CN109748210B - Combined metal pipe pillar high-altitude robot - Google Patents
Combined metal pipe pillar high-altitude robot Download PDFInfo
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- CN109748210B CN109748210B CN201711067168.4A CN201711067168A CN109748210B CN 109748210 B CN109748210 B CN 109748210B CN 201711067168 A CN201711067168 A CN 201711067168A CN 109748210 B CN109748210 B CN 109748210B
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- metal pipe
- altitude
- altitude robot
- robot
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- 239000002184 metal Substances 0.000 title claims abstract description 62
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 30
- 230000000630 rising effect Effects 0.000 claims description 2
- 230000009194 climbing Effects 0.000 abstract description 5
- 238000004804 winding Methods 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 abstract 1
- 239000000463 material Substances 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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Abstract
The invention provides a combined metal pipe pillar high-altitude robot which does not need to be attached to a building in a climbing manner, a high-altitude robot platform can be independently lifted and can move forwards and leftwards and rightwards, the combined metal pipe pillar high-altitude robot can be used for high-altitude building rescue, high-altitude fire control, overhead road bottom maintenance and the like, and is characterized in that: make up tubular metal resonator pillar high altitude robot, 3 tubular metal resonator pillar high altitude robot, ann 120 degree circular array, the tubular metal resonator pillar is in the centre, 3 tubular metal resonator pillar tops are fixed on the robot platform, 3 sets of lifting rod go up and down simultaneously, reach the function that risees perpendicularly or descend, install on swing plate (5) winding roll (3), respectively have a universal plate (10) on 4 angles of swing plate (5), there is the harmonic speed reducer in every universal plate (10), there is ball in the harmonic speed reducer, there is universal joint (11) ball lower head, there is weight sensor (12) under universal joint (11), weight sensor (12) are fixed on bottom plate (13), the characteristics of this universal plate (10) and universal joint (11): can tilt within a certain angle range, and is suitable for the swinging plate (5) to swing forwards and leftwards and rightwards.
Description
Technical Field
The invention relates to a high-altitude operation robot, in particular to an important component part of the high-altitude operation robot: combined metal pipe pillar high altitude robot.
Background
Chinese patent No.: 201710588069.4 discloses a metal tube prop high-altitude robot, which is characterized in that: the invention discloses a high-altitude robot with a metal pipe strut, which has a simple structure, does not need a bearing steel cable winch and the like, and does not need vehicle-mounted equipment and an engine, belongs to a climbing type lower jacking mechanism, and is characterized in that: the elastic metal pipe (5) is thin in wall thickness, the axial direction of the elastic metal pipe is cut from head to bottom, the length of the elastic metal pipe is just the working height of a robot, one end of the elastic metal pipe (5) is fixed with the coil material roller (1) through unfolding, the elastic metal pipe is wound on the coil material roller (1), the other end of the elastic metal pipe is fixed on the high-altitude robot platform (6), when the high-altitude operation robot platform (6) ascends, the lifting roller (2) rotates clockwise, the lifting pressing roller (3) presses the elastic metal pipe (5), the elastic metal pipe (5) ascends, the inclination angle of the elastic metal pipe (5) and a building (9) is adjusted by the inclination adjusting roller (4), the high-altitude robot platform (6) ascends along with the inclination angle, and the high-altitude robot platform (6) has small ascending resistance and can ascend up and down freely due to the action of the passive walker (7. The patent metal pipe pillar high-altitude robot is a climbing type lower-roof mechanism, does not depend on buildings and cannot be lifted independently.
Disclosure of Invention
In order to solve the defects of the prior art, the invention provides a combined metal pipe support high-altitude robot which does not need to be attached to a building in a climbing manner, can be independently lifted to 50-200 m, has small self weight, has low power consumption between 80-300 kg, can be internally provided with a storage battery, can also be arranged on an automobile and is powered by the automobile.
In order to achieve the purpose, the invention is realized by the following technical scheme:
the invention relates to a combined metal pipe support high-altitude robot, which is characterized in that: the three metal pipe supports are arranged in a 120-degree circular array, are arranged in the middle of the swinging plate, the tops of the three metal pipe supports are fixed on the robot platform, and the 3 sets of lifting rods lift simultaneously to achieve the function of vertical lifting or descending.
Drawings
FIG. 1 is a top view of a combined metal tube support high-altitude robot;
FIG. 2 is a partial perspective view of a combined metal pipe support high-altitude robot;
FIG. 3 is a top view of a combined metal tube pillar high-altitude robot swing plate;
FIG. 4 is a front view of a combined metal tube pillar high-altitude robot swing plate;
FIG. 5 is an overall perspective view of the combined metal pipe pillar high-altitude robot.
The reference numerals in the drawings mean:
1. the device comprises a metal pipe support 2, a lifting roller 3, a take-up roller 4, an expansion line 5, a swinging plate 6, a high-altitude robot platform 7, a camera 8, a manipulator 9, a booster pump 10, a universal plate 11, a universal joint 12, a weight sensor 13, a bottom plate 141, a harmonic reducer rear left 142, a harmonic reducer rear right 143, a harmonic reducer front right 144, a harmonic reducer front left 151, a ball screw rear left 152, a ball screw rear right 153, a ball screw front right 154 and a ball screw front left.
Detailed Description
The invention is described in more detail below with reference to the accompanying drawings:
the combined metal pipe support high-altitude robot provided by the invention can be attached to a building without climbing, and a high-altitude robot platform (6) can be independently lifted and can move forwards and leftwards and rightwards.
The method is characterized in that; combining the metal pipe support; as shown in fig. 1, three metal pipe struts (1) are arranged in a 120-degree circular array, the metal pipe struts (1) are arranged in the middle of a swinging plate (5), the tops of the three metal pipe struts (1) are fixed on a robot platform (6), and lifting rollers (2) and take-up rollers (3) are also arranged in a 120-degree circular array, and fig. 1 also shows unfolding lines (4) of the metal pipe struts (1) and the lifting rollers (2).
Fig. 2 is a partial isometric view of a combination metal tube strut aerial robot, showing three metal tube struts (1) in a 120 degree circular array, with the aerial robot platform (6) not in place.
The lifting rods (2) are arranged below the metal pipe support (1), all the lifting rods (2) rise and fall simultaneously at the same speed, and the function of vertical rising or falling is achieved.
A winding roller (3) is arranged below the lifting roller (2), and the winding roller (3) is arranged on the swinging plate (5).
FIG. 3 is a schematic view; four corners on the swinging plate (5) are respectively provided with a universal plate (10), the four universal plates (10) are respectively provided with a harmonic reducer rear left side (141), a harmonic reducer rear right side (142), a harmonic reducer front right side (143) and a harmonic reducer front left side (144), the harmonic reducer rear left side (141) is internally provided with a ball screw rear left side (151), the harmonic reducer rear right side (142) is internally provided with a ball screw rear right side (152), the harmonic reducer front right side (143) is internally provided with a ball screw front right side (153), and the harmonic reducer front left side (144) is internally provided with a ball screw front left side (154).
FIG. 4 and FIG. 5; a bottom plate (13) is arranged below the swinging plate (5), and four corners of the swinging plate (5) are as follows: the ball screw rear left (151) other end has universal joint (11), the ball screw rear right (152) other end has universal joint (11), ball screw front right (153) other end has universal joint (11), ball screw front left (154) other end has universal joint (11), they all are installed downwards, there are weight sensor (12) below each universal joint (11), four weight sensor (12) are all fixed on bottom plate (13).
There are four universal plates (10) on this combined metal pipe pillar high altitude robot swinging plate (5), have harmonic reducer in every universal plate (10), have ball in the harmonic reducer, ball all is provided with universal joint (11) down, has weight sensor (12) under four universal joint (11), and weight sensor (12) are fixed on bottom plate (13), the characteristics of this universal plate (10) and universal joint (11): can tilt within a certain angle range, and is suitable for the swinging plate (5) to swing forwards and leftwards and rightwards.
FIG. 4 is a schematic illustration; at ordinary times, the four ball screws are retracted to the bottom, and the swinging plate (5) is horizontal.
FIG. 5 is an overall perspective view of the combined metal pipe prop high-altitude robot, and after the high-altitude robot platform (6) is lifted, the high-altitude robot platform (6) needs to move, and only the swing plate (5) needs to be swung; if the high-altitude robot platform (6) needs to move forwards, the rear left side (141) and the rear right side (142) of the harmonic reducer rotate anticlockwise, the rear left side (151) and the rear right side (152) of the ball screw are ejected out simultaneously, the swinging plate (5) swings forwards, if the high-altitude robot platform (6) needs to return to the original position, the rear left side (141) and the rear right side (142) of the harmonic reducer rotate clockwise, the rear left side (151) and the rear right side (152) of the ball screw are retracted simultaneously, and the swinging plate (5) returns to the horizontal position, so that the high-altitude robot platform can be used.
If the high-altitude robot platform (6) needs to move leftwards, the front right (143) and the rear right (142) of the harmonic reducer rotate anticlockwise, the front right (153) and the rear right (152) of the ball screw are ejected out simultaneously, and the swinging plate (5) swings leftwards, if the high-altitude robot platform (6) needs to move rightwards, the front left (144) and the rear left (141) of the harmonic reducer rotate anticlockwise, and the swinging plate (5) swings rightwards, the high-altitude robot platform can be used.
The weight sensor (12) of the combined metal pipe support high-altitude robot determines the swing angle of a metal pipe support (1), the high-altitude robot platform (6) is lifted to be low, the swing angle of the metal pipe support (1) is large, the high-altitude robot platform (6) is lifted to be high, the swing angle of the metal pipe support (1) is small, the set limit of the weight sensor (12) is determined according to the strength of the metal pipe support (1), the set limit of the weight sensor (12) is reached, and the weight sensor cannot swing continuously, so that safe operation is guaranteed.
The weight sensor (12) of the combined metal pipe support high-altitude robot is fixed on a bottom plate (13) firmly, and the bottom plate (13) is installed on an automobile or mobile equipment.
Under the condition that an external force suddenly exists on a high-altitude robot platform (6) of the combined metal pipe strut high-altitude robot, a weight sensor (12) controls a harmonic reducer through a CPU (the CPU is not shown in the specification) in the high-altitude robot platform, so that a swinging plate (5) swings towards the direction of the external force, the external force is counteracted, and the safe operation of the high-altitude robot platform is guaranteed.
As shown in fig. 2 and 5, a camera (7) is arranged in the high-altitude robot platform (6) and is a necessary device for executing various operations, and a manipulator (8) is also arranged in the high-altitude robot platform (6) and can be used for high-altitude emergency rescue and high-altitude rescue.
As shown in figures 2 and 5, a booster pump (9) is arranged in the high-altitude robot platform (6) and is used for high-altitude fire protection, and the spraying point of a fire-fighting faucet is improved.
Claims (9)
1. The utility model provides a combined metal pipe pillar high altitude robot, is formed by the combination of metal pipe pillar, its characterized in that: three metal pipe struts (1) are arranged according to a 120-degree circular array, the metal pipe struts (1) are arranged in the middle of a swinging plate (5), the tops of the three metal pipe struts (1) are fixed on a robot platform (6), a lifting roller (2) and a coiling roller (3) are also arranged according to a 120-degree circular array, the coiling roller (3) is arranged below the lifting roller (2), the coiling roller (3) is arranged on the swinging plate (5), four corners of the swinging plate (5) are respectively provided with a universal plate (10), a harmonic reducer rear left side (141), a harmonic reducer rear right side (142), a harmonic reducer front right side (143) and a harmonic reducer front left side (144) are respectively arranged in the four universal plates (10), a ball screw rear left side (151) is arranged in the harmonic reducer rear left side (141), a ball screw rear right side (152) is arranged in the harmonic reducer rear right side (142), a ball screw front right side (153) is arranged in the harmonic reducer front right side (, a ball screw front left side (154) is arranged in a harmonic reducer front left side (144), universal joints (11) are arranged below each ball screw, weight sensors (12) are arranged below four universal joints (11), and the four weight sensors (12) are all fixed on a bottom plate (13).
2. The combined metal pipe prop high-altitude robot as claimed in claim 1, wherein: all the lifting rods (2) rise and fall simultaneously at the same speed, so that the function of vertical rising or falling is achieved.
3. The combination type metal pipe prop high-altitude robot as claimed in claim 1, wherein: at ordinary times, the four ball screws are retracted to the bottom, and the swinging plate (5) is horizontal.
4. The combined metal pipe prop high-altitude robot as claimed in claim 1, wherein: the high-altitude robot platform (6) can move only by swinging the swinging plate (5).
5. The combined metal pipe prop high-altitude robot as claimed in claim 1, wherein: when the set limit value of the weight sensor (12) is reached, the swing can not be continued, thereby ensuring safe operation.
6. The combined metal pipe prop high-altitude robot as claimed in claim 1, wherein: under the condition that the high-altitude robot platform (6) suddenly has external force, the weight sensor (12) controls the harmonic reducer through a CPU in the high-altitude robot platform so as to lead the swinging plate (5) to swing towards the external force direction.
7. The combined metal pipe prop high-altitude robot as claimed in claim 1, wherein: a camera (7) is arranged in the high-altitude robot platform (6).
8. The combined metal pipe prop high-altitude robot as claimed in claim 1, wherein: a manipulator (8) is arranged in the high-altitude robot platform (6).
9. The combined metal pipe prop high-altitude robot as claimed in claim 1, wherein: a booster pump (9) is arranged in the high-altitude robot platform (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711067168.4A CN109748210B (en) | 2017-11-02 | 2017-11-02 | Combined metal pipe pillar high-altitude robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711067168.4A CN109748210B (en) | 2017-11-02 | 2017-11-02 | Combined metal pipe pillar high-altitude robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109748210A CN109748210A (en) | 2019-05-14 |
| CN109748210B true CN109748210B (en) | 2020-10-20 |
Family
ID=66399262
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711067168.4A Expired - Fee Related CN109748210B (en) | 2017-11-02 | 2017-11-02 | Combined metal pipe pillar high-altitude robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109748210B (en) |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CH390793A (en) * | 1963-04-19 | 1965-04-15 | Hoffmann La Roche | Forklift |
| CN201063218Y (en) * | 2007-06-29 | 2008-05-21 | 于复生 | Teaching robot |
| CN104647398B (en) * | 2015-01-12 | 2017-05-10 | 上海交通大学 | Collaborative double manipulators used for fruit picking |
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2017
- 2017-11-02 CN CN201711067168.4A patent/CN109748210B/en not_active Expired - Fee Related
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| Publication number | Publication date |
|---|---|
| CN109748210A (en) | 2019-05-14 |
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Granted publication date: 20201020 |