CN112023368B - But diversion hinders fast pole machine of climbing of friction wheel formula more - Google Patents
But diversion hinders fast pole machine of climbing of friction wheel formula more Download PDFInfo
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- CN112023368B CN112023368B CN202010890934.2A CN202010890934A CN112023368B CN 112023368 B CN112023368 B CN 112023368B CN 202010890934 A CN202010890934 A CN 202010890934A CN 112023368 B CN112023368 B CN 112023368B
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- gear
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- pole
- friction wheel
- rod
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B27/00—Apparatus for climbing poles, trees, or the like
Abstract
The invention discloses a friction wheel type rapid pole climbing machine capable of changing direction and crossing obstacles, which comprises: two climbing rod mechanisms and a connecting steering mechanism; the connecting steering mechanism connects the two climbing rod mechanisms; when the device is used, the first gear is driven to rotate under the driving of the speed reducing motors of the two pole climbing mechanisms, so that the serial gears rotate to enable the grippers on the two sides to clamp the pole bodies, the four-bar linkage mechanism realizes opening and closing actions, meanwhile, the pulley is attached to the pole bodies to reduce resistance and abrasion, and the brushless motor drives the friction wheel to rotate so as to drive the device to quickly move the pole climbing mechanism; the angle of the climbing mechanism on the upper part is adjusted through the connecting steering mechanism to enable the climbing mechanism to clamp the rod body after the angle is changed, then the climbing mechanism on the lower part loosens the rod body, the angle of the climbing mechanism on the lower part is adjusted through the connecting steering mechanism to enable the climbing mechanism to grab the rod body after the angle is changed, and then the equipment can move on the rod body after the angle is changed.
Description
Technical Field
The invention relates to the technical field of automatic pole climbing equipment, in particular to a friction wheel type rapid pole climbing machine capable of changing directions and crossing obstacles.
Background
In various operations, particularly in the power industry, it is often necessary to perform a pole climbing operation. Traditional pole climbing operation is carried out manually, namely, operators climb poles by means of various auxiliary devices to realize various operations. The mode has great limitation, the danger of pole climbing operation is great, and the operation difficulty is increased by operating on the pole, thereby increasing the danger coefficient. With the development of the robot industry, the pole-climbing robot is produced and used for replacing human beings to perform pole-climbing operation. The operation robot can replace human pole-climbing operation, and the harmful influence of physical strength reduction on the working efficiency and the personnel safety during manual operation is avoided. However, the existing pole-climbing robot mainly focuses on pole-climbing efficiency of the robot, but often cannot consider obstacle avoidance and obstacle avoidance efficiency in the pole-climbing process, sometimes, the obstacle avoidance cannot be realized if the existing pole-climbing robot collides with a pole, and difficulty is increased for climbing poles of the robot due to the fact that various existing bent pole bodies are numerous.
Therefore, there is a need for a pole climbing machine that can quickly climb a pole, can cross obstacles, and can move on a pole body with an angle changed in the middle.
Disclosure of Invention
Aiming at the problems, the invention provides a friction wheel type rapid pole climbing machine which can change directions and cross obstacles; when the device is used, the first gear is driven to rotate under the driving of the speed reducing motors of the two pole climbing mechanisms, so that the serial gears rotate to enable the grippers on the two sides to clamp the pole bodies, the four-bar linkage mechanism realizes opening and closing actions, meanwhile, the pulley is attached to the pole bodies to reduce resistance and abrasion, and the brushless motor drives the friction wheel to rotate so as to drive the device to quickly move the pole climbing mechanism; the angle of the climbing mechanism on the upper part is adjusted through the connecting steering mechanism to enable the climbing mechanism to clamp the rod body after the angle is changed, then the climbing mechanism on the lower part loosens the rod body, the angle of the climbing mechanism on the lower part is adjusted through the connecting steering mechanism to enable the climbing mechanism to grab the rod body after the angle is changed, and then the equipment can move on the rod body after the angle is changed.
The technical scheme adopted by the invention is as follows: a reversible friction wheel type pole-climbing machine capable of crossing obstacles comprises: two climbing rod mechanisms and a connecting steering mechanism;
the pole climbing mechanism comprises: the device comprises a main body frame, a fixed gear, a fixed frame, a clamping device, a brushless motor, a friction wheel fixing plate, a speed reducing motor, a first gear and a connecting hinged support;
the connection steering mechanism comprises: the connecting rod, the steering motor and the second gear;
the rear end face of the main body frame is fixedly provided with a fixed gear, the upper end face of the main body frame is fixedly provided with a fixed frame, and the rear end face of the main body frame is provided with a connecting hinged support; the rear end of the clamping device is rotatably arranged in the fixed frame; the brushless motor is fixedly arranged on the front end face of the main body frame, a motor shaft of the brushless motor is fixedly connected with one end of the friction wheel, the other end of the friction wheel is rotatably arranged on the inner side of the friction wheel fixing plate, and the friction wheel fixing plate is fixedly arranged on the front end face of the main body frame; the speed reducing motor is fixedly arranged on the front end surface of the main body frame, a motor shaft of the speed reducing motor is fixedly connected with a first gear, and the first gear is meshed with a gear at the rear end of the clamping device; the end part of the connecting rod is connected with a rotating shaft of the connecting hinged support, a steering motor is fixedly arranged on the connecting rod, a motor shaft of the steering motor is fixedly connected with a second gear, and the second gear is meshed with the fixed gear;
when the device is used, the device is placed on a rod body, the first gear is driven to rotate through the speed reducing motors of the two rod climbing mechanisms so as to drive the clamping device to clamp the rod body, and the friction wheel is driven to rotate through the brushless motor so as to drive the device to move;
when turning, the pole body is loosened to pole climbing mechanism on equipment upper portion, thereby the angle of adjustment connecting rod is rotated to the second gear through connecting steering mechanism and driving the angle of pole climbing mechanism on second gear rotation through connecting steering mechanism and leaning on the angle of the pole climbing mechanism on upper portion of upper position, thereby the pole body of tight change angle is pressed from both sides through upper portion pole climbing mechanism, the pole climbing mechanism of lower part is loosened again, through connecting steering mechanism adjustment course angle, the lower part grasps the pole body after the change angle again.
Preferably, the clamping device of the climbing rod mechanism comprises: the series gears, the rotating rod, the driven rod, the grippers, the pulleys and the connecting shaft are connected in series;
the series gear is rotatably arranged in the fixed frame, the series gear on the left side is meshed with the first gear, the series gear on the left side is meshed with the series gear on the right side, the series gear is fixedly connected with the rear end of the rotating rod, and the front end of the rotating rod is connected with the inner side rotating shaft of the gripper; the rear end of the driven rod is connected with the rotating shaft in the fixing frame, the front end of the driven rod is connected with the rotating shaft at the rear end of the gripper, a pulley is rotatably mounted on the inner side of the front end of the gripper, and a connecting shaft is fixedly mounted at the front end of the gripper.
Preferably, the friction wheel is a wheel with a cambered surface in the middle, and the friction wheel is made of a composite material of rubber and carbon black.
Preferably, the pulleys are pu wheels.
Preferably, the main body frame, the hand grip and the connecting rod are made of aluminum alloy.
The invention has the beneficial effects that:
(1) when the device is used, the first gear is driven to rotate under the driving of the speed reducing motors of the two pole climbing mechanisms, so that the serial gears rotate to enable the grippers on the two sides to clamp the pole bodies, the four-bar linkage mechanism realizes opening and closing actions, meanwhile, the pulley is attached to the pole bodies to reduce resistance and abrasion, and the brushless motor drives the friction wheel to rotate so as to drive the device to quickly move the pole climbing mechanism;
(2) when the device turns, the climbing rod mechanism on the upper portion of the device loosens the rod body, the angle of the climbing rod mechanism on the upper portion is adjusted through the connecting steering mechanism to enable the climbing rod mechanism to be parallel to the rod body after the angle is changed, the device is driven to move upwards through the climbing rod mechanism on the lower portion, the climbing rod mechanism on the upper portion clamps the rod body with the changed angle, the climbing rod mechanism on the lower portion loosens the rod body, the course angle is adjusted through the connecting steering mechanism, the climbing rod mechanism on the lower portion grabs the rod body with the changed angle, and then the device can move on the rod body with the changed angle.
Drawings
Fig. 1 is a schematic view of the working state of the present invention.
Fig. 2 is a schematic view of the overall structure of the present invention.
Fig. 3, 4, 5 and 6 are schematic structural views of the climbing rod mechanism of the present invention.
Fig. 7 is a schematic structural view of the connecting steering mechanism of the present invention.
Reference numerals:
1-a pole climbing mechanism; 2-connecting a steering mechanism; 101-a body frame; 102-fixed gear; 103-a fixing frame; 104-tandem gear; 105-rotating rods; 106-driven rod; 107-hand grip; 108-a pulley; 109-a connecting shaft; 110-a brushless motor; 111-a friction wheel; 112-friction wheel fixing plate; 113-a reduction motor; 114-a first gear; 115-connecting hinged support; 201-connecting rod; 202-a steering motor; 203-second gear.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as broadly as the present invention is capable of modification in various respects, all without departing from the spirit and scope of the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
1-7, a reversible, obstacle-surmountable friction wheel type pole climber, comprising: two climbing rod mechanisms 1 and a connecting steering mechanism 2;
the connection steering mechanism 2 includes: a connecting rod 201, a steering motor 202 and a second gear 203; specifically, the upper and lower climbing rod mechanisms 1 are connected through the connecting steering mechanism 2 and the angles of the two climbing rod mechanisms 1 are adjusted;
the main body frame 101 is made of aluminum alloy, the rear end face of the main body frame 101 is fixedly provided with a fixed gear 102, the upper end face of the main body frame 101 is fixedly provided with a fixed frame 103, and the rear end face of the main body frame 101 is provided with a connecting hinged support 115; the rear end of the clamping device is rotatably arranged in the fixed frame 103, and the rod body is clamped through the clamping device; the brushless motor 110 is fixedly installed on the front end face of the main body frame 101, a motor shaft of the brushless motor 110 is fixedly connected with one end of the friction wheel 111, the other end of the friction wheel 111 is rotatably installed on the inner side of the friction wheel fixing plate 112, the friction wheel 111 is a wheel with a cambered surface in the middle, the friction wheel 111 is made of a composite material of rubber and carbon black, the friction wheel fixing plate 112 is fixedly installed on the front end face of the main body frame 101, and specifically, the brushless motor 110 drives the friction wheel 111 to rotate so as to drive the equipment to move; the speed reducing motor 113 is fixedly installed on the front end face of the main body frame 101, a motor shaft of the speed reducing motor 113 is fixedly connected with the first gear 114, and the first gear 114 is meshed with a gear at the rear end of the clamping device, specifically, the speed reducing motor 113 drives the first gear 114 to rotate so as to drive the left tandem gear 104 to rotate and further drive the right tandem gear 104 to rotate, and the tandem gears 104 at the two sides drive the rotating rods 105 at the two sides to rotate so as to open or close the hand grip 107; the connecting rod 201 is made of aluminum alloy, the end of the connecting rod 201 is connected with the rotating shaft of the connecting hinged support 115, the connecting rod 201 is fixedly provided with a steering motor 202, the motor shaft of the steering motor 202 is fixedly connected with a second gear 203, the second gear 203 is meshed with the fixed gear 102, and specifically, the steering motor 202 drives the second gear 203 to rotate so as to adjust the angle of the climbing rod mechanism 1;
when the device is used, the speed reducing motors 113 of the two pole climbing mechanisms 1 drive the first gear 114 to rotate so as to drive the left serial gear 104 to rotate and further drive the right serial gear 104 to rotate, the serial gear 104 drives the rotating rods 105 on the two sides to rotate so as to open the grippers 107, then the grippers 107 on the two sides clamp the rod body, meanwhile, the pulley 108 is tightly attached to the rod body so as to reduce resistance and abrasion, and the brushless motor 110 drives the friction wheel 111 to rotate so as to drive the device to move;
when turning, the climbing rod mechanism 1 on the upper part of the equipment loosens the rod body, the steering motor 202 connected with the lower position of the steering mechanism 2 drives the second gear 203 to rotate so as to adjust the angle of the connecting rod 201, the steering motor 202 connected with the upper position drives the second gear 203 to rotate so as to adjust the angle of the climbing rod mechanism 1 on the upper part to be parallel to the rod body after the angle is changed, the brushless motor 110 connected with the climbing rod mechanism 1 on the lower part drives the friction wheel 111 to rotate so as to drive the equipment to move upwards, so that the climbing rod mechanism 1 on the upper part clamps the rod body with the changed angle, the climbing rod mechanism 1 on the lower part is loosened again, the course angle is adjusted by connecting the steering mechanism 2, the lower part grasps the rod body after the angle is changed, and then the equipment can move on the rod body after the angle is changed.
In an alternative embodiment of the present invention, as shown in fig. 3 to 6, the clamping device of the climbing bar mechanism 1 comprises: a tandem gear 104, a rotating rod 105, a driven rod 106, a gripper 107, a pulley 108, and a connecting shaft 109;
the tandem gear 104 is rotatably installed in the fixed frame 103, the left tandem gear 104 is meshed with the first gear 114, the left tandem gear 104 is meshed with the right tandem gear 104, the tandem gear 104 is fixedly connected with the rear end of the rotating rod 105, the front end of the rotating rod 105 is connected with an inner side rotating shaft of the hand grip 107, the hand grip 107 is made of aluminum alloy, and specifically, the tandem gear 104 drives the rotating rods 105 on two sides to rotate to open the hand grip 107; the rear end of the driven rod 106 is connected with a rotating shaft in the fixing frame 103, the front end of the driven rod 106 is connected with a rotating shaft at the rear end of the hand grip 107, a pulley 108 is rotatably mounted on the inner side of the front end of the hand grip 107, the pulley 108 is a pu wheel, resistance is reduced by the fact that the pulley 108 is tightly attached to the rod body, a connecting shaft 109 is fixedly mounted at the front end of the hand grip 107, and when the hand grip 107 rotates, the driven rod 106 is used for limiting, and therefore the hand grip 107 clamps or releases the rod body.
In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "back", "left", "right", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Claims (5)
1. A reversible friction wheel type quick pole climbing machine capable of crossing obstacles is characterized by comprising: two climbing rod mechanisms (1) and a connecting steering mechanism (2);
the climbing rod mechanism (1) comprises: the device comprises a main body frame (101), a fixed gear (102), a fixed frame (103), a clamping device, a brushless motor (110), a friction wheel (111), a friction wheel fixing plate (112), a speed reducing motor (113), a first gear (114) and a connecting hinged support (115);
the connecting steering mechanism (2) comprises: a connecting rod (201), a steering motor (202) and a second gear (203);
the rear end face of the main body frame (101) is fixedly provided with a fixed gear (102), the upper end face of the main body frame (101) is fixedly provided with a fixed frame (103), and the rear end face of the main body frame (101) is provided with a connecting hinged support (115); the rear end of the clamping device is rotatably arranged in the fixed frame (103); the brushless motor (110) is fixedly arranged on the front end face of the main body frame (101), a motor shaft of the brushless motor (110) is fixedly connected with one end of the friction wheel (111), the other end of the friction wheel (111) is rotatably arranged on the inner side of the friction wheel fixing plate (112), and the friction wheel fixing plate (112) is fixedly arranged on the front end face of the main body frame (101); the speed reducing motor (113) is fixedly arranged on the front end face of the main body frame (101), a motor shaft of the speed reducing motor (113) is fixedly connected with the first gear (114), and the first gear (114) is meshed with the gear at the rear end of the clamping device; the end part of the connecting rod (201) is connected with a rotating shaft of the connecting hinged support (115), a steering motor (202) is fixedly installed on the connecting rod (201), a motor shaft of the steering motor (202) is fixedly connected with a second gear (203), and the second gear (203) is meshed with the fixed gear (102);
when the device is used, the device is placed on a rod body, the first gear (114) is driven to rotate through the speed reducing motors (113) of the two rod climbing mechanisms (1) so as to drive the clamping device to clamp the rod body, and the friction wheel (111) is driven to rotate through the brushless motor (110) so as to drive the device to move;
when turning, the pole body is loosened in pole-climbing mechanism (1) on equipment upper portion, thereby the angle of adjusting connecting rod (201) is rotated rather than complex second gear (203) to the steering motor (202) drive that leans on lower position through connecting steering mechanism (2), thereby the angle of pole-climbing mechanism (1) on adjustment upper portion is rotated rather than complex second gear (203) to the steering motor (202) drive that leans on the upper position, thereby the pole body of changing the angle is pressed from both sides through pole-climbing mechanism (1) on upper portion, pole-climbing mechanism (1) of lower part is loosened again, adjust the course angle through connecting steering mechanism (2), the lower part grasps the pole body after having changed the angle again.
2. A reversible friction wheel type pole-climbing machine according to claim 1, characterized in that the clamping device of the pole-climbing mechanism (1) comprises: a series gear (104), a rotating rod (105), a driven rod (106), a gripper (107), a pulley (108) and a connecting shaft (109);
the series gear (104) is rotatably arranged in the fixed frame (103), the series gear (104) on the left side is meshed with the first gear (114), the series gear (104) on the left side is meshed with the series gear (104) on the right side, the series gear (104) is fixedly connected with the rear end of the rotating rod (105), and the front end of the rotating rod (105) is connected with an inner rotating shaft of the gripper (107); the rear end of the driven rod (106) is connected with a rotating shaft in the fixing frame (103), the front end of the driven rod (106) is connected with a rotating shaft at the rear end of the gripper (107), a pulley (108) is rotatably mounted on the inner side of the front end of the gripper (107), and a connecting shaft (109) is fixedly mounted at the front end of the gripper (107).
3. A reversible friction wheel type pole climbing machine according to claim 1, characterized in that the friction wheel (111) is a wheel with a cambered surface in the middle, and the friction wheel (111) is made of a composite material of rubber and carbon black.
4. A reversible friction wheel-type pole climber as claimed in claim 2, wherein said pulleys (108) are pu wheels.
5. A reversible friction wheel type pole-climbing machine according to claim 1, wherein the main body frame (101), the handle (107) and the connecting rod (201) are made of aluminum alloy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010890934.2A CN112023368B (en) | 2020-08-29 | 2020-08-29 | But diversion hinders fast pole machine of climbing of friction wheel formula more |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010890934.2A CN112023368B (en) | 2020-08-29 | 2020-08-29 | But diversion hinders fast pole machine of climbing of friction wheel formula more |
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| Publication Number | Publication Date |
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| CN112023368A CN112023368A (en) | 2020-12-04 |
| CN112023368B true CN112023368B (en) | 2021-10-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010890934.2A Active CN112023368B (en) | 2020-08-29 | 2020-08-29 | But diversion hinders fast pole machine of climbing of friction wheel formula more |
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| CN (1) | CN112023368B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114100089B (en) * | 2021-11-29 | 2022-09-23 | 国网安徽省电力有限公司桐城市供电公司 | Climbing device for high-altitude electric power overhaul |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016068702A (en) * | 2014-09-29 | 2016-05-09 | 株式会社移動ロボット研究所 | Mobile device for wall surface, and steering method thereof |
| CN107472392A (en) * | 2017-07-07 | 2017-12-15 | 武汉科技大学 | A kind of wheel type barrier-crossing climbing level robot |
| CN109263742A (en) * | 2018-09-29 | 2019-01-25 | 山东建筑大学 | Transmission tower climbing robot clamping device and its robot |
| CN209852456U (en) * | 2019-03-26 | 2019-12-27 | 长沙智能机器人研究院有限公司 | Pole-climbing machine device |
| CN210882381U (en) * | 2019-09-17 | 2020-06-30 | 中国人民解放军陆军工程大学 | Bionic climbing robot platform |
-
2020
- 2020-08-29 CN CN202010890934.2A patent/CN112023368B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016068702A (en) * | 2014-09-29 | 2016-05-09 | 株式会社移動ロボット研究所 | Mobile device for wall surface, and steering method thereof |
| CN107472392A (en) * | 2017-07-07 | 2017-12-15 | 武汉科技大学 | A kind of wheel type barrier-crossing climbing level robot |
| CN109263742A (en) * | 2018-09-29 | 2019-01-25 | 山东建筑大学 | Transmission tower climbing robot clamping device and its robot |
| CN209852456U (en) * | 2019-03-26 | 2019-12-27 | 长沙智能机器人研究院有限公司 | Pole-climbing machine device |
| CN210882381U (en) * | 2019-09-17 | 2020-06-30 | 中国人民解放军陆军工程大学 | Bionic climbing robot platform |
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| CN112023368A (en) | 2020-12-04 |
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Effective date of registration: 20221208 Address after: 272000 Room 301, Creative Building, No. 69, Haichuan Road, Jining High tech Zone, Jining City, Shandong Province Patentee after: Jining High-tech Cultural and Creative Park Service Co.,Ltd. Address before: 321200 No. 7, Shuangquan East Road, Zhangzhai, Quandong village, Quanxi Town, Wuyi County, Jinhua City, Zhejiang Province Patentee before: Hong Xiaqun |
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