CN110271621B - Obstacle-crossing pole climbing device and pole climbing method thereof - Google Patents

Obstacle-crossing pole climbing device and pole climbing method thereof Download PDF

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Publication number
CN110271621B
CN110271621B CN201910725307.0A CN201910725307A CN110271621B CN 110271621 B CN110271621 B CN 110271621B CN 201910725307 A CN201910725307 A CN 201910725307A CN 110271621 B CN110271621 B CN 110271621B
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China
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roller
rod
triangular
obstacle
climbing
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CN110271621A (en
Inventor
冯玉
吴少雷
凌松
吴凯
赵成
陆巍
史亮
程凯
王伟
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State Grid Corp of China SGCC
Electric Power Research Institute of State Grid Anhui Electric Power Co Ltd
Hefei University of Technology
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State Grid Corp of China SGCC
Electric Power Research Institute of State Grid Anhui Electric Power Co Ltd
Hefei University of Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
    • 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
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02B—HYDRAULIC ENGINEERING
    • E02B17/00—Artificial islands mounted on piles or like supports, e.g. platforms on raisable legs or offshore constructions; Construction methods therefor
    • E02B17/0034—Maintenance, repair or inspection of offshore constructions

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)

Abstract

The invention discloses an obstacle-crossing pole-climbing device, relates to the technical field of pole climbing, and is provided based on the problem that the existing pole-climbing device cannot avoid when encountering obstacles in the pole climbing process. The invention comprises a frame, an obstacle-crossing climbing mechanism and a rod winding rotating mechanism; the obstacle-crossing climbing mechanism and the winding rod rotating mechanism are both positioned on the rack, one side of the rack is provided with an opening, and the obstacle-crossing climbing mechanism and the winding rod rotating mechanism are both positioned in the opening; the obstacle crossing climbing mechanism comprises a first obstacle crossing climbing mechanism and a second obstacle crossing climbing mechanism; the winding rod rotating mechanism comprises a first winding rod rotating mechanism and a second winding rod rotating mechanism; the invention also provides a pole climbing method of the pole climbing device, and the pole climbing device has the beneficial effects that: when the obstacle crossing climbing device encounters an obstacle in the climbing process, the obstacle crossing climbing device avoids the obstacle on the target rod through the rod rotating mechanism, is not limited by the size of the obstacle, and can climb and rotate at the same time.

Description

Obstacle-crossing pole climbing device and pole climbing method thereof
Technical Field
The invention relates to the technical field of pole climbing, in particular to an obstacle-crossing pole climbing device and a pole climbing method thereof.
Background
The conventional pole climbing operation is carried out manually, namely, an operator climbs the pole by means of various auxiliary devices to realize various operations, but the implementation of the mode has great limitation, and firstly, the pole climbing operation is still work which extremely consumes physical strength and has high requirements on the body of the pole climbing operator; secondly, the pole climbing operation is very dangerous, and the risk of falling can be caused by carelessness, and meanwhile, the operation difficulty is increased when the pole climbing operation is carried out at high altitude, so that the danger coefficient is increased.
Along with the development of mechanical industry, the pole-climbing device can gradually replace human beings to finish operations which are high in strength, repeatability and danger and even cannot be finished by human beings, the pole-climbing device can be operated to replace human beings to climb poles, and the harmful influence of physical strength reduction on working efficiency and personnel safety during manual operation is avoided.
Patent ZL 201821449402.X discloses a connecting rod type pole-climbing robot, which comprises a clamping part and a rack climbing part, wherein the clamping part clamps a rod and provides a fulcrum for climbing of the robot, and the rack climbing part provides power for climbing of the robot; the frame climbing part comprises a sliding bearing seat, a sliding rod, a frame plate, a lower lifting motor fixing plate, a lower lifting gear, a lower lifting rack, an upper lifting motor fixing plate, an upper lifting gear and an upper lifting rack.
If the existing pole climbing device cannot be overturned and avoided when encountering obstacles in the pole climbing process, the pole climbing device still has great defects in practical application.
Disclosure of Invention
One of the technical problems to be solved by the invention is that the existing pole climbing device cannot avoid when encountering obstacles in the pole climbing process.
The invention adopts the following technical scheme to solve the technical problems:
the invention provides an obstacle-crossing pole-climbing device, which comprises a rack, an obstacle-crossing climbing mechanism and a pole-winding rotating mechanism, wherein the rack is provided with a first rack and a second rack; the obstacle-crossing climbing mechanism and the winding rod rotating mechanism are both positioned on the rack, an opening is formed in one side of the rack, and the obstacle-crossing climbing mechanism and the winding rod rotating mechanism are both positioned in the opening;
the obstacle crossing climbing mechanism comprises a first obstacle crossing climbing mechanism and a second obstacle crossing climbing mechanism, and the first obstacle crossing climbing mechanism and the second obstacle crossing climbing mechanism are respectively positioned on two sides of the target pole; the first obstacle crossing and climbing mechanism comprises a first roller, a first driving device connected with the first roller and a first expansion device connected with the first roller, the second obstacle crossing and climbing mechanism comprises a second roller, a second driving device connected with the second roller and a second expansion device connected with the second roller, the first driving device drives the first roller to do lifting motion along the axis of the target rod, and the second driving device drives the second roller to do lifting motion along the axis of the target rod; the first telescopic device is used for pressing the first roller, the second telescopic device is used for pressing the second roller, and the first telescopic device and the second telescopic device enable the first roller and the second roller to clamp the target rod oppositely;
the rod winding rotating mechanism comprises a first rod winding rotating mechanism and a second rod winding rotating mechanism, and the first rod winding rotating mechanism and the second rod winding rotating mechanism are positioned on two sides of the target rod; the first rod winding rotating mechanism comprises a third roller, a third driving device connected with the third roller and a third telescopic device connected with the third roller; the second rod winding rotating mechanism comprises a fourth roller, a fourth driving device connected with the fourth roller and a fourth telescopic device connected with the fourth roller, the third driving device drives the third roller to rotate along the circumferential direction of the target rod, and the fourth driving device drives the fourth roller to rotate along the circumferential direction of the target rod; the telescopic device is used for pressing the roller three, the telescopic device is used for pressing the roller four, and the roller three and the roller four clamp the target rod relatively.
The working principle is as follows: preparation before climbing the pole: the obstacle-crossing pole climbing device passes through the target pole along the radial direction of the target pole from the opening of the frame;
climbing or descending process: the first telescopic device is used for pressing the first roller, the second telescopic device is used for pressing the second roller, the first driving device and the second driving device are started, and the first driving roller and the second driving roller are arranged on two sides of the target rod and do lifting motion along the axis of the target rod;
rotating around the rod: the three-purpose telescopic device is used for compressing the third roller, the four-purpose telescopic device is used for compressing the fourth roller, so that the third roller and the fourth roller clamp the target rod relatively, the first telescopic device and the second telescopic device are restored to the initial state, the third driving device and the fourth driving device are started, and the first roller and the second roller are driven to rotate on two sides of the target rod along the circumferential direction of the target rod;
climbing and positioning: when the obstacle-crossing pole-climbing device climbs to a specified position, the first driving device, the second driving device, the third driving device and the fourth driving device are closed, the first telescopic device is used for pressing the first roller, the second telescopic device is used for pressing the second roller, the third telescopic device is used for pressing the third roller, and the fourth telescopic device is used for pressing the fourth roller;
the climbing process encounters obstacles: closing the first driving device and the second driving device, enabling the telescopic device to be used for pressing the third roller, enabling the fourth telescopic device to be used for pressing the fourth roller, and enabling the first telescopic device and the second telescopic device to be restored to the initial state, starting the third driving device and the fourth driving device, and driving the first roller and the second roller to rotate on two sides of the target rod along the circumferential direction of the target rod to avoid obstacles; the first telescopic device is used for pressing the first roller, the second telescopic device is used for pressing the second roller, the first driving device and the second driving device are started, and the obstacle-crossing pole-climbing device is driven to continuously climb upwards.
Has the advantages that: when the obstacle-crossing climbing device encounters an obstacle in the climbing process, the obstacle-crossing climbing device avoids the obstacle on the target rod through the rod-winding rotating mechanism, is not limited by the size of the obstacle, and can climb and rotate at the same time;
the obstacle-crossing climbing mechanism is not influenced by the diameter of the target rod in the climbing process, can adapt to target rods with different diameters, and has the climbing positioning function.
Preferably, the telescopic device comprises a first electric push rod, one end of the first electric push rod is connected with the first roller, and the other end of the first electric push rod is connected with the rack;
the second telescopic device comprises a guide rod and an elastic piece, one end of the guide rod is connected with the second roller, the other end of the first guide rod is connected with the rack, and the elastic piece is sleeved on the guide rod;
the third telescopic device comprises a third electric push rod, one end of the third electric push rod is connected with the third roller, and the other end of the third electric push rod is connected with the rack;
the fourth telescopic device comprises a fourth electric push rod, one end of the fourth electric push rod is connected with the fourth roller, and the other end of the fourth electric push rod is connected with the rack.
The working principle is as follows:
preparation before climbing the pole: the first electric push rod of the first obstacle-crossing climbing mechanism is in a minimum stroke state, the third electric push rod of the first winding rod rotating mechanism is in a minimum stroke state, the fourth electric push rod of the second winding rod rotating mechanism is in a minimum stroke state, and the obstacle-crossing climbing device passes through the target rod along the radial direction of the target rod from the opening of the rack;
climbing process: starting an electric push rod I of the first obstacle crossing climbing mechanism, an electric push rod III of the first winding rod rotating mechanism and an electric push rod IV of the second winding rod rotating mechanism, wherein the electric push rod I drives a roller I to compress a target rod, the roller II passively compresses the target rod due to the elasticity of an elastic part of a guide rod, and the roller I and the roller II clamp the target rod; at this time, the third roller of the first winding bar rotating mechanism and the fourth roller of the second winding bar rotating mechanism are not in contact with the target bar.
And starting the driving device I, driving the roller I to climb along the axis of the target rod, starting the driving device II, and driving the roller III to climb along the axis of the target rod, so that the whole obstacle-crossing pole-climbing device climbs.
Rotating around the rod: stopping a first driving device of the first obstacle crossing climbing mechanism and a second driving device of the second obstacle crossing climbing mechanism, starting a third electric push rod of the first winding rod rotating mechanism and a fourth electric push rod of the second winding rod rotating mechanism, enabling the third electric push rod to drive a third roller to compress a target rod, enabling the fourth electric push rod to drive a fourth roller to compress the target rod, enabling the first electric push rod of the first obstacle crossing climbing mechanism to return to a minimum stroke position, starting the first driving device of the first winding rod rotating mechanism and the second driving device of the second winding rod rotating mechanism, and enabling the third driving roller and the fourth driving roller to rotate along the circumferential direction of the target rod, so that the obstacle crossing climbing device rotates around the rod.
Climbing and positioning: when the obstacle-crossing pole-climbing device climbs to the designated position, the first driving device of the first obstacle-crossing climbing mechanism and the second driving device of the second obstacle-crossing climbing mechanism are closed, the stroke state of the first electric push rod of the first obstacle-crossing climbing mechanism is adjusted, the first roller and the second roller clamp the target pole, the stroke state of the third electric push rod of the first winding rod rotating mechanism is adjusted, the stroke state of the fourth electric push rod of the second winding rod rotating mechanism is adjusted, the third roller and the fourth roller clamp the target pole, and the positioning function is achieved.
When the climbing process encounters an obstacle: stopping a first driving device of the first obstacle crossing climbing mechanism and a second driving device of the second obstacle crossing climbing mechanism, starting a third electric push rod of the first winding rod rotating mechanism and a fourth electric push rod of the second winding rod rotating mechanism, clamping a target pole, restoring the electric push rod of the first obstacle crossing climbing mechanism to a minimum stroke position, starting a third driving device of the first winding rod rotating mechanism and a fourth driving device of the second winding rod rotating mechanism, and driving a third roller and a fourth roller to rotate along the circumferential direction of the target pole to avoid obstacles; after the completion, starting the first electric push rod of the first obstacle crossing climbing mechanism, clamping a target pole, returning the third electric push rod of the first winding rod rotating mechanism and the fourth electric push rod of the second winding rod rotating mechanism to the minimum stroke state, and starting the first driving device of the first obstacle crossing climbing mechanism and the second driving device of the second obstacle crossing climbing mechanism to enable the obstacle crossing climbing device to continuously climb upwards.
Has the advantages that: when the obstacle-crossing climbing device encounters an obstacle in the climbing process, the obstacle-crossing climbing device avoids the obstacle on the target rod through the rod-winding rotating mechanism, is not limited by the size of the obstacle, and can climb and rotate at the same time;
the obstacle-crossing climbing mechanism is not influenced by the diameter of the target rod in the climbing process, can adapt to the target rods with different diameters by adjusting the stroke of the electric push rod I, and has the climbing positioning function.
Preferably, the rack comprises a first rack and a second rack, the lower end of the first rack is fixedly connected with the upper end of the second rack, the obstacle-crossing climbing mechanism is mounted on the first rack, and the rod-winding rotating mechanism is mounted on the second rack.
Preferably, a first support frame A and a first support frame B which are symmetrical relative to the axis of the target rod are arranged on two sides of the first rack, and a second support frame A and a second support frame B which are symmetrical relative to the axis of the target rod are arranged on two sides of the second rack.
Preferably, the first obstacle crossing climbing mechanism further comprises a first guide rail supporting plate and a first roller supporting plate; the first guide rail supporting plate is U-shaped, the closed end of the first guide rail supporting plate is connected with the first support frame A, and the open end of the first guide rail supporting plate faces the target rod; the first roller supporting plate is U-shaped, the open end of the first roller supporting plate faces the target rod, the first roller supporting plate is connected with the first guide rail supporting plate in a sliding mode, the first roller is installed at the open end of the first roller supporting plate, and the cross section of the first roller is perpendicular to that of the target rod;
the second obstacle crossing climbing mechanism further comprises a guide rail support plate II and a roller support plate II; the guide rail support plate II is U-shaped, the closed end of the guide rail support plate II is connected with the first support frame B, and the open end of the guide rail support plate II faces the target rod; the second roller supporting plate is U-shaped, the open end of the second roller supporting plate faces the target rod, the second roller supporting plate is connected with the second guide rail supporting plate in a sliding mode, the second roller is installed at the open end of the second roller supporting plate, and the cross section of the second roller is perpendicular to that of the target rod.
Preferably, the first roller is a first triangular roller, the first roller supporting plate is a first triangular roller supporting plate, the first triangular roller comprises a first roller group and a first triangular support, the number of the first roller group is three, the first roller group is distributed on the first triangular support in a regular triangle shape, and the first roller group comprises two first rollers; the cross section of the first triangular support is parallel to that of the first roller, and a cavity is formed in the first triangular support;
the first driving device comprises a first motor and a first gear set; the first gear set is positioned in a cavity of the first triangular support, the first gear set comprises a first driving gear set and a first driven gear set, the first driving gear set comprises a first driving gear, and the first driving gear is positioned in the center of the first triangular support; the two ends of a gear shaft of the first driving gear are arranged on the first triangular roller supporting plate, the first motor is connected with the gear shaft of the first driving gear through a coupler, and the first motor is arranged on the first triangular roller supporting plate;
the roller set II is a triangular roller set II, the roller support plate II is a triangular roller support plate II, the triangular roller set II comprises a roller set II and a triangular support II, the number of the roller set II is three, the roller set II is distributed on the triangular support II in a regular triangle shape, and the roller set II comprises two roller sets II;
the cross section of the second triangular support is parallel to that of the second roller, and a cavity is formed in the second triangular support;
the second driving device comprises a second motor and a second gear set; the second gear set is positioned in a cavity of the second triangular support, the second gear set comprises a second driving gear set and a second driven gear set, the second driving gear set comprises a second driving gear, and the second driving gear is positioned in the center of the second triangular support; and two ends of a gear shaft of the second driving gear are arranged on the second triangular roller supporting plate, the second motor is connected with the gear shaft of the second driving gear through a coupler, and the second motor is arranged on the second triangular roller supporting plate.
Preferably, the first obstacle crossing climbing mechanism further comprises two first guide rails and two first sliding blocks, the first guide rails are arranged on two inner side surfaces of the first guide rail supporting plate, the first sliding blocks in sliding fit with the first guide rails are arranged on the first guide rails, and two outer side surfaces of the first triangular roller supporting plate are respectively fixed on the first sliding blocks;
the second obstacle-crossing climbing mechanism further comprises two guide rails II and two sliding blocks II, the guide rails II are arranged on two inner side surfaces of the guide rail supporting plate II, the sliding blocks II in sliding fit with the guide rails II are arranged on the guide rails II, and the two outer side surfaces of the triangular roller supporting plate II are respectively fixed on the two sliding blocks II.
Preferably, the first driven gear set comprises a first driven gear A and a first driven gear B, the first driven gear A is distributed in a cavity of the first triangular support in a regular triangle shape, the first driven gear B is distributed in the cavity of the first triangular support in a regular triangle shape, the first driven gear A is meshed with the first driving gear, the first driven gear A is meshed with the first driven gear B, a gear shaft of the first driven gear B vertically penetrates through the first triangular support, and rollers I are fixedly mounted at two ends of the gear shaft of the first driven gear B;
two driven gear set include two A of driven gear and two B of driven gear, two A of driven gear are regular triangle distribution in the cavity of triangle support two, two B of driven gear are regular triangle distribution in the cavity of triangle support two, two A of driven gear and two meshing of driving gear, two A of driven gear and two B meshing of driven gear, two B of driven gear's gear shaft is vertical to pass triangle support two, two end fixed mounting gyro wheel two of its gear shaft of driven gear two B.
Preferably, one end of the first electric push rod is fixed at the center of the inner side of the closed end of the first guide rail support plate, and the other end of the first electric push rod is fixed at the center of the outer side face of the closed end of the first triangular roller support plate;
one end of the guide rod is fixed at the center of the inner side of the closed end of the guide rail support plate II, the other end of the guide rod is fixed at the center of the outer side face of the closed end of the triangular roller support plate II, one end of the elastic piece is fixedly connected with the inner side of the closed end of the guide rail support plate II, and the other end of the elastic piece is fixedly connected with the outer side of the closed end of the triangular roller support plate II.
Preferably, the first rod winding rotating mechanism further comprises a third guide rail supporting plate and a third roller supporting plate, the third guide rail supporting plate is U-shaped, the closed end of the third guide rail supporting plate is connected with the second supporting frame A, and the open end of the third guide rail supporting plate faces the target rod; the third roller supporting plate is U-shaped, the open end of the third roller supporting plate faces the target rod, the third roller supporting plate is connected with the third guide rail supporting plate in a sliding mode, the third roller is installed at the open end of the third roller supporting plate, and the cross section of the third roller is parallel to that of the target rod;
the second rod winding rotating mechanism further comprises a guide rail support plate IV and a roller support plate IV, the guide rail support plate IV is U-shaped, the closed end of the guide rail support plate IV is connected with the second support frame B, and the open end of the guide rail support plate IV faces the target rod; the fourth roller supporting plate is U-shaped, the open end of the fourth roller supporting plate faces the target rod, the fourth roller supporting plate is connected with the fourth guide rail supporting plate in a sliding mode, the fourth roller is installed at the open end of the fourth roller supporting plate, and the cross section of the fourth roller is parallel to the cross section of the target rod.
Preferably, the roller set III is a triangular roller set III, the roller support plate III is a triangular roller support plate III, the triangular roller set III comprises a roller set III and a triangular support III, the number of the roller set III is three, the roller set III is distributed on the triangular support III in a regular triangle shape, and the roller set III comprises two roller sets III;
the cross section of the triangular support III is parallel to that of the roller III, and a cavity is formed in the triangular support III;
the driving device III comprises a motor III and a gear set III; the third gear set is positioned in a cavity of the third triangular support and comprises a third driving gear set and a third driven gear set, the third driving gear set comprises a third driving gear which is positioned in the center of the third triangular support; two ends of a gear shaft of the driving gear III are arranged on the triangular roller supporting plate III, the motor III is connected with the gear shaft of the driving gear III through a coupler, and the motor III is arranged on the triangular roller supporting plate III;
the roller group four is distributed on the triangular support four in a regular triangle shape and comprises two roller groups four;
the cross section of the triangular support IV is parallel to that of the roller IV, and a cavity is arranged in the triangular support IV;
the driving device IV comprises a motor IV and a gear set IV; the four gear sets are positioned in a cavity of the four triangular supports, each gear set four comprises a driving gear set four and a driven gear set four, each driving gear set four comprises a driving gear four, and each driving gear four is positioned in the center of the corresponding triangular support four; the two ends of the gear shaft of the driving gear IV are arranged on the triangular roller supporting plate IV, the motor IV is connected with the gear shaft of the driving gear IV through a coupler, and the motor IV is arranged on the triangular roller supporting plate IV.
Preferably, the first rod winding rotating mechanism further comprises two third guide rails and two third sliding blocks, the third guide rails are arranged on two inner side surfaces of the third guide rail supporting plate, the third guide rails are provided with the third sliding blocks in sliding fit with the third guide rails, and two outer side surfaces of the third triangular roller supporting plate are respectively fixed on the third sliding blocks;
the second winding rod rotating mechanism further comprises two guide rails IV and two sliders IV, the guide rails IV are arranged on two inner side surfaces of the guide rail supporting plate IV, the guide rails IV are provided with sliders IV in sliding fit with the guide rails IV, and the two outer side surfaces of the triangular roller supporting plate IV are respectively fixed on the two sliders IV.
Preferably, the driven gear set III comprises a driven gear III A and a driven gear III B, the driven gear III A is distributed in a cavity of the triangular support III in a regular triangle shape, the driven gear III B is distributed in the cavity of the triangular support III in a regular triangle shape, the driven gear III A is meshed with the driving gear III, the driven gear III A is meshed with the driven gear III B, a gear shaft of the driven gear III B vertically penetrates through the triangular support III, and two ends of the gear shaft of the driven gear III B are fixedly provided with rollers III;
driven gear set four includes four A of driven gear and four B of driven gear, four A of driven gear is regular triangle distribution in the cavity of triangle support four, four B of driven gear is regular triangle distribution in the cavity of triangle support four, four A of driven gear and four meshing of driving gear, four A of driven gear and four B meshing of driven gear, four B's of driven gear shaft is vertical to pass triangle support four, two ends fixed mounting gyro wheel four of four B of driven gear's gear shaft.
Preferably, one end of the third electric push rod is fixed at the center of the inner side of the closed end of the third guide rail support plate, and the other end of the third electric push rod is fixed at the center of the outer side surface of the closed end of the third triangular roller support plate;
one end of the third electric push rod is fixed at the center of the inner side of the closed end of the third guide rail support plate, and the other end of the third electric push rod is fixed at the center of the outer side face of the closed end of the third triangular roller support plate.
The working principle is as follows: preparation before climbing the pole: the first electric push rod of the first obstacle-crossing climbing mechanism is in a minimum stroke state, the third electric push rod of the first winding rod rotating mechanism is in a minimum stroke state, the fourth electric push rod of the second winding rod rotating mechanism is in a minimum stroke state, the obstacle-crossing climbing rod device is moved to the position near the target rod, and the obstacle-crossing climbing rod device passes through the target rod along the radial direction of the target rod from the first opening and the second opening and is adjusted to a proper climbing position;
climbing process: starting an electric push rod I of the first obstacle crossing climbing mechanism, an electric push rod III of the first winding rod rotating mechanism and an electric push rod IV of the second winding rod rotating mechanism, driving a triangular roller supporting plate I to move towards a target rod along the direction of a guide rail and pressing the target rod tightly, and enabling 2 roller groups I and 2 roller groups II to clamp the target rod tightly due to the elasticity of a spring of a guide rod; at this time, the roller group III of the first rod winding rotating mechanism and the roller group IV of the second rod winding rotating mechanism are not contacted with the target rod.
Starting a first motor of the first obstacle crossing climbing mechanism, driving a first driving gear to rotate by the first motor, and driving a first driven gear A meshed with the first driving gear to rotate so as to drive a first driven gear B to rotate, wherein 3 first roller groups rotate simultaneously, and 2 first roller groups in contact with a target rod rotate along the axial direction of the target rod; and simultaneously starting a second motor of the second obstacle crossing climbing mechanism, driving a second driving gear to rotate by the second motor, driving a second driven gear A meshed with the second driving gear to rotate, so as to drive a second driven gear B to rotate, simultaneously rotating 3 second roller groups and the first roller group in the same direction, and rotating 2 second roller groups in contact with the target rod along the axial direction of the target rod, so as to climb the obstacle crossing climbing device.
Rotating around the rod: stopping a first motor of the first obstacle crossing climbing mechanism and a second motor of the second obstacle crossing climbing mechanism, starting a third electric push rod of the first winding rod rotating mechanism and a fourth electric push rod of the second winding rod rotating mechanism, driving a third triangular roller support plate to move towards a target rod along the direction of a guide rail by the third electric push rod, pressing the target rod, driving the fourth triangular roller support plate to move towards the target rod by the fourth electric push rod, pressing the target rod, enabling the third roller set and the fourth roller set to clamp the target rod, restoring the first electric push rod of the first obstacle crossing climbing mechanism to a minimum stroke position, starting a third motor of the first winding rod rotating mechanism and a fourth motor of the second winding rod rotating mechanism, driving a third motor to rotate by the third motor, and driving a third driven gear to rotate, thereby driving the driven gear III B to rotate, simultaneously rotating 3 roller groups III in the same direction, and rotating 2 roller groups III in contact with the target rod along the circumferential direction of the target rod; the motor four drives the driving gear four to rotate, drives the driven gear four A meshed with the driving gear four to rotate, thereby drives the driven gear four B to rotate, the 3 roller groups four and the roller group three rotate simultaneously in the same direction, and the 2 roller groups four in contact with the target rod rotate along the circumferential direction of the target rod, thereby enabling the obstacle-crossing pole-climbing device to rotate around the rod.
Climbing and positioning: when the obstacle-crossing pole-climbing device climbs to a specified position, a first motor of the first obstacle-crossing climbing mechanism and a second motor of the second obstacle-crossing climbing mechanism are closed, the stroke state of a first electric push rod of the first obstacle-crossing climbing mechanism is adjusted, so that a first roller group and a second roller group clamp a target pole, the stroke state of a third electric push rod of the first winding rod rotating mechanism is adjusted, the stroke state of a fourth electric push rod of the second winding rod rotating mechanism is adjusted, the third roller group and the fourth roller group clamp the target pole, and the positioning function is achieved. And (3) a descending process: adjusting the rotation directions of the first motor and the second motor to be opposite to the rotation direction during climbing;
when the climbing process encounters an obstacle:
when the second triangular roller meets an obstacle which can be crossed, the second triangular roller stops climbing due to the blocking of the obstacle, the second triangular roller overturns, the spring is compressed, the obstacle is between the second triangular roller group, the second triangular roller continuously climbs under the action of the second motor, and the second triangular roller group crosses the obstacle due to the action of the spring.
When a first triangular roller wheel or a first triangular roller wheel encounters an obstacle which cannot be crossed in the climbing process, stopping a first motor of the first obstacle crossing climbing mechanism and a second motor of the second obstacle crossing climbing mechanism, starting a third electric push rod of the first winding rod rotating mechanism and a fourth electric push rod of the second winding rod rotating mechanism, clamping a target rod, restoring the electric push rod of the first obstacle crossing climbing mechanism to a minimum stroke position, starting a third motor of the first winding rod rotating mechanism and a fourth motor of the second winding rod rotating mechanism, and enabling the third roller set 2 and the fourth roller set 2 which are in contact with the target rod to rotate along the circumferential direction of the target rod to avoid the obstacle; after the completion, starting the first electric push rod of the first obstacle crossing climbing mechanism, clamping a target pole, returning the third electric push rod of the first winding rod rotating mechanism and the fourth electric push rod of the second winding rod rotating mechanism to the minimum stroke state, and starting the first motor of the first obstacle crossing climbing mechanism and the second motor of the second obstacle crossing climbing mechanism to enable the obstacle crossing climbing device to continuously climb upwards.
Has the advantages that: the obstacle-crossing pole-climbing device can climb over and avoid different obstacles on a target pole through the obstacle-crossing pole-climbing mechanism and the pole-winding rotating mechanism, is not limited by the size of the obstacles, and can climb and rotate at the same time;
the second obstacle-crossing climbing mechanism can smoothly cross the obstacle by adjusting the clamping force between the second obstacle-crossing climbing mechanism and the target rod through the spring;
the obstacle-crossing climbing mechanism is not influenced by the diameter of the target rod in the climbing process, can adapt to the target rods with different diameters by adjusting the stroke of the first electric push rod, and has the climbing positioning function.
The second technical problem to be solved by the invention is that the existing pole climbing device cannot avoid when encountering obstacles in the pole climbing process, and a pole climbing method is provided.
The invention adopts the following technical scheme to solve the technical problems:
the invention provides a pole climbing method adopting the obstacle-crossing pole climbing device, which comprises the following steps:
preparation before climbing the pole: the obstacle-crossing pole climbing device passes through the target pole along the radial direction of the target pole from the opening of the frame;
climbing or descending process: the target pole is clamped through the roller A, the driving device A is started, and the driving device A drives the roller A to ascend or descend along the axis of the target pole, so that the obstacle-crossing pole-climbing device ascends and descends;
rotating around the rod: the roller B clamps the target rod, the roller A loosens the target rod, the driving device B is started, and the driving device B drives the roller B to rotate along the circumferential direction of the target rod;
climbing and positioning: when the obstacle-crossing pole-climbing device climbs to a specified position, the driving device A is closed, and the roller A and the roller B clamp the target pole;
the climbing process encounters obstacles: closing the driving device A, clamping the target rod by the roller B, loosening the target rod by the roller A, starting the driving device B, and driving the roller B to rotate along the circumferential direction of the target rod to avoid obstacles; after the completion, the roller A clamps the target rod, the roller B loosens the target rod, the driving device A is started, and the obstacle-crossing pole-climbing device is driven to continuously climb upwards.
The invention has the beneficial effects that:
(1) the obstacle-crossing pole-climbing device can avoid different obstacles on a target pole through the obstacle-crossing pole-climbing mechanism and the pole-winding rotating mechanism, is not limited by the size of the obstacle, and can climb and rotate at the same time;
(2) the second obstacle-crossing climbing mechanism can smoothly cross the obstacle by adjusting the clamping force between the second obstacle-crossing climbing mechanism and the target rod through the spring;
(3) the obstacle-crossing climbing mechanism is not influenced by the diameter of the target rod in the climbing process, can adapt to the target rods with different diameters by adjusting the stroke of the first electric push rod, and has the climbing positioning function.
Drawings
Fig. 1 is a schematic structural view of an obstacle-surmounting pole-climbing device in embodiment 1 of the present invention;
FIG. 2 is a schematic structural view of a first obstacle crossing and climbing mechanism according to embodiment 1 of the present invention;
fig. 3 is a schematic structural diagram of a first triangular roller in embodiment 1 of the present invention;
FIG. 4 is a schematic structural view of a second obstacle crossing and climbing mechanism in embodiment 1 of the invention;
fig. 5 is a schematic structural diagram of a second triangular roller in embodiment 1 of the present invention;
fig. 6 is a schematic structural view of a first winding bar rotating mechanism according to embodiment 1 of the present invention;
fig. 7 is a schematic structural view of a triangular roller three in embodiment 1 of the present invention;
fig. 8 is a schematic structural view of a second winding bar rotating mechanism according to embodiment 1 of the present invention;
fig. 9 is a schematic structural view of a triangular roller in embodiment 1 of the present invention;
fig. 10 is a schematic structural view of a first obstacle crossing and climbing mechanism according to embodiment 2 of the present invention.
In the figure: a frame 1; a first frame 11; a first support frame a 111; a first support frame B112; a second frame 12; a second support frame A121; a second support B122; an obstacle-crossing climbing mechanism 2; a first obstacle crossing and climbing mechanism 21; a first guide rail supporting plate 211; a first guide rail 212; a first triangular roller support plate 213; a first triangular roller 214; the first roller group 2141; 21411 of the first roller; a first triangular support 2142; a first driving device 215; a first motor 2151; gear set one 2152; a first driving gear 21521; a driven gear one a 21522; a driven gear one B21523; a first electric push rod 216; a pressure sensor 217; a second obstacle crossing climbing mechanism 22; a second guide rail supporting plate 221; a second guide rail 222; a triangular roller support plate II 223; a second triangular roller 224; a roller set II 2241; a second roller 22411; a triangular support II 2242; a second driving device 225; a second motor 2251; gear set two 2252; a second driving gear 22521; driven gear two a 22522; the driven gear II B22523; a guide rod 226; a spring 227; a winding rod rotating mechanism 3; a first winding bar rotating mechanism 31; rail support plate three 311; a third guide rail 312; a triangular roller supporting plate III 313; a triangular roller III 314; a roller group III 3141; a third roller 31411; a triangular support III 3142; a third driving device 315; motor three 3151; gear set three 3152; a driving gear III 31521; a driven gear three a 31522; a driven gear tri B31523; a third electric push rod 316; a second winding bar rotating mechanism 32; a fourth guide rail support plate 321; a fourth guide rail 322; a triangular roller support plate four 323; a triangular roller four 324; a roller group four 3241; roller four 32411; a triangular support saddle IV 3242; driving means four 325; motor four 2351; gear set four 3252; driving gear four 32521; driven gear four a 32522; driven gear four B32523; electric push rod four 326326; a target rod 4.
Detailed Description
The invention will be described in further detail below with reference to the drawings and examples of the specification.
Test materials, reagents and the like used in the following examples are commercially available unless otherwise specified.
The specific techniques or conditions not specified in the examples can be performed according to the techniques or conditions described in the literature in the field or according to the product specification.
Example 1
As shown in fig. 1, the obstacle-crossing pole-climbing device comprises a frame 1, an obstacle-crossing climbing mechanism 2 and a pole-winding rotating mechanism 3, wherein the obstacle-crossing climbing mechanism 2 and the pole-winding rotating mechanism 3 are both fixed on the frame 1, the obstacle-crossing climbing mechanism ascends or descends along the axis of a target pole 4, and the pole-winding rotating mechanism moves around the circumference of the target pole 4.
As shown in fig. 1, the rack 1 includes a first rack 11 and a second rack 12, both the first rack 11 and the second rack 12 are in a three-dimensional frame structure, and in this embodiment, the lower end of the first rack 11 is fixedly connected to the upper end of the second rack 12; in order to enable the obstacle-crossing pole-climbing device to pass through the target pole 4 along the radial direction of the target pole 4, a first opening is formed in the side face of the first rack 11, a second opening is formed in the side face of the second rack 12, and the first opening and the second opening are communicated and arranged in the same direction; the sizes of the first opening and the second opening are set according to actual requirements;
a first support frame A111 and a first support frame B112 are respectively arranged on two sides of the first machine frame 11, and the first support frame A and the first support frame B are symmetrically arranged relative to the axis of the target rod 4; in order to fix the obstacle-crossing climbing mechanism 2 on the first frame 11 and reduce the volume of the first frame 11, in the embodiment, the first support frame a 111 is U-shaped, and the first support frame B112 is U-shaped;
in order to facilitate replacement of parts, one end of the opening of the first support frame A111 is hinged with the top end of the first frame 11, and the other end of the opening of the first support frame A111 is hinged with the bottom end of the first frame 11; in order to ensure the connection stability between the first support frames a 111 and other components, in this embodiment, the number of the first support frames a 111 is two, the planes of the two first support frames a 111 are parallel to each other, the number of the first support frames B112 is two, and the planes of the two first support frames B112 are parallel to each other; in order to ensure balance and stability of climbing of the obstacle crossing climbing mechanism 2 along the radial direction of the target rod 4, the first support frame a 111 and the first support frame B112 in the embodiment have the same size.
A second support frame a 121 and a second support frame B122 are respectively arranged on two sides of the second frame 12, and the second support frame a 121 and the second support frame B122 are symmetrically arranged relative to the axis of the target rod 4; in order to fix the rod-winding rotating mechanism 3 on the second frame 12 and reduce the volume of the second frame 12, the second supporting frame a 121 is U-shaped and the second supporting frame B122 is U-shaped in this embodiment;
in order to facilitate the replacement of parts, one end of the opening of the second support frame a 121 is hinged with the side edge of the second frame 12, and the other end of the opening of the second support frame a 121 is hinged with the other side edge of the second frame 12; in order to ensure the connection stability between the second support frames a 121 and other components, in this embodiment, the number of the second support frames a 121 is two, the planes of the two second support frames a 121 are parallel to each other, the number of the second support frames B122 is two, and the planes of the two second support frames B122 are parallel to each other; in order to ensure balance and stability of climbing of the obstacle crossing climbing mechanism along the radial direction of the target rod 4, the sizes of the second support frame a 121 and the second support frame B122 are the same in the embodiment; the cross section of the second support frame A121 is perpendicular to that of the first support frame A111, and the cross section of the second support frame B122 is perpendicular to that of the first support frame B112.
The obstacle crossing climbing mechanism 2 comprises a first obstacle crossing climbing mechanism 21 and a second obstacle crossing climbing mechanism 22; the first obstacle-crossing climbing mechanism 21 and the second obstacle-crossing climbing mechanism 22 are used for clamping and loosening the target rod 4 and simultaneously ascending or descending along the axis of the target rod 4;
as shown in fig. 2, the first obstacle-crossing climbing mechanism 21 includes a first rail support plate 211, a first rail 212, a first slider (not shown), a first triangular roller support plate 213, a first triangular roller 214, a first driving device 215, and a first electric push rod 216;
the first guide rail supporting plate 211 is U-shaped, the closed end of the first guide rail supporting plate 211 is fixedly connected to the closed ends of the two first supporting frames A111, and the open end of the first guide rail supporting plate 211 faces the target rod 4; the cross section of the first guide rail supporting plate 211 is perpendicular to that of the first support frame A111;
the number of the first guide rails 212 is two, the first guide rails 212 are arranged on two inner side surfaces of the first guide rail support plate 211, and in order to ensure the moving stability, the two first guide rails 212 are symmetrically arranged relative to the axis of the first guide rail support plate 211;
a first sliding block in sliding fit with the first guide rail 212 is arranged on the first guide rail 212, a first triangular roller supporting plate 213 is U-shaped, two inner side surfaces of an opening end of the first triangular roller supporting plate 213 are respectively provided with a hole, the two holes are symmetrically arranged relative to the axis of the first triangular roller supporting plate 213, the opening end of the first triangular roller supporting plate 213 is arranged towards the target rod 4, and two outer side surfaces of the first triangular roller supporting plate 213 are respectively fixed on the first sliding blocks, so that the first triangular roller supporting plate 213 slides relative to the first guide rail supporting plate 211;
the first triangular roller 214 is located at the first opening of the first frame 11, the first triangular roller 214 is installed at the opening end of the first triangular roller support plate 213, and the first triangular roller 214 comprises a first roller group 2141 and a first triangular support 2142; the number of the roller groups I2141 is 3, and the roller groups I2141 are distributed on the triangular support I2142 in a regular triangle shape; the first roller set 2141 comprises two first rollers 21411;
as shown in fig. 3, the cross section of the first triangular support 2142 is parallel to the cross section of the first roller 21411, the cross section of the first triangular support 2142 is perpendicular to the cross section of the first triangular roller support plate 213, a cavity is formed in the first triangular support 2142, and the first driving device 215 is fixedly mounted on the first triangular support 2142 for driving the first roller set 2141 to move up or down along the axis of the target rod 4;
the first driving device 215 comprises a first motor 2151 and a first gear set 2152, the first gear set 2152 is located in a cavity of the first triangular support 2142, the first gear set 2152 comprises a first driving gear set and a first driven gear set, the first driving gear set comprises a first driving gear 21521, the first driving gear 21521 is located in the center of the first triangular support 2142, two ends of a gear shaft of the first driving gear 21521 are respectively installed in two holes of the first triangular roller support plate 213, the first motor 2151 is connected with the gear shaft of the first driving gear 21521 through a coupler, the first motor 2151 is installed on the first triangular roller support 213, the number of the first driven gear sets 2152 is 3, the first driven gear sets 2152 are distributed in the cavity of the first triangular support 2142 in a regular triangle shape, the 3 first driven gear sets 2152 are respectively meshed with the first driving gear 21521, the first roller 21411 is fixedly installed at two ends of the gear shaft of the first driven gear sets 2152, the first motor 2151 drives the gear shaft of the first driving gear set 21521 to rotate, the driving gear 21521 is rotated to drive the driven gear set 2152 engaged with the driving gear 21521 to rotate, so as to drive the 3 roller sets 2141 to rotate simultaneously, and the 2 roller sets 2141 to rotate simultaneously along the axial direction of the target rod 4,
the rotating speed of the gears is changed through different gear combinations, in the embodiment, a driven gear set comprises a driven gear A21522 and a driven gear B21523, the driven gear A21522 is distributed in a cavity of a triangular support A2142 in a regular triangle shape, the driven gear B21523 is distributed in the cavity of the triangular support A2142 in a regular triangle shape, the driven gear A21522 is meshed with the driving gear A21521, the driven gear A21522 is meshed with the driven gear B21523, a gear shaft of the driven gear B21523 vertically penetrates through the triangular support A2142, and rollers A21411 are fixedly mounted at two ends of the gear shaft of the driven gear B21523; to increase the friction between the first roller 21411 and the target rod 4, the first roller 21411 in this embodiment is a rubber-covered roller;
one end of the first electric push rod 216 is fixed at the center of the inner side of the closed end of the first guide rail support plate 211, the other end of the first electric push rod 216 is fixed at the center of the outer side face of the closed end of the first triangular roller support plate 213, and when the electric push rod is started, the first triangular roller support plate 213 is driven to move towards or away from the target rod 4 along the guide rail, so that the 2 first roller groups 2141 are close to or away from the target rod 4.
As shown in fig. 4, the second obstacle-crossing climbing mechanism 22 includes a second guide rail support plate 221, a second guide rail 222, a second sliding block (not shown), a second triangular roller support plate 223, a second triangular roller 224, a second driving device 225, a guide rod 226, and a spring 227; in order to improve the stability of the obstacle crossing climbing mechanism in the climbing process, in the embodiment, the shape and the size of the first guide rail supporting plate 211 and the second guide rail supporting plate 221 are the same, and the two guide rail supporting plates are symmetrically arranged relative to the axis of the target rod 4; the first triangular roller support plate 213 and the second triangular roller support plate 223 have the same shape and size, and are symmetrically arranged relative to the axis of the target rod 4; the first triangular roller 214 and the second triangular roller 224 have the same shape and size, and are symmetrically arranged relative to the axis of the target rod 4.
The second guide rail supporting plate 221 is U-shaped, the closed end of the second guide rail supporting plate 221 is fixedly connected to the closed ends of the two first supporting frames B112, and the open end of the second guide rail supporting plate 221 is arranged towards the target rod 4; the cross section of the second guide rail supporting plate 221 is perpendicular to that of the first supporting frame B112;
the number of the second guide rails 222 is two, the second guide rails 222 are arranged on two inner side surfaces of the second guide rail support plate 221, and in order to ensure the moving stability, the two second guide rails 222 are symmetrically arranged relative to the axis of the second guide rail support plate 221;
a second sliding block which is in sliding fit with the second guide rail 222 is arranged on the second guide rail 222, a second triangular roller supporting plate 223 is U-shaped, two inner side surfaces of the opening end of the second triangular roller supporting plate 223 are respectively provided with a hole, the two holes are symmetrically arranged relative to the axis of the second triangular roller supporting plate 223, and the two outer side surfaces of the second triangular roller supporting plate 223 are respectively fixed on the second sliding blocks to enable the second triangular roller supporting plate 223 to slide relative to the second guide rail supporting plate 221;
the second triangular roller 224 is positioned at the first opening of the first frame 11, the second triangular roller 224 is installed at the opening end of the second triangular roller support plate 223, and the second triangular roller 224 comprises a second roller group 2241 and a second triangular support 2242; the number of the roller sets 2241 is 3, and the roller sets 2241 are distributed on the triangular support II 2242 in a regular triangle shape; the roller set II 2241 comprises two roller sets 22411;
as shown in fig. 5, the cross section of the second triangular support 2242 is parallel to that of the second roller 22411, the cross section of the second triangular support 2242 is perpendicular to that of the second triangular roller support plate 223, a cavity is arranged in the second triangular support 2242, and the second driving device 225 is fixedly mounted on the second triangular support 2242 and used for driving the second roller 2241 to move up or down along the axis of the target rod 4;
the second driving device 225 comprises a second motor 2251 and a second gear set 2252, the second gear set 2252 is located in the cavity of the second triangular support 2242, the second gear set 2252 comprises a second driving gear set and a second driven gear set, the second driving gear set comprises a second driving gear 22521, the second driving gear 22521 is located in the center of the second triangular support 2242, two ends of the gear shaft of the second driving gear 22521 are respectively installed in two holes of the second triangular support 225223, the second motor 2251 is connected to the gear shaft of the second driving gear 22521 through a coupling, the second motor 2251 is installed on the second triangular support 225223, the number of the second driven gear sets 2252 is 3, the second driven gear sets 2252 are distributed in the cavity of the second triangular support 2242 in a regular triangle, 3 second driven gear sets 2252 are respectively engaged with the second driving gear 22521, the second roller 22411 is fixedly installed at two ends of the gear shaft of the second driven gear set 2252, and the second driving gear 22521 is driven by the second motor 2251, driving a second driven gear set 2252 meshed with the second driving gear 22521 to rotate, thereby driving 3 second roller sets 2241 to rotate simultaneously, and causing 2 second roller sets 2241 to rotate simultaneously along the axial direction of the target rod 4;
the rotation speed of the gears is changed through different gear combinations, in the embodiment, the driven gear set 2252 comprises a driven gear two A22522 and a driven gear two B22523, the driven gear two A22522 is distributed in a cavity of the triangular support II 2242 in a regular triangle, the driven gear two B22523 is distributed in a cavity of the triangular support II 2242 in a regular triangle, the driven gear two A22522 is meshed with the driving gear two 22521, the driven gear two A22522 is meshed with the driven gear two B22523, the gear shaft of the driven gear two B22523 vertically penetrates through the triangular support II 2242, and the two ends of the gear shaft of the driven gear two B22523 are fixedly provided with a roller two 22411; in order to increase the friction between the second roller 22411 and the target rod 4, the second roller 22411 in the embodiment is a rubber covered roller;
one end of the guide rod 226 is fixed at the center of the inner side of the closed end of the guide rail support plate II 221, the other end of the guide rod 226 is fixed at the center of the outer side surface of the closed end of the triangular roller support plate II 223, a spring 227 is sleeved on the guide rod 226, one end of the spring 227 is fixedly connected with the inner side of the closed end of the guide rail support plate II 221, the other end of the spring 227 is fixedly connected with the outer side of the closed end of the triangular roller support plate II 223, and the spring 227 is in a compressed state;
in the embodiment, the winding rod rotating mechanism 3 is located right below the obstacle-crossing climbing mechanism 2, the winding rod rotating mechanism 3 comprises a first winding rod rotating mechanism 31 and a second winding rod rotating mechanism 32, and the first winding rod rotating mechanism 31 and the second winding rod rotating mechanism 32 are symmetrically arranged relative to the axis of the target pole 4; as shown in fig. 6, the first rod-winding rotating mechanism 31 includes a third guide rail support plate 311, a third guide rail 312, a third slider (not shown), a third triangular roller support plate 313, a third triangular roller 314, a third driving device 315, and a third electric push rod 316;
the third guide rail support plate 311 is U-shaped, the closed end of the third guide rail support plate 311 is fixedly connected to the closed ends of the two second support frames A121, and the open end of the third guide rail support plate 311 faces the target rod 4; the cross section of the guide rail supporting plate III 311 is vertical to that of the second supporting frame A121;
the number of the guide rails three 312 is two, the guide rails three 312 are arranged on two inner side surfaces of the guide rail support plate three 311, and in order to ensure the moving stability, the two guide rails three 312 are symmetrically arranged relative to the axis of the guide rail support plate three 311;
a third slide block which is in sliding fit with the third guide rail 312 is arranged on the third guide rail 312, the third triangular roller support plate 313 is U-shaped, two inner side surfaces of the opening end of the third triangular roller support plate 313 are respectively provided with a hole, the two holes are symmetrically arranged relative to the axis of the third triangular roller support plate 313, and the two outer side surfaces of the third triangular roller support plate 313 are respectively fixed on the third slide blocks, so that the third triangular roller support plate 313 slides relative to the third guide rail support plate 311;
the third triangular roller 314 is positioned at a second opening of the second frame 12, the third triangular roller 314 is installed at an opening end of the third triangular roller support plate 313, and the third triangular roller 314 comprises a third roller group 3141 and a third triangular support 3142; the number of the roller group III 3141 is 3, and the roller group III 3141 is distributed on the triangular support III 3142 in a regular triangle shape; the roller group III 3141 comprises two roller groups III 31411;
as shown in fig. 7, the cross section of the triangular support third 3142 is parallel to the cross section of the roller third 31411, the cross section of the triangular support third 3142 is perpendicular to the cross section of the triangular roller support plate third 313, a cavity is arranged in the triangular support third 3142, and the driving device third 315 is fixedly installed on the triangular support third 3142 to drive the roller set third 3141 to rotate along the circumferential direction of the target rod 4;
the driving device III 315 comprises a motor III 3151 and a gear set III 3152, the gear set III 3152 is positioned in a cavity of a triangular support III 3142, the gear set III 3152 comprises a driving gear set III and a driven gear set III 3152, the driving gear set III comprises a driving gear III 31521, the driving gear III 31521 is positioned in the center of the triangular support III 3142, two ends of a gear shaft of the driving gear III 31521 are respectively installed in two holes of a triangular roller support plate III 313, the motor III 3151 is connected with the gear shaft of the driving gear III 31521 through a coupler, the motor III 3151 is installed on the triangular roller support plate III 313, the number of the driven gear set III 3152 is 3, the driven gear set III 3152 is distributed in the cavity of the triangular support III 3142 in a regular triangle shape, 3 driven gear set III 3152 are respectively meshed with the driving gear set III 31521, the roller III 31411 is fixedly installed at two ends of the gear shaft of the driven gear set III 3152, the motor III 3151 drives the driving gear III 31521 to rotate, driving a driven gear set III 3152 meshed with a driving gear set III 31521 to rotate, thereby driving 3 roller sets III 3141 to rotate simultaneously, and enabling 2 roller sets III 3141 to rotate simultaneously along the circumferential direction of the target rod 4;
the rotation speed of the gear is changed through different gear combinations, in the embodiment, the driven gear set III 3152 comprises a driven gear III A31522 and a driven gear III B31523, the driven gear III A31522 is distributed in a cavity of a triangular support III 3142 in an equilateral triangle shape, the driven gear III B31523 is distributed in the cavity of the triangular support III 3142 in an equilateral triangle shape, the driven gear III A31522 is meshed with the driving gear III 31521, the driven gear III A31522 is meshed with the driven gear III B31523, a gear shaft of the driven gear III B31523 vertically penetrates through the triangular support III 3142, and two ends of the gear shaft of the driven gear III B31523 are fixedly provided with rollers III 31411; in order to increase the friction force between the third roller 31411 and the target rod 4, the third roller 31411 in the embodiment is a rubber coating wheel;
one end of the electric push rod three 316 is fixed at the center of the inner side of the closed end of the guide rail support plate three 311, the other end of the electric push rod three 316 is fixed at the center of the outer side surface of the closed end of the triangular roller support plate three 313, and when the electric push rod is started, the triangular roller support plate three 313 is driven to move towards or away from the target rod 4 along the guide rail, so that the 2 roller sets three 3141 are close to or away from the target rod 4.
As shown in fig. 8, the second rod winding and rotating mechanism 32 includes a fourth guide rail support plate 321, a fourth guide rail 322, a fourth slider (not shown), a fourth triangular roller support plate 323, a fourth triangular roller 324, a fourth driving device 325, and a fourth electric push rod 326;
the guide rail support plate four 321 is U-shaped, the closed end of the guide rail support plate four 321 is fixedly connected to the closed ends of the two second support frames B122, and the open end of the guide rail support plate four 321 is arranged towards the target rod 4; the cross section of the guide rail support plate four 321 is vertical to that of the second support frame B122;
the number of the four guide rails 322 is two, the four guide rails 322 are arranged on two inner side surfaces of the four guide rail support plates 321, and in order to ensure the moving stability, the two four guide rails 322 are symmetrically arranged relative to the axis of the four guide rail support plates 321;
a fourth slide block which is in sliding fit with the fourth guide rail 322 is arranged on the fourth guide rail 322, the fourth triangular roller support plate 323 is U-shaped, two inner side surfaces of the opening end of the fourth triangular roller support plate 323 are respectively provided with a hole, the two holes are symmetrically arranged relative to the axis of the fourth triangular roller support plate 323, and the two outer side surfaces of the fourth triangular roller support plate 323 are respectively fixed on the fourth slide blocks, so that the fourth triangular roller support plate 323 slides relative to the fourth guide rail support plate 321;
the triangular roller four 324 is positioned at the second opening of the second frame 12, the triangular roller four 324 is installed at the opening end of the triangular roller support plate four 323, and the triangular roller four 324 comprises a roller group four 3241 and a triangular support four 3242; the number of the roller groups four 3241 is 3, and the roller groups four 3241 are distributed on the triangular support four 3242 in a regular triangle shape; roller set four 3241 includes two rollers four 32411;
as shown in fig. 9, the cross section of the triangular support four 3242 is parallel to that of the roller four 32411, the cross section of the triangular support four 3242 is perpendicular to that of the triangular roller support plate four 323, a cavity is arranged in the triangular support four 3242, and the driving device four 325 is fixedly mounted on the triangular support four 3242 and used for driving the roller group four 3241 to rotate along the circumferential direction of the target rod 4;
the driving device four 325 comprises a motor four 3251 and a gear set four 3252, the gear set four 3252 is located in a cavity of a triangular support four 3242, the gear set four 3252 comprises a driving gear set four and a driven gear set four 3252, the driving gear set four comprises a driving gear four 32521, the driving gear four 32521 is located in the center of the triangular support four 3242, two ends of a gear shaft of the driving gear four 32521 are respectively installed in two holes of the triangular roller support plate four 323, the motor four 3251 is connected with the gear shaft of the driving gear four 32521 through a coupler, the motor four 3251 is installed on the triangular roller support plate four 323, the number of the driven gear set four 3252 is 3, the driven gear set four 3252 is distributed in a regular triangle in the cavity of the triangular support four 3242, 3 driven gear set four 3252 are respectively meshed with the driving gear four 32521, rollers four 32411 are fixedly installed at two ends of the gear shaft of the driven gear set four 3252, the motor four 3251 drives the driving gear four 32521 to rotate, driving a driven gear set four 3252 meshed with a driving gear four 32521 to rotate, thereby driving 3 roller sets four 3241 to rotate simultaneously, and enabling 2 roller sets four 3241 to rotate along the circumferential direction of the target rod 4 simultaneously;
the rotation speed of the gears is changed through different gear combinations, in the embodiment, a driven gear set four 3252 comprises a driven gear four A32522 and a driven gear four B32523, the driven gear four A32522 is distributed in a cavity of a triangular support four 3242 in an equilateral triangle manner, the driven gear four B32523 is distributed in a cavity of a triangular support four 3242 in an equilateral triangle manner, the driven gear four A32522 is meshed with a driving gear four 32521, the driven gear four A32522 is meshed with the driven gear four B32523, a gear shaft of the driven gear four B32523 vertically penetrates through the triangular support four 3242, and rollers four 32411 are fixedly mounted at two ends of the gear shaft of the driven gear four B32523; in order to increase the friction between the roller four 32411 and the target rod 4, the roller four 32411 in the embodiment is a rubber covered wheel;
one end of the electric push rod four 326 is fixed at the center of the inner side of the closed end of the guide rail support plate four 321, the other end of the electric push rod four 326 is fixed at the center of the outer side surface of the closed end of the triangular roller support plate four 323, and when the electric push rod is started, the triangular roller support plate four 323 is driven to move towards or away from the target rod 4 along the guide rail, so that 2 roller groups four 3241 are close to or away from the target rod 4.
The working principle of the embodiment is as follows:
preparation before climbing the pole: the first electric push rod 216 of the first obstacle-crossing climbing mechanism 21 is in a minimum stroke state, the third electric push rod 316 of the first rod-winding rotating mechanism 31 is in a minimum stroke state, the fourth electric push rod 326 of the second rod-winding rotating mechanism 32 is in a minimum stroke state, the obstacle-crossing climbing rod device is moved to the position close to the target rod 4, and the obstacle-crossing climbing rod device passes through the target rod 4 along the radial direction of the target rod 4 from the first opening and the second opening and is adjusted to a proper climbing position;
climbing process: starting a first electric push rod 216 of the first obstacle crossing climbing mechanism 21, a third electric push rod 316 of the first winding rod rotating mechanism 31 and a fourth electric push rod 326 of the second winding rod rotating mechanism 32, wherein the first electric push rod 216 drives a first triangular roller supporting plate 213 to move towards the target rod 4 along the guide rail direction to press the target rod 4, and the guide rod 226 enables 2 first roller sets 2141 and 2 second roller sets 2241 to clamp the target rod 4 due to the elastic force of the spring 227; the friction force is increased while the clamping of the target rod 4 does not affect the movement of the first roller set 2141 and the second roller set 2241 on the target rod, and at this time, the third roller set 3141 of the first rod winding and rotating mechanism 31 and the fourth roller set 3241 of the second rod winding and rotating mechanism 32 do not contact with the target rod 4.
Starting a first motor 2151 of the first obstacle crossing climbing mechanism 21, wherein the first motor 2151 drives a first driving gear 21521 to rotate, a first driven gear A21522 meshed with the first driving gear 21521 is driven to rotate, a first driven gear B21523 is driven to rotate, 3 first roller groups 2141 rotate simultaneously, and 2 first roller groups 2141 in contact with the target rod 4 rotate along the axial direction of the target rod 4; and simultaneously starting a second motor 2251 of the second obstacle crossing and climbing mechanism 22, driving a second driving gear to rotate by the second motor 2251, driving a second driven gear A22522 meshed with the second driving gear to rotate, so as to drive a second driven gear B22523 to rotate, simultaneously rotating 3 second roller sets 2241 and the first roller set 2141 towards the same direction, and rotating 2 second roller sets 2241 in contact with the target rod 4 along the axial direction of the target rod 4, so as to climb the obstacle crossing and climbing device.
Rotating around the rod: stopping a first motor 2151 of the first obstacle crossing and climbing mechanism 21 and a second motor 2251 of the second obstacle crossing and climbing mechanism 22, starting a third electric push rod 316 of the first winding rod rotating mechanism 31 and a fourth electric push rod 326 of the second winding rod rotating mechanism 32, wherein the third electric push rod 316 drives a third triangular roller support plate 313 to move towards the target rod 4 along the guide rail direction, pressing the target rod 4, the fourth electric push rod 326 drives a fourth triangular roller support plate 323 to move towards the target rod 4, pressing the target rod 4, so that 2 roller groups three 3141 and 2 roller groups four 3241 clamp the target rod 4, restoring the first electric push rod 216 of the first obstacle crossing and climbing mechanism 21 to the minimum stroke position, starting a third motor 3151 of the first winding rod rotating mechanism 31 and a fourth motor 3251 of the second winding rod rotating mechanism 32, driving a third driving gear 31521 to rotate, driving a third a 31522 to rotate, and driving a third B31523 to rotate, the 3 roller sets three 3141 rotate towards the same direction at the same time, and the 2 roller sets three 3141 contacted with the target rod 4 rotate along the circumferential direction of the target rod 4; the motor four 3251 drives the driving gear four 32521 to rotate, drives the driven gear four A32522 meshed with the driving gear four 32521 to rotate, so as to drive the driven gear four B32523 to rotate, the 3 roller groups four 3241 and the three 3141 roller groups rotate simultaneously in the same direction, and the 2 roller groups four 3241 in contact with the target rod 4 rotate along the circumferential direction of the target rod 4, so that the obstacle-crossing climbing rod device rotates around the rod.
Climbing and positioning: when the obstacle-crossing pole-climbing device climbs to a specified position, the first motor 2151 of the first obstacle-crossing climbing mechanism 21 and the second motor 2251 of the second obstacle-crossing climbing mechanism 22 are turned off, the stroke state of the first electric push rod 216 of the first obstacle-crossing climbing mechanism 21 is adjusted, the first roller set 2141 and the second roller set 2241 clamp the target pole 4, the stroke state of the third electric push rod 316 of the first rod-winding rotating mechanism 31 is adjusted, the stroke state of the fourth electric push rod 326 of the second rod-winding rotating mechanism 32 is adjusted, and the third roller set 3141 and the fourth roller set 3241 clamp the target pole 4, so that the positioning function is realized. And (3) a descending process: the rotating directions of the first motor 2151 and the second motor 2251 are adjusted to be opposite to the rotating directions during climbing;
when the climbing process encounters an obstacle:
when the second triangular roller 224 meets an obstacle which can be overcome, the second triangular roller 224 stops climbing due to the blocking of the obstacle, the second triangular roller 224 overturns, the spring 227 is compressed, the obstacle is between the second triangular roller 2241, the second triangular roller 224 continuously climbs under the action of the second motor 2251, and the second triangular roller 2241 crosses the obstacle due to the action of the spring 227.
When the second triangular roller 224 or the first triangular roller 214 encounters an obstacle which cannot be crossed in the climbing process, stopping the first motor 2151 of the first obstacle crossing climbing mechanism 21 and the second motor 2251 of the second obstacle crossing climbing mechanism 22, starting the third electric push rod 316 of the first rod winding rotating mechanism 31 and the fourth electric push rod 326 of the second rod winding rotating mechanism 32, clamping the target rod 4, restoring the electric push rod of the first obstacle crossing climbing mechanism 21 to the minimum stroke position, starting the third motor 3151 of the first rod winding rotating mechanism 31 and the fourth motor 3251 of the second rod winding rotating mechanism 32, and enabling the 2 roller sets three 3141 and the 2 roller sets four 3241 which are in contact with the target rod 4 to rotate along the circumferential direction of the target rod 4 to avoid the obstacle; after the completion, the first electric push rod 216 of the first obstacle crossing and climbing mechanism 21 is started, the target pole 4 is clamped, the third electric push rod 316 of the first winding rotary mechanism 31 and the fourth electric push rod 326 of the second winding rotary mechanism 32 are returned to the minimum stroke state, the first motor 2151 of the first obstacle crossing and climbing mechanism 21 and the second motor 2251 of the second obstacle crossing and climbing mechanism 22 are started, and the obstacle crossing and climbing device continues to climb upwards.
The beneficial effects of this embodiment: the obstacle-crossing pole-climbing device can climb over and avoid different obstacles on the target pole 4 through the obstacle-crossing pole-climbing mechanism and the pole-winding rotating mechanism, is not limited by the size of the obstacles, and can climb and rotate at the same time;
the second obstacle-crossing climbing mechanism 22 in the invention adjusts the clamping force between the second obstacle-crossing climbing mechanism 22 and the target rod 4 through the spring 227, so that the second obstacle-crossing climbing mechanism 22 can smoothly cross the obstacle;
the obstacle-crossing climbing mechanism is not influenced by the diameter of the target rod 4 in the climbing process, can adapt to the target rods 4 with different diameters by adjusting the stroke of the electric push rod I216, and has the climbing positioning function.
Example 2
This embodiment is different from embodiment 1 in that: as shown in fig. 10, the pressure sensor 217 is further included, the pressure sensor 217 is installed between the electric push rod one 216 and the triangular roller support plate one 213, the pressure sensor 217 is connected with a control board (not shown), the control board is connected with the electric push rod one 216, and the pressure sensor 217 and the control board in the embodiment are prior art.
The working principle of the embodiment is as follows: when the first roller set 2141 and the second roller set 2241 encounter an obstacle in the climbing process, the highest height of the obstacle encountered by the second roller set 2241 extending outwards along the radial direction of the target rod 4 is recorded as h2, the highest height of the obstacle encountered by the first roller set 2141 extending outwards along the radial direction of the target rod 4 is recorded as h1, when h1 is greater than or equal to h2, the spring 227 of the second obstacle-surmounting climbing mechanism 22 is compressed, the clamping force is increased, after the pressure sensor 217 monitors that the pressure is increased, a signal is transmitted to the control board, the control board controls the electric push rod to reduce the stroke, the clamping force on the target rod 4 is reduced, and the second triangular roller 224 and the first triangular roller 214 are enabled to be the same and to climb over the obstacle.
When the diameter of the target rod 4 is reduced in the climbing process, the pressure sensor monitors that the pressure is reduced, the signal is transmitted to the control board, the control board controls the electric push rod to be increased and formed, and the clamping force is kept within an allowable range.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and various process schemes having no substantial difference from the concept of the present invention are within the protection scope of the present invention.

Claims (10)

1. The utility model provides a hinder more step on lever apparatus which characterized in that: comprises a frame, an obstacle-crossing climbing mechanism and a rod winding rotating mechanism; the obstacle-crossing climbing mechanism and the winding rod rotating mechanism are both positioned on the rack, an opening is formed in one side of the rack, and the obstacle-crossing climbing mechanism and the winding rod rotating mechanism are both positioned in the opening;
the obstacle crossing climbing mechanism comprises a first obstacle crossing climbing mechanism and a second obstacle crossing climbing mechanism, and the first obstacle crossing climbing mechanism and the second obstacle crossing climbing mechanism are respectively positioned on two sides of the target pole; the first obstacle crossing and climbing mechanism comprises a first roller, a first driving device connected with the first roller and a first expansion device connected with the first roller, the second obstacle crossing and climbing mechanism comprises a second roller, a second driving device connected with the second roller and a second expansion device connected with the second roller, the first driving device drives the first roller to do lifting motion along the axis of the target rod, and the second driving device drives the second roller to do lifting motion along the axis of the target rod; the first telescopic device is used for pressing the first roller, the second telescopic device is used for pressing the second roller, and the first telescopic device and the second telescopic device enable the first roller and the second roller to clamp the target rod oppositely;
the rod winding rotating mechanism comprises a first rod winding rotating mechanism and a second rod winding rotating mechanism, and the first rod winding rotating mechanism and the second rod winding rotating mechanism are respectively positioned on two sides of the target rod; the first rod winding rotating mechanism comprises a third roller, a third driving device connected with the third roller and a third telescopic device connected with the third roller; the second rod winding rotating mechanism comprises a fourth roller, a fourth driving device connected with the fourth roller and a fourth telescopic device connected with the fourth roller, the third driving device drives the third roller to rotate along the circumferential direction of the target rod, and the fourth driving device drives the fourth roller to rotate along the circumferential direction of the target rod; the telescopic device is used for pressing the roller three, the telescopic device is used for pressing the roller four, and the roller three and the roller four clamp the target rod relatively.
2. The obstacle-surmounting pole-climbing device according to claim 1, characterized in that: the telescopic device comprises a first electric push rod, one end of the first electric push rod is connected with a first roller, and the other end of the first electric push rod is connected with the rack;
the second telescopic device comprises a guide rod and an elastic piece, one end of the guide rod is connected with the second roller, the other end of the guide rod is connected with the rack, and the elastic piece is sleeved on the guide rod;
the third telescopic device comprises a third electric push rod, one end of the third electric push rod is connected with the third roller, and the other end of the third electric push rod is connected with the rack;
the fourth telescopic device comprises a fourth electric push rod, one end of the fourth electric push rod is connected with the fourth roller, and the other end of the fourth electric push rod is connected with the rack.
3. The obstacle-surmounting pole-climbing device according to claim 1, characterized in that: the frame includes first frame and second frame, the lower extreme of first frame and the upper end fixed connection of second frame, obstacle climbing mechanism installs in first frame, around pole rotary mechanism installs in the second frame.
4. The obstacle-surmounting pole-climbing device according to claim 3, characterized in that: and a first support frame A and a first support frame B which are symmetrical relative to the axis of the target rod are arranged on two sides of the first rack, and a second support frame A and a second support frame B which are symmetrical relative to the axis of the target rod are arranged on two sides of the second rack.
5. The obstacle-climbing pole device according to claim 4, characterized in that: the first obstacle crossing climbing mechanism further comprises a guide rail support plate I and a roller support plate I; the first guide rail supporting plate is U-shaped, the closed end of the first guide rail supporting plate is connected with the first support frame A, and the open end of the first guide rail supporting plate faces the target rod; the first roller supporting plate is U-shaped, the open end of the first roller supporting plate faces the target rod, the first roller supporting plate is connected with the first guide rail supporting plate in a sliding mode, the first roller is installed at the open end of the first roller supporting plate, and the cross section of the first roller is perpendicular to that of the target rod;
the second obstacle crossing climbing mechanism further comprises a guide rail support plate II and a roller support plate II; the guide rail support plate II is U-shaped, the closed end of the guide rail support plate II is connected with the first support frame B, and the open end of the guide rail support plate II faces the target rod; the second roller supporting plate is U-shaped, the open end of the second roller supporting plate faces the target rod, the second roller supporting plate is connected with the second guide rail supporting plate in a sliding mode, the second roller is installed at the open end of the second roller supporting plate, and the cross section of the second roller is perpendicular to that of the target rod.
6. The obstacle-surmounting pole-climbing device according to claim 5, characterized in that: the first roller is a triangular roller, the first roller supporting plate is a triangular roller supporting plate, the triangular roller comprises a first roller group and a first triangular support, the number of the first roller group is three, the first roller group is distributed on the first triangular support in a regular triangle shape, and the first roller group comprises two first rollers;
the cross section of the first triangular support is parallel to that of the first roller, and a cavity is formed in the first triangular support;
the first driving device comprises a first motor and a first gear set; the first gear set is positioned in a cavity of the first triangular support, the first gear set comprises a first driving gear set and a first driven gear set, the first driving gear set comprises a first driving gear, and the first driving gear is positioned in the center of the first triangular support; the two ends of a gear shaft of the first driving gear are arranged on the first triangular roller supporting plate, the first motor is connected with the gear shaft of the first driving gear through a coupler, and the first motor is arranged on the first triangular roller supporting plate;
the roller set II is a triangular roller set II, the roller support plate II is a triangular roller support plate II, the triangular roller set II comprises a roller set II and a triangular support II, the number of the roller set II is three, the roller set II is distributed on the triangular support II in a regular triangle shape, and the roller set II comprises two roller sets II;
the cross section of the second triangular support is parallel to that of the second roller, and a cavity is formed in the second triangular support;
the second driving device comprises a second motor and a second gear set; the second gear set is positioned in a cavity of the second triangular support, the second gear set comprises a second driving gear set and a second driven gear set, the second driving gear set comprises a second driving gear, and the second driving gear is positioned in the center of the second triangular support; and two ends of a gear shaft of the second driving gear are arranged on the second triangular roller supporting plate, the second motor is connected with the gear shaft of the second driving gear through a coupler, and the second motor is arranged on the second triangular roller supporting plate.
7. The obstacle-surmounting pole-climbing device according to claim 2, characterized in that: one end of the first electric push rod is fixed at the center of the inner side of the closed end of the first guide rail supporting plate, and the other end of the first electric push rod is fixed at the center of the outer side face of the closed end of the first triangular roller supporting plate;
one end of the guide rod is fixed at the center of the inner side of the closed end of the guide rail support plate II, the other end of the guide rod is fixed at the center of the outer side face of the closed end of the triangular roller support plate II, one end of the elastic piece is fixedly connected with the inner side of the closed end of the guide rail support plate II, and the other end of the elastic piece is fixedly connected with the outer side of the closed end of the triangular roller support plate II.
8. The obstacle-climbing pole device according to claim 4, characterized in that: the first rod winding rotating mechanism further comprises a third guide rail supporting plate and a third roller supporting plate, the third guide rail supporting plate is U-shaped, the closed end of the third guide rail supporting plate is connected with the second supporting frame A, and the open end of the third guide rail supporting plate faces the target rod; the third roller supporting plate is U-shaped, the open end of the third roller supporting plate faces the target rod, the third roller supporting plate is connected with the third guide rail supporting plate in a sliding mode, the third roller is installed at the open end of the third roller supporting plate, and the cross section of the third roller is parallel to that of the target rod;
the second rod winding rotating mechanism further comprises a guide rail support plate IV and a roller support plate IV, the guide rail support plate IV is U-shaped, the closed end of the guide rail support plate IV is connected with the second support frame B, and the open end of the guide rail support plate IV faces the target rod; the fourth roller supporting plate is U-shaped, the open end of the fourth roller supporting plate faces the target rod, the fourth roller supporting plate is connected with the fourth guide rail supporting plate in a sliding mode, the fourth roller is installed at the open end of the fourth roller supporting plate, and the cross section of the fourth roller is parallel to the cross section of the target rod.
9. The obstacle-surmounting pole-climbing device according to claim 8, characterized in that: the roller set III is a triangular roller set III, the roller support plate III is a triangular roller support plate III, the triangular roller set III comprises a roller set III and a triangular support III, the number of the roller set III is three, the roller set III is distributed on the triangular support III in a regular triangle shape, and the roller set III comprises two roller sets III;
the cross section of the triangular support III is parallel to that of the roller III, and a cavity is formed in the triangular support III;
the driving device III comprises a motor III and a gear set III; the third gear set is positioned in a cavity of the third triangular support and comprises a third driving gear set and a third driven gear set, the third driving gear set comprises a third driving gear which is positioned in the center of the third triangular support; two ends of a gear shaft of the driving gear III are arranged on the triangular roller supporting plate III, the motor III is connected with the gear shaft of the driving gear III through a coupler, and the motor III is arranged on the triangular roller supporting plate III;
the roller group four is distributed on the triangular support four in a regular triangle shape and comprises two roller groups four;
the cross section of the triangular support IV is parallel to that of the roller IV, and a cavity is arranged in the triangular support IV;
the driving device IV comprises a motor IV and a gear set IV; the four gear sets are positioned in a cavity of the four triangular supports, each gear set four comprises a driving gear set four and a driven gear set four, each driving gear set four comprises a driving gear four, and each driving gear four is positioned in the center of the corresponding triangular support four; the two ends of the gear shaft of the driving gear IV are arranged on the triangular roller supporting plate IV, the motor IV is connected with the gear shaft of the driving gear IV through a coupler, and the motor IV is arranged on the triangular roller supporting plate IV.
10. A pole climbing method using the obstacle-surmounting pole climbing device according to claim 1, characterized in that: the method comprises the following steps:
preparation before climbing the pole: the obstacle-crossing pole climbing device passes through the target pole along the radial direction of the target pole from the opening of the frame;
climbing or descending process: the first telescopic device is used for pressing the first roller, the second telescopic device is used for pressing the second roller, the first driving device and the second driving device are started, and the first driving roller and the second driving roller are arranged on two sides of the target rod and do lifting motion along the axis of the target rod;
rotating around the rod: the three-purpose telescopic device is used for compressing the third roller, the four-purpose telescopic device is used for compressing the fourth roller, so that the third roller and the fourth roller clamp the target rod relatively, the first telescopic device and the second telescopic device are restored to the initial state, the third driving device and the fourth driving device are started, and the third roller and the fourth roller are driven to rotate on two sides of the target rod along the circumferential direction of the target rod;
climbing and positioning: when the obstacle-crossing pole-climbing device climbs to a specified position, the first driving device, the second driving device, the third driving device and the fourth driving device are closed, the first telescopic device is used for pressing the first roller, the second telescopic device is used for pressing the second roller, the third telescopic device is used for pressing the third roller, and the fourth telescopic device is used for pressing the fourth roller;
the climbing process encounters obstacles: closing the first driving device and the second driving device, enabling the telescopic device to be used for pressing the third roller, enabling the fourth telescopic device to be used for pressing the fourth roller, enabling the first telescopic device and the second telescopic device to be restored to the initial state, starting the third driving device and the fourth driving device, enabling the third driving device and the fourth roller to rotate on two sides of the target pole along the circumferential direction of the target pole, and avoiding obstacles; the first telescopic device is used for pressing the first roller, the second telescopic device is used for pressing the second roller, the first driving device and the second driving device are started, and the obstacle-crossing pole-climbing device is driven to continuously climb upwards.
CN201910725307.0A 2019-08-07 2019-08-07 Obstacle-crossing pole climbing device and pole climbing method thereof Active CN110271621B (en)

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CN113183159A (en) * 2021-04-20 2021-07-30 广东实现科技有限公司 Climbing chassis
CN113911224B (en) * 2021-10-18 2022-10-14 山东科技大学 Obstacle-crossing pole-climbing robot
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