CN110386206B - Spiral lifting climbing device - Google Patents
Spiral lifting climbing device Download PDFInfo
- Publication number
- CN110386206B CN110386206B CN201810363366.3A CN201810363366A CN110386206B CN 110386206 B CN110386206 B CN 110386206B CN 201810363366 A CN201810363366 A CN 201810363366A CN 110386206 B CN110386206 B CN 110386206B
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- half rim
- driving wheel
- left half
- rim
- right half
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- 230000009194 climbing Effects 0.000 title claims abstract description 49
- 230000005540 biological transmission Effects 0.000 claims description 6
- 235000013399 edible fruits Nutrition 0.000 abstract description 9
- 238000012423 maintenance Methods 0.000 abstract description 5
- 230000008901 benefit Effects 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000009434 installation Methods 0.000 description 4
- 230000001105 regulatory effect Effects 0.000 description 2
- 208000031481 Pathologic Constriction Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000036262 stenosis Effects 0.000 description 1
- 208000037804 stenosis Diseases 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Classifications
-
- 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
- B62D57/036—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 screw type, e.g. Archimedian screw
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
The invention relates to a spiral lifting climbing device, which mainly comprises a power driving device, a supporting and clamping device and a climbing rod. The spiral lifting climbing device is used as a carrier for climbing trees, climbing rods and carrying various tools to execute various tasks, can convey people or working tools to proper heights, is applied to various high-altitude working occasions, such as functions of telegraph pole circuit maintenance, high-altitude fruit picking (carrying fruit picking devices), high-altitude branch cutting (carrying electric saws) and the like, and has the advantages of light structure, low manufacturing cost, high degree of automation, simplicity and convenience in operation, safety and reliability.
Description
Technical Field
The invention belongs to the field of climbing, and particularly relates to a spiral lifting climbing device.
Background
At present, many occasions of high-altitude operation are more and more, such as telegraph pole circuit maintenance, high-altitude lamp installation, high-altitude fruit picking, high-altitude branch cutting and the like, people or operation tools are required to be conveyed to the high altitude, but at present, devices capable of automatically and stably climbing on trees or poles with the same length are not more, although large-scale equipment such as an aerial ladder can freely lift at present, the aerial ladder and the like are complex and huge in equipment and high in price, and are difficult to spread under the influence of space topography such as space stenosis and the like, so that many inconvenience is brought to many high-altitude professions, and in addition, many factors such as poor maneuverability, surrounding environment influence and the like of the equipment become fatal defects for restricting the high-altitude operation, so that the lifting device with light and handy structure, low manufacturing cost, high automation degree, simple operation, safety and reliability has great economic benefit and wide market prospect is developed.
Disclosure of Invention
The purpose of the invention is that: the invention provides a spiral lifting climbing device which can climb trees, climb rods and carry out various tasks by carrying various tools, can convey people or operation tools to proper heights, and is applied to various high-altitude operation occasions, such as functions of telegraph pole circuit maintenance, high-altitude lamp installation, high-altitude fruit picking (carrying fruit picking device), high-altitude branch cutting (carrying electric saw) and the like.
The technical scheme of the invention is as follows: the spiral lifting climbing device mainly comprises a power driving device 1, a supporting and clamping device 2 and a climbing rod 19, wherein the supporting and clamping device 2 mainly comprises an upper left half rim 3, a supporting plate 4, a guide wheel 5, a guide wheel frame 6, a pressure spring 7, a cushion block 8, a guide pillar 9, a lower left half rim 10, an upper eye-splice 11, a lower eye-splice 12, a fastening bolt 13, a lower right half rim 14, an upper right half rim 15, a right connecting plate 16, a connecting hinge 17, a left connecting plate 18, a guide sleeve 20 and a rectangular hole 21, the power driving device 1 mainly comprises a fixed block 22, a power device frame 23, a motor 24, a driving sprocket 25, a transmission chain 26, a driven sprocket 27, a worm wheel 28, a lower driving wheel 29, an upper driving wheel 30, a supporting U-shaped frame 31, a main shaft 32, a worm 33, a U-shaped guide support rod 34, a bearing support 35, a driving wheel spring 36 and a driving wheel fixed block 37, the guide wheel 5, the lower driving wheel 29 and the upper driving wheel 30 form a certain included angle with the generatrix of the climbing rod 19, the included angle determines the climbing speed, the larger the included angle is, the slower the climbing speed is under the same condition, the smaller the included angle is, the faster the climbing speed is, the upper left half rim 3 and the upper right half rim 15 are formed by cutting one rim into two parts, the lower left half rim 10 and the lower right half rim 14 are formed by cutting the other rim into two parts, the upper left half rim 3, the upper right half rim 15, the lower left half rim 10 and the lower right half rim 14 are identical in structure and are semicircular, a plurality of through holes and threaded holes are formed on the surfaces of the upper left half rim 3, the lower left half rim 10 and the lower right half rim 14, the front end surface of the driving wheel fixing block 37 is an arc surface, the arc surface is abutted against the outer surface of the upper right half rim 15, the arc radius is consistent with the arc radius of the outer surface of the upper right half rim 15, the driving wheel fixing block 37 is fastened on the upper right half rim 15 through the fastening bolt 13, the guide wheels 5 uniformly distributed on the upper left half rim 3, the upper right half rim 15, the lower left half rim 10 and the lower right half rim 14 are tightly pressed on the climbing rod 19 through the pressure springs 7, and the lower driving wheel 29 and the upper driving wheel 30 are tightly pressed on the climbing rod 19 through the driving wheel springs 36.
The worm wheel 28, the lower driving wheel 29 and the upper driving wheel 30 are fixedly connected to a main shaft 32, the driven sprocket wheel 27 and the worm 33 are coaxial, the outer diameters of the lower driving wheel 29 and the upper driving wheel 30 are the same, the worm 33 is meshed with the worm wheel 28, the driving sprocket wheel 25, the driving chain 26 and the driven sprocket wheel 27 form a set of chain transmission, the driving sprocket wheel 25 is fixedly connected to an output shaft of a motor 24, the U-shaped support 31 is U-shaped, the cross section of the U-shaped guide support rod 34 is square, a square hole is formed in the center of a driving wheel fixing block 37, a certain inclination angle is formed in the square hole, the U-shaped guide support rod 34 and the square hole of the driving wheel fixing block 37 are in clearance fit, the inclination angle of the square hole determines the inclination angle of the U-shaped guide support rod 34, the lower driving wheel 29 and the upper driving wheel 30, a driving wheel spring 36 is sleeved on the U-shaped guide support rod 34, two ends of the U-shaped guide support rod 34 are respectively tightly pressed on a right half rim 15 and a supporting U-shaped support 31, one end of the U-shaped guide support rod 34 and the other end of the U-shaped support rod 31 are fixedly connected to a power device frame 23 through the fixing block 22, the main shaft 32 is respectively arranged in the power device frame 23 and the supporting frame 31, and the U-shaped support frame 31 is respectively arranged in the power device frame 23, and the power device is arranged in the power device frame 23.
The supporting and clamping device 2 is uniformly provided with a plurality of cushion blocks 8, the front end surfaces of the cushion blocks 8 are arc surfaces, the arc surfaces of the cushion blocks 8 are uniformly distributed and respectively abutted against the outer surfaces of an upper left half rim 3, a lower left half rim 10, an upper right half rim 15 and a lower right half rim 14, the arc radius is consistent with the arc radius of the outer surface of the rim, the rear end surface of the cushion block 8 is a plane, the center is provided with a through hole, a cushion block 8 is respectively arranged between a left connecting plate 18 and the upper left half rim 3 and a lower left half rim 10, a cushion block 8 is respectively arranged between a right connecting plate 16 and the upper right half rim 15 and the lower right half rim 14, a cushion block 8 is respectively arranged between a left side supporting plate and the upper left half rim 3 and the lower left half rim 14, a right side supporting plate 8 is respectively fixedly arranged between a right side supporting plate and the upper right half rim 15 and the lower right half rim 14, the upper left half rim 3 and the lower left half rim 10 are fixedly connected through the supporting plate 4 and the left connecting plate 18, the upper right half rim 15 and the lower right half rim 14 are fixedly connected through the supporting plate 4 and the right half rim 14 respectively, the right connecting plate 16 and the left connecting plate 18 are connected through a connecting hinge 17, the upper surface and the lower surface of the supporting plate 4 are respectively provided with a square hole, the square hole is provided with a certain inclination angle, the inclination angle of the square hole determines the inclination angle of the guide wheel 5, the pressure spring 7 is sleeved on the guide post 9, the two ends of the pressure spring 7 are respectively propped against the guide sleeve 20 and the guide wheel frame 6, the guide wheel frame 6 is U-shaped, the central shaft of the guide wheel 5 is arranged on the guide wheel frame 6, the guide wheel 5 can freely rotate on the central shaft, the guide sleeve 20 guides the guide post 9, the guide sleeve 20 is fixed in the central hole of the cushion block 8, the guide post 9 and the guide wheel frame 6 are fixedly connected, the two ends of the upper eye-splice 11 are respectively connected with the upper left half rim 3 and the upper right half rim 15, the two ends of the lower eye-splice 12 are respectively connected with the lower left half rim 10 and the lower right half rim 14, the upper eye-splice 11 and the lower eye-splice 12 are snap, the left bayonet and the right bayonet can be fastened and separated at any time.
The beneficial effects of the invention are as follows: the spiral lifting climbing device is used as a carrier for climbing trees, climbing rods and carrying various tools to execute various tasks, can convey people or working tools to proper heights, is applied to various high-altitude working occasions, such as functions of telegraph pole circuit maintenance, high-altitude fruit picking (carrying fruit picking devices), high-altitude branch cutting (carrying electric saws) and the like, and has the advantages of light structure, low manufacturing cost, high degree of automation, simplicity and convenience in operation, safety and reliability.
Drawings
FIG. 1 is a three-dimensional view of a spiral lifting climbing device;
FIG. 2 is a three-dimensional view of a spiral lifting climbing device II;
FIG. 3 is a three-dimensional view of a climbing rod of the spiral lifting climbing device;
FIG. 4 is a three-dimensional view of a climbing rod of the spiral lifting climbing device;
FIG. 5 is an expanded three-dimensional view of the spiral lifting climbing device;
FIG. 6 is a three-dimensional view of a support clamping device;
FIG. 7 is a three-dimensional view of a support clamp frame;
FIG. 8 is a three-dimensional view of components such as a guide wheel;
FIG. 9 is a partial three-dimensional view of a support clamping device;
FIG. 10 is a partial three-dimensional view of a support clamping device;
FIG. 11 is a partial three-dimensional view of a support clamp;
FIG. 12 is a partial three-dimensional view of a support clamping device;
FIG. 13 is a partial three-dimensional view of a support clamping device;
FIG. 14 is a partial three-dimensional view of a support clamping device;
FIG. 15 is a schematic representation of a power drive installation in three dimensions;
FIG. 16 is a schematic diagram of a power drive installation in a second three-dimensional manner;
FIG. 17 is a three-dimensional view of a power drive apparatus;
FIG. 18 is a three-dimensional view of a power drive apparatus;
FIG. 19 is a three-dimensional view of a power drive apparatus;
FIG. 20 is a partial three-dimensional view of a power driven device;
FIG. 21 is a partial three-dimensional view of a power drive apparatus;
FIG. 22 is a partial three-dimensional view of a power driven device;
fig. 23 is a principal axis three-dimensional view.
Wherein,
1. the power drive device 2, support clamping device 3, upper left half rim 4, support plate 5, guide wheel 6, guide wheel frame 7, compression spring 8, cushion block 9, guide post 10, lower left half rim 11, upper case eye-splice 12, lower case eye-splice 13, fastening bolt 14, lower right half rim 15, upper right half rim 16, right connecting plate 17, connecting hinge 18, left connecting plate 19, climbing rod 20, guide sleeve 21, rectangular hole 22, fixed block 23, power device frame 24, motor 25, driving sprocket 26, transmission chain 27, driven sprocket 28, worm gear 29, lower driving wheel 30, upper driving wheel 31, support U-shaped frame 32, main shaft 33, worm 34, U-shaped guide support rod 35, bearing support 36, driving wheel spring 37, driving wheel fixed block 27
Description of the embodiments
When the device is required to climb along the climbing rod 19 in a spiral manner, as shown in fig. 1-23, the upper eye-splice 11 and the lower eye-splice 12 of the supporting and clamping device 2 are firstly opened, the left half part and the right half part of the supporting and clamping device 2 are separated by taking the connecting hinge 17 as a rotation center, then the separated supporting and clamping device 2 is sleeved on the climbing rod 19, then the upper eye-splice 11 and the lower eye-splice 12 are fastened, the tightness degree of the upper eye-splice 11 and the lower eye-splice 12 can be regulated by the length of connecting belts at the two ends of the upper eye-splice 11 and the lower eye-splice 12, the tightness degree is required to ensure that the lower driving wheel 29, the upper driving wheel 30 and each guide wheel 5 are tightly attached to the climbing rod 19 under the pressure of respective pressure springs, and even if the supporting and clamping device 2 is clamped on the climbing rod 19, the tightening of connecting belts at the two ends of the upper eye-splice 11 and the lower eye-splice 12 is required, the reliability of the supporting and clamping device 2 is higher when the connecting belts at the two ends of the climbing rod 19 are regulated.
Then, the motor 24 is started, the driving wheel 25, the driving chain 26 and the chain transmission of the driven chain wheel 27 are meshed through the worm 33 and the worm wheel 28, the main shaft 32 is driven to rotate, the main shaft 32 drives the lower driving wheel 29 and the upper driving wheel 30 to synchronously rotate, great friction force is generated between the lower driving wheel 29 and the upper driving wheel 30 and the climbing rod 19 under the pressure of the driving wheel spring 36, the whole spiral lifting climbing device is pushed to rotate around the climbing rod 19 by left and right under the friction force, and because the driving wheel 29, the upper driving wheel 30 and the guide wheels 5 have certain inclination angles, the spiral lifting climbing device rotates along the driving wheel 29, the upper driving wheel 30 and the guide wheels 5 under the action of the driving force, the inclination angles of the driving wheel 24 are larger, the pitch of the spiral climbing rod is larger, the climbing speed is higher, the inclination angles of the driving wheel 29 and the upper driving wheel 30 are determined by the inclination angles of square holes inside the driving wheel fixing block 37, the inclination angles of the guide wheels 5 are determined by the inclination angles of square holes inside the supporting plate 4, and the driving wheel 29, the driving wheel 30 and the guide wheels 5 are required to rotate along with the rotation angles of the driving wheel 24 and the self-weight of the driving wheel 30 under the action of the driving force and the driving wheel.
The device can carry on multiple tools and carry out multiple tasks in the spiral rising and falling process, can carry people or operation tools to proper height, is applied to multiple high-altitude operation occasions, such as functions of telegraph pole circuit maintenance, high-altitude fruit picking (carrying fruit picking device), high-altitude branch cutting (carrying electric saw) and the like, and has the advantages of light structure, low manufacturing cost, high automation degree, simplicity and convenience in operation, safety and reliability.
Claims (1)
1. The spiral lifting climbing device mainly comprises a power driving device, a supporting and clamping device and a climbing rod, wherein the supporting and clamping device mainly comprises an upper left half rim, a supporting plate, a guide wheel frame, a pressure spring, a cushion block, a guide pillar, a lower left half rim, an upper eye-splice, a lower eye-splice, a fastening bolt, a lower right half rim, an upper right half rim, a right connecting plate, a connecting hinge, a left connecting plate and a guide sleeve, the power driving device mainly comprises a fixed block, a power device frame, a motor, a driving sprocket, a transmission chain, a driven sprocket, a worm wheel, a lower driving wheel, an upper driving wheel, a supporting U-shaped frame, a main shaft, a worm, a U-shaped guide supporting rod, a driving wheel spring and a driving wheel fixed block, wherein the guide wheel, the lower driving wheel and the upper driving wheel form a certain included angle with a bus of the climbing rod, and the included angle determines the climbing speed, the climbing speed is slower when the included angle is larger and the climbing speed is faster when the included angle is smaller under the same condition, the upper left half rim and the upper right half rim are formed by cutting one rim in a split way, the lower left half rim and the lower right half rim are formed by cutting the other rim in a split way, the structures of the upper left half rim, the upper right half rim, the lower left half rim and the lower right half rim are the same, the upper left half rim, the upper right half rim, the lower left half rim and the lower right half rim are all semicircular, a plurality of through holes and threaded holes are formed on the surfaces, the front end surface of the driving wheel fixing block is an arc surface, the arc surface is abutted against the outer surface of the upper right half rim, the arc radius is consistent with the arc radius of the outer surface of the rim of the upper right half rim, the driving wheel fixing block is fastened on the upper right half rim through fastening bolts, a plurality of guide wheels which are uniformly distributed on the upper left half rim, the upper right half rim, the lower left half rim and the lower left half rim are tightly pressed on the climbing rod through pressure springs, the lower driving wheel and the upper driving wheel are tightly pressed on the climbing rod through a driving wheel spring; the worm wheel, the lower driving wheel and the upper driving wheel are fixedly connected to the main shaft, the driven sprocket and the worm are coaxial, the outer diameters of the lower driving wheel and the upper driving wheel are the same, the worm is meshed with the worm wheel, the driving sprocket, the driving chain and the driven sprocket form a set of chain transmission, the driving sprocket is fixedly connected to an output shaft of the motor, the U-shaped support is U-shaped, the cross section of the U-shaped guide support rod is square, a square hole is formed in the center of the driving wheel fixing block, a certain inclination angle is formed in the square hole, the U-shaped guide support rod and the square hole of the driving wheel fixing block form clearance fit, the square hole of the driving wheel fixing block guides the U-shaped guide support rod, the inclination angle of the U-shaped guide support rod, the lower driving wheel and the inclination angle of the upper driving wheel are determined, the driving wheel spring is sleeved on the U-shaped guide support rod, two ends of the driving wheel spring are respectively fastened to the right half rim and the U-shaped support frame, one end of the U-shaped guide support rod is fixedly connected to the U-shaped support frame, the other end of the U-shaped guide support rod is fixedly connected to the power device frame through the fixing block, the main shaft is respectively arranged in the bearing holes of the power device frame and the U-shaped support frame, and the motor, the U-shaped support frame and the worm are respectively arranged on the power device frame; the supporting and clamping device is characterized in that a plurality of cushion blocks are uniformly distributed on the supporting and clamping device, the front end surfaces of the cushion blocks are arc surfaces, the arc surfaces of the cushion blocks are respectively abutted against the outer surfaces of an upper left half rim, a lower left half rim, an upper right half rim and a lower right half rim, the arc radii of the arc surfaces are consistent with those of the outer surfaces of the rims, the rear end surfaces of the cushion blocks are plane surfaces, a through hole is formed in the center, a cushion block is respectively arranged between the left connecting plate and the upper left half rim and between the right connecting plate and the lower left half rim, a cushion block is respectively arranged between the left supporting plate and the upper left half rim and between the right supporting plate and the upper left half rim and between the lower left half rim, a cushion block is respectively arranged between the right supporting plate and the upper left half rim and the lower left half rim, a cushion block is respectively arranged between the upper left supporting plate and the lower left half rim and between the upper right supporting plate and the lower left half rim, the upper left half rim and the upper left half rim is fixedly connected with the upper left half rim and the lower left half rim respectively through the supporting plate and the left connecting plate and the left half rim respectively, the upper left half rim and the upper right half rim respectively fixedly connected with the upper right half rim and the upper right half rim respectively lower half rim respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810363366.3A CN110386206B (en) | 2018-04-21 | 2018-04-21 | Spiral lifting climbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810363366.3A CN110386206B (en) | 2018-04-21 | 2018-04-21 | Spiral lifting climbing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110386206A CN110386206A (en) | 2019-10-29 |
| CN110386206B true CN110386206B (en) | 2024-02-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810363366.3A Active CN110386206B (en) | 2018-04-21 | 2018-04-21 | Spiral lifting climbing device |
Country Status (1)
| Country | Link |
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| CN (1) | CN110386206B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112986397A (en) * | 2021-04-07 | 2021-06-18 | 四川省交通建设集团股份有限公司 | Acoustic wave detection device for compactness of pier stud |
| CN113117297B (en) * | 2021-05-21 | 2023-01-13 | 广东电网有限责任公司 | Electric power cement pole climbing device |
| CN113748866A (en) * | 2021-09-29 | 2021-12-07 | 安捷电维智能科技研究院(广州)有限公司 | Tree climbing and pruning robot |
| CN113695778B (en) * | 2021-10-28 | 2021-12-28 | 南通大鲸智能科技有限公司 | Numerical control welding device |
| GB2618828A (en) * | 2022-05-19 | 2023-11-22 | RotoTech Pte Ltd | Apparatus for servicing a structure |
| CN116142344A (en) * | 2023-03-09 | 2023-05-23 | 中国矿业大学 | Multifunctional heavy-duty wire rope climbing robot and application method thereof |
Citations (4)
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|---|---|---|---|---|
| CN103070033A (en) * | 2013-02-06 | 2013-05-01 | 山东农业大学 | Automatic pruning device for poplars |
| CN106314583A (en) * | 2016-09-18 | 2017-01-11 | 三峡大学 | Articulated-type rod climbing detection robot |
| KR20170015049A (en) * | 2015-07-31 | 2017-02-08 | 한국산업기술대학교산학협력단 | Robot to Climb Pillar |
| CN208198630U (en) * | 2018-04-21 | 2018-12-07 | 湖北职业技术学院 | A kind of spiral lifting climbing device |
-
2018
- 2018-04-21 CN CN201810363366.3A patent/CN110386206B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103070033A (en) * | 2013-02-06 | 2013-05-01 | 山东农业大学 | Automatic pruning device for poplars |
| KR20170015049A (en) * | 2015-07-31 | 2017-02-08 | 한국산업기술대학교산학협력단 | Robot to Climb Pillar |
| CN106314583A (en) * | 2016-09-18 | 2017-01-11 | 三峡大学 | Articulated-type rod climbing detection robot |
| CN208198630U (en) * | 2018-04-21 | 2018-12-07 | 湖北职业技术学院 | A kind of spiral lifting climbing device |
Non-Patent Citations (1)
| Title |
|---|
| 蠕行式仿生变直径杆爬行机器人的设计;王晓光;陈明森;赵锋;薛阳;;机械制造(12);第36-39页 * |
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| CN110386206A (en) | 2019-10-29 |
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