving motor and is used for controlling the plurality of climbing wheel sets to synchronously work and controlling the locking device to work.
Specifically, all climb wheel driving motors synchronous working through the control unit, when climbing to the assigned position, control and climb a wheelset and press from both sides tight wheel group and stop moving to start clamping device presss from both sides tightly and ensures that the robot can fix in this position.
Example (b):
fig. 1 shows a schematic structural diagram of a pole-climbing robot according to an embodiment of the present invention.
Fig. 2 shows a detailed schematic view of a pole-climbing robot according to an embodiment of the present invention. Fig. 3 shows a schematic diagram of an openable and closable sleeve of a pole-climbing robot according to an embodiment of the present invention.
As shown in fig. 1 to 3, a pole-climbing robot according to the present invention includes: the climbing device comprises a triangular support 1, two climbing wheel sets 2 and a clamping climbing wheel set 3, wherein the climbing wheel sets 2 and the clamping climbing wheel sets 3 are respectively arranged at three vertexes of the triangular support 1 and are fixedly connected with the triangular support through three connecting plates 5, and the triangular support 1 circumferentially surrounds a climbing pole; the triangular support 1 is a telescopic structure and can adapt to climbed poles with different diameters; the climbing wheel group 2 and the clamping climbing wheel group 3 are in contact with the surface of a climbed rod, the axis of the climbing wheel 6 is vertical to the axial direction of the climbed rod, and the climbing wheel group 2 and the clamping climbing wheel group 3 can roll or stop rolling along the axial direction of the climbed rod; the clamping climbing wheel set 3 is provided with a clamping device, the clamping device is used for enabling the clamping climbing wheel set 3 to run along the radial direction of a climbing pole, so that two climbing wheel sets 2 and the clamping climbing wheel set 3 are locked with the surface of the climbing pole and a climbing pole robot is fixed on the climbing pole, the triangular support 1 is a triangular frame, three sides of the triangular frame are telescopic loop bars 4, the telescopic loop bar 4 on one side of the triangular frame is an openable loop bar 11, one end of the openable loop bar 11 is hinged with the triangular support 1, the joint of the other end of the openable loop bar 11 and the triangular support 1 is provided with a locking switch 12, one of the three connecting plates 5 is connected with the clamping climbing wheel set 3, the other two connecting plates 5 are respectively connected with the two climbing wheel sets 2, the connecting plate 5 connected with the clamping climbing wheel set 3 is provided with a guide rail hole, a screw rod hole and a transmission gear (not shown), the transmission gear is arranged inside the connecting plate 5, the clamping device comprises a screw rod 9 and a guide rail 8, lead screw 9 passes the lead screw hole and can follow axial motion in the lead screw hole, and guide rail 8 passes the guide rail hole and can follow the axial slip in guide rail 8 is downthehole, and guide rail 8's one end is connected with pressing from both sides tight wheelset 3, and lead screw 9's one end is connected with pressing from both sides tight wheelset 3. The clamping device further comprises a screw driving motor 10, a motor shaft of the screw driving motor 10 is provided with a driving gear (not shown), the driving gear is meshed with a transmission gear, and the transmission gear is matched with the screw 9. Every climbs wheelset 2 and presss from both sides tight wheelset 3 and all includes one and climbs wheel driving motor 7 and two and climbs wheel 6, the motor shaft of climbing wheel driving motor 7 passes through the gear train (not shown) with the shaft of climbing wheel 6 and connects, the gear train is including being fixed in the driving gear of climbing wheel driving motor axle head and being fixed in two the same driven gears of two climbing wheel axle one ends respectively, two driven meshes with the driving gear respectively, climb wheel driving motor 7 and drive two through the gear train and climb wheel 6 along the equidirectional, the same speed rotates, climb two and climb wheel 6 parallel arrangement side by side in the wheelset, the surface of climbing wheel 6 is the arc of indent. The device further comprises a control unit (not shown), wherein the control unit is electrically connected with the climbing wheel driving motor 7 and the screw rod driving motor 10 and is used for controlling the two climbing wheel sets 2 and the clamping climbing wheel set 3 to synchronously work and controlling the locking device to work.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.
Claims (5)
1. A pole-climbing robot, comprising: the climbing wheel sets are connected with the support, the support circumferentially surrounds the climbed rod, and the climbing wheel sets are distributed on the support at intervals;
the support is a telescopic structure and can adapt to climbed poles with different diameters;
the climbing wheel in the climbing wheel group is in contact with the surface of the pole to be climbed, the axis of the climbing wheel is vertical to the axial direction of the pole to be climbed, and the climbing wheel group can roll or stop rolling along the axial direction of the pole to be climbed;
at least one climbing wheel group in the climbing wheel groups is a clamping climbing wheel group, the clamping climbing wheel group is provided with a clamping device, and the clamping device is used for enabling the climbing wheel group to run along the radial direction of a climbed pole, so that the climbing wheel group is locked with the surface of the climbed pole, and the climbing robot is fixed on the climbed pole;
the support is a double-layer frame structure consisting of two triangular frames, three vertexes of the two triangular frames are connected through a connecting plate respectively, and three edges of each triangular frame are telescopic loop bars;
one of the three connecting plates is connected with the clamping climbing wheel set, and the other two connecting plates are respectively connected with the two climbing wheel sets;
the connecting plate connected with the clamping climbing wheel set is provided with a guide rail hole, a screw rod hole and a transmission gear, and the transmission gear is arranged in the connecting plate;
the clamping device comprises a lead screw and a guide rail, the lead screw penetrates through the lead screw hole and can move in the lead screw hole along the axial direction, the guide rail penetrates through the guide rail hole and can slide in the guide rail hole along the axial direction, one end of the guide rail is connected with the clamping climbing wheel set, and one end of the lead screw is connected with the clamping climbing wheel set;
the clamping device further comprises a lead screw driving motor, a motor shaft of the lead screw driving motor is provided with a driving gear, the driving gear is meshed with the transmission gear, and the transmission gear is matched with the lead screw.
2. The climbing robot as claimed in claim 1, wherein the telescopic rods on one of the three sides of the triangular frame are openable rods, one end of each openable rod is hinged to the support, and a locking switch is arranged at the joint of the other end of each openable rod and the support.
3. The climbing pole robot as claimed in claim 1, wherein each climbing wheel set includes at least one climbing wheel driving motor and a plurality of climbing wheels, a motor shaft of the climbing wheel driving motor and a wheel shaft of the climbing wheels are connected through a gear set, and the climbing wheel driving motor drives the plurality of climbing wheels to rotate in the same direction and at the same speed through the gear set.
4. The pole-climbing robot of claim 3, wherein the climbing wheels in the climbing wheel group are arranged in parallel side by side, and the surfaces of the climbing wheels are in the shape of an inwards concave arc.
5. The climbing robot according to claim 4, further comprising a control unit electrically connected to the climbing wheel driving motor and the lead screw driving motor for controlling the plurality of climbing wheel sets to operate synchronously and controlling the clamping device to operate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811428981.4A CN109625112B (en) | 2018-11-27 | 2018-11-27 | Pole-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811428981.4A CN109625112B (en) | 2018-11-27 | 2018-11-27 | Pole-climbing robot |
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| Publication Number | Publication Date |
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| CN109625112A CN109625112A (en) | 2019-04-16 |
| CN109625112B true CN109625112B (en) | 2021-12-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811428981.4A Active CN109625112B (en) | 2018-11-27 | 2018-11-27 | Pole-climbing robot |
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| CN110205930A (en) * | 2019-06-13 | 2019-09-06 | 广东承信公路工程检验有限公司 | Novel bridge cable intelligent measurement robot |
| CN110371207A (en) * | 2019-06-24 | 2019-10-25 | 北京木业邦科技有限公司 | A kind of equally distributed robot capable of climbing trees of wheel group and its control method |
| CN110254545A (en) * | 2019-06-25 | 2019-09-20 | 北京史河科技有限公司 | A kind of climbing robot |
| CN110239641B (en) * | 2019-06-27 | 2024-04-02 | 安徽理工大学 | Stepping pole-climbing robot |
| CN112429107A (en) * | 2019-08-26 | 2021-03-02 | 临颍县爬杆机器人有限公司 | Pole-climbing robot |
| CN112429106A (en) * | 2019-08-26 | 2021-03-02 | 临颍县爬杆机器人有限公司 | Magnetic-assisted pole-climbing robot |
| CN112429108A (en) * | 2019-08-26 | 2021-03-02 | 临颍县爬杆机器人有限公司 | Magnetic power-assisted pole-climbing robot |
| CN112524401B (en) * | 2019-08-29 | 2024-04-30 | 临颍县爬杆机器人有限公司 | Tightening type carrying platform |
| CN112388645A (en) * | 2020-10-13 | 2021-02-23 | 上海海事大学 | Telescopic self-adaptive infrared detection pole-climbing robot |
| CN113511280B (en) * | 2021-07-05 | 2022-11-29 | 中国矿业大学 | Steel wire rope climbing robot |
| CN116176724B (en) * | 2023-04-24 | 2023-08-25 | 江苏万防风电科技有限公司 | Pull arm type climbing robot for outer wall operation of large wind power tower |
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| WO2012069676A1 (en) * | 2010-11-23 | 2012-05-31 | Universidad De Oviedo | Robot platform for climbing posts |
| CN202574445U (en) * | 2012-02-23 | 2012-12-05 | 西华大学 | Robot capable of climbing poles with sections in various shapes |
| CN205652231U (en) * | 2016-04-01 | 2016-10-19 | 国家电网公司 | Automatic pole climbing device |
| CN207466819U (en) * | 2017-12-01 | 2018-06-08 | 三峡大学 | A kind of chain type cylinder climbing robot |
| CN207683650U (en) * | 2017-10-16 | 2018-08-03 | 孙喆人 | A kind of encircling type drag-line detection robot |
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|---|---|---|---|---|
| WO2012069676A1 (en) * | 2010-11-23 | 2012-05-31 | Universidad De Oviedo | Robot platform for climbing posts |
| CN202574445U (en) * | 2012-02-23 | 2012-12-05 | 西华大学 | Robot capable of climbing poles with sections in various shapes |
| CN205652231U (en) * | 2016-04-01 | 2016-10-19 | 国家电网公司 | Automatic pole climbing device |
| CN207683650U (en) * | 2017-10-16 | 2018-08-03 | 孙喆人 | A kind of encircling type drag-line detection robot |
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| CN109625112A (en) | 2019-04-16 |
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