CN112441153A - Pole-climbing robot - Google Patents
Pole-climbing robot Download PDFInfo
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- CN112441153A CN112441153A CN201910809537.5A CN201910809537A CN112441153A CN 112441153 A CN112441153 A CN 112441153A CN 201910809537 A CN201910809537 A CN 201910809537A CN 112441153 A CN112441153 A CN 112441153A
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- climbing
- piece
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- block
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Abstract
The invention relates to a pole-climbing robot, which comprises a climbing block, a flexible binding piece and a tightening driving device, wherein the climbing block is arranged on the upper part of the flexible binding piece; the number of the climbing blocks is at least two, the climbing blocks are used for being distributed along the circumferential direction of the rod piece to be clamped, one side, facing the rod piece, of each climbing block is provided with a climbing wheel, at least one climbing wheel is a driving wheel, and the driving wheel is in transmission connection with a wheel driving mechanism; a guiding telescopic structure is arranged between any two adjacent climbing blocks and is used for guiding the two corresponding climbing blocks to approach towards each other so as to compress the rod piece and guiding the two corresponding climbing blocks to move away from each other so as to release the rod piece; the flexible hooping piece extends along the distribution circumference of all the climbing blocks, and hoops on each climbing block when being tensioned, so that hooping acting force is applied to each climbing block by the tensioned flexible hooping piece to drive each climbing block to approach to each other, and then the climbing wheels of each climbing block are tightly pressed on the rod piece; the tightening driving device is arranged on the corresponding climbing block and is in transmission connection with the flexible tightening piece for tightening the flexible tightening piece.
Description
Technical Field
The invention relates to a pole-climbing robot.
Background
In order to maintain the cable of wire pole upper end, the electrician need climb the wire pole with the help of the pole-climbing instrument, and the electrician need fix the pole-climbing instrument on both feet before using, and later both hands are embracing the wire pole, with the help of the pedalling power of both feet and the holding power of both hands, slowly climb on the wire pole. This kind of pole-climbing mode needs both hands both feet to assist hard, wastes time and energy, can't carry more repair tools to climb the wire pole and carry out the maintenance operation, has great potential safety hazard moreover.
At present, a pole climbing robot is often adopted to climb poles so as to convey required tools, platforms and the like to corresponding positions. The common pole-climbing robot is a wheel type pole-climbing robot, a climbing wheel is pressed on the pole-climbing robot, and when the climbing wheel rotates, the pole-climbing robot can be driven to move in place along the pole-climbing robot. The support body of the existing pole-climbing robot is mostly of a rigid structure on the whole, the size is not convenient to adjust, the pole-climbing robot of one model is generally only suitable for a pole-climbing with a radial size, and the universality is poor.
Disclosure of Invention
The invention aims to provide a pole-climbing robot, which aims to solve the technical problems that the pole-climbing robot in the prior art is generally only suitable for climbing poles with one radial size and has poor universality.
In order to achieve the purpose, the technical scheme of the pole-climbing robot is as follows:
the pole climbing robot comprises a climbing block, a flexible binding piece and a tightening driving device; the number of the climbing blocks is at least two, the climbing blocks are used for being distributed along the circumferential direction of a rod piece to be clamped, one side, facing the rod piece, of each climbing block is provided with a climbing wheel, at least one climbing wheel is a driving wheel, and the driving wheel is in transmission connection with a wheel driving mechanism; a guiding telescopic structure is arranged between any two adjacent climbing blocks and is used for guiding the two corresponding climbing blocks to approach towards each other so as to compress the rod piece and guiding the two corresponding climbing blocks to move away from each other so as to release the rod piece; the flexible hooping piece extends along the distribution circumference of all the climbing blocks, and hoops on each climbing block when being tensioned, so that hooping acting force is applied to each climbing block by the tensioned flexible hooping piece to drive each climbing block to approach to each other, and then the climbing wheels of each climbing block are tightly pressed on the rod piece; the tightening driving devices are arranged on the corresponding climbing blocks and are in transmission connection with the flexible tightening pieces for tightening the flexible tightening pieces.
The beneficial effects are that: the flexible hooping piece is tensioned through the tightening driving device, so that the flexible hooping piece applies hooping acting force to the climbing blocks, the climbing blocks are forced to approach towards each other, so that the climbing wheels press the rod piece, and the climbing wheels roll on the rod piece, so that the rod climbing robot can move up and down on the rod piece. Because the climbing blocks are clamped on the rod piece through the flexible hooping piece, the length of the flexible hooping piece can be adjusted through the tightening driving device corresponding to the rod pieces with different radial sizes, so that the clamping blocks are close to clamp the rod piece, and the universality is good; meanwhile, the guide telescopic structure can guide the climbing blocks when the climbing blocks are close to each other, so that dislocation or deflection of the climbing blocks in the process of compressing the rod piece is avoided, and the climbing wheels can be well compressed on the rod piece.
Furthermore, the number of the flexible hooping pieces is one, the climbing block provided with the tightening driving device is defined as a climbing block of the same type, one end of the flexible hooping piece is connected with the climbing block of the same type, the other end of the flexible hooping piece is in transmission connection with the tightening driving device, and at least one end of the flexible hooping piece is a detachable end.
The beneficial effects are that: a flexible hooping piece is designed to hoop climbing blocks, the structure is simple, and the connection of the flexible hooping piece is convenient.
Furthermore, the number of the flexible hooping pieces is two, the climbing block provided with the tightening driving device is defined as a first-class climbing block, the rest climbing blocks are second-class climbing blocks, one end of each flexible hooping piece is in transmission connection with the tightening driving device, the other end of each flexible hooping piece is in connection with the same second-class climbing block, and at least one end of each flexible hooping piece is a detachable end.
The beneficial effects are that: the length of the flexible hooping piece can be reduced by arranging the two flexible hooping pieces, and the flexible hooping piece can be conveniently tensioned by the tensioning driving device.
Further, the tightening driving device is a direct-acting telescopic driving device or a rotary rolling driving device.
The beneficial effects are that: the direct-acting telescopic or rotary winding type driving device is more common and has lower cost; and the driving structure is simple, and the flexible tightening piece is convenient to tighten.
Furthermore, it includes winding shaft and drive winding shaft pivoted driving motor to rotate rolling formula drive arrangement, winding shaft is connected in order to realize tightening up the one end transmission of drive arrangement and flexible binding member with the corresponding one end transmission of flexible binding member.
The beneficial effects are that: the driving motor has larger driving force, and can ensure the hooping acting force applied by the flexible hooping piece to each climbing block; meanwhile, the winding stroke of the winding shaft is long, so that the flexible hooping piece can hoop each climbing block, and the climbing wheel is firmly pressed on the rod piece.
Furthermore, a ratchet wheel is coaxially and fixedly arranged on the winding shaft, a locking mechanism is also arranged on the climbing block provided with the tightening driving device, the locking mechanism comprises a pawl capable of moving in a reciprocating manner, and the pawl is provided with a working position and an avoiding position on the reciprocating movement stroke of the pawl; the pawl is arranged at the working position and is used for being matched with the ratchet wheel so as to prevent the winding shaft from reversely rotating when the winding shaft forwardly rotates to tension the flexible hooping piece; the pawl is arranged at an avoiding position and is used for avoiding the ratchet wheel so as not to prevent the winding shaft from reversely rotating when the flexible hoop needs to be loosened; the locking mechanism further comprises a pawl driving structure for driving the pawl to reciprocate between the working position and the avoiding position.
The beneficial effects are that: through setting up locking mechanism, avoid the winding shaft reversal, guarantee to climb the stability of wheel at the in-process that compresses tightly.
Further, two guiding telescopic structures are arranged on the same side of any two adjacent climbing blocks at intervals along the axial direction of the rod piece, and the flexible hooping piece is provided with a flexible hooping part arranged in the interval of the two guiding telescopic structures arranged at intervals along the axial direction of the rod piece.
The beneficial effects are that: each side is provided with two guiding telescopic structures, so that the stability in the telescopic process is ensured.
Furthermore, rolling parts are arranged at the edges of the climbing blocks, which are contacted with the flexible tightening parts.
The beneficial effects are that: reduce the frictional force that flexible binding spare received at the in-process of cramping, not only make flexible binding spare comparatively smooth when cramping each piece that climbs, can play the guard action to flexible binding spare moreover, avoid flexible binding spare because of long-time friction fracture.
Further, the guiding telescopic structure comprises a guiding piece arranged on one of the two adjacent climbing blocks and a guiding matching piece arranged on the other climbing block and matched with the guiding piece in a guiding way, and the guiding piece and the guiding matching piece can be separated in the process that the two climbing blocks are away from each other.
The beneficial effects are that: the design of direction extending structure is the structure that can break away, and when climbing the pole robot was installed and removed on the member, made two adjacent blocks that climb keep away from mutually and throw off, will climb the pole robot and pull down or adorn on the member from the member at last to realize the dismouting of pole robot on the member, the assembly method is comparatively simple, swift.
Furthermore, the guiding telescopic structure comprises a guiding part arranged on one of the two adjacent climbing blocks and a guiding matching part arranged on the other and matched with the guiding part in a guiding way, at least one guiding telescopic structure on the pole-climbing robot is an openable and closable guiding telescopic structure, the guiding part of the openable and closable guiding telescopic structure is hinged on one of the two adjacent climbing blocks, and the guiding matching part is detachably and fixedly assembled on the other climbing block.
The beneficial effects are that: through leading extending structure for can opening and shutting with at least one direction extending structure design, when climbing the pole robot and installing and removing on the member, make the direction fitting piece and corresponding on climbing the piece remove fixedly to through articulated position outside swing direction extending structure, at this moment, two are climbed and are formed the interval that supplies the member to advance between the piece, in order to realize the dismouting of pole robot on the member, the assembly methods is comparatively simple, swift.
Drawings
Fig. 1 is a schematic structural diagram of a pole-climbing robot according to an embodiment 1 of the present invention;
FIG. 2 is a schematic view of the flexible binding member and drive motor of FIG. 1;
fig. 3 is a schematic structural diagram of a pole-climbing robot according to an embodiment 2 of the present invention;
FIG. 4 is a schematic structural diagram of an embodiment 3 of the pole-climbing robot pressing on the rod members according to the present invention;
FIG. 5 is a top view of FIG. 4;
fig. 6 is a schematic structural diagram of a pole-climbing robot according to an embodiment 4 of the present invention;
FIG. 7 is a schematic view of the structure of FIG. 6 from another perspective;
fig. 8 is a schematic structural diagram of a pole-climbing robot according to an embodiment 5 of the present invention;
in fig. 1 and 2: 1-climbing wheels; 2-a first climbing block; 3-a second climbing block; 4, a telescopic rod; 5-a sleeve; 6-driving a motor; 7-a ratchet wheel; 8-an electromagnet; 9-hanging hooks; 10-a flexible clasp; 11-rolling elements; 12-a pawl; 13-a locking bar; 14-a fixing frame;
in fig. 3: 21-a first climbing block; 22-a second climbing block; 23-a telescopic rod; 24-a flexible cinch; 25-a drive motor; 26-a ratchet wheel; 27-an electromagnet; 28-a guide groove; 29-climbing wheels;
in fig. 4 and 5: 31-a rod member; 32-a first climbing block; 33-a second climbing block; 34-a third climbing block; 35-a climbing wheel;
in fig. 6 and 7: 41-a first climbing block; 42-a telescopic rod; 43-a sleeve; 44-a second climbing block; 45-hinge; 46-a flexible cinch; 47-a locking pin;
in fig. 8: 51-a first climbing block; 52-a telescopic rod; 53-a guide groove; 54-a second climbing block; a 55-hinge; 56-a flexible cinch; 57-locking pin.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
In the embodiment 1 of the climbing robot according to the present invention, as shown in fig. 1, the climbing robot includes a first climbing block 2 and a second climbing block 3, the two climbing blocks are oppositely disposed to be disposed along a circumferential direction of a bar member, two sets of climbing wheels 1 are disposed on opposite sides of the two climbing blocks, and two of each set of climbing wheels 1 are disposed to press the climbing wheels 1 against the bar member when the two climbing blocks are pressed. In other embodiments, the number of climbing wheels may be set as desired.
In this embodiment, a guiding telescopic structure, specifically a sleeve type telescopic structure, is arranged between the first climbing block 2 and the second climbing block 3, the sleeve type telescopic structure includes a sleeve 5 and a telescopic rod 4 capable of guiding and stretching in the sleeve 5, wherein the sleeve 5 constitutes a guiding member, and the telescopic rod 4 constitutes a guiding mating member. In this embodiment, sleeve 5 sets firmly on second climbing piece 3, and telescopic link 4 sets firmly on first climbing piece 2, through setting up the direction extending structure, makes two climbing pieces can adjust well when being close to each other, avoids taking place dislocation or incline, guarantees that the wheel that climbs can be better compresses tightly on the member. In other embodiments, in order to enable the climbing wheel to be well pressed on the rod piece, the sleeve can be fixedly arranged on the first climbing block, and the telescopic rod can be fixedly arranged on the second climbing block. The sleeve 5 and the telescopic rod 4 can be separated in the process of being far away from each other, so that the two climbing blocks can be separated, and the assembly and disassembly operation of the pole-climbing robot on the rod piece is further realized. In other embodiments, the sleeve and the telescopic rod cannot be separated, and each climbing block can be designed into a left half and a right half and can be detachably and fixedly assembled together through bolts.
In this embodiment, two guiding telescopic structures are arranged along the up-down direction to ensure that the climbing wheel can be well pressed on the rod piece. In other embodiments, the number of the guiding telescopic structures can be set according to requirements, such as one or more than three.
In this embodiment, the first climbing block 2 is provided with a tightening driving device, the flexible fastening member 10 is wound around the outer sides of the two climbing blocks along the circumferential direction of the rod member, the number of the flexible fastening members 10 is one, one end of the flexible fastening member 10 is directly connected to the first climbing block 2, and the other end of the flexible fastening member is connected to the tightening driving device. It should be noted that the first climbing block 2 provided with the tightening drive is a climbing block of the first type and the second climbing block 3 is a climbing block of the second type. In other embodiments, the climbing block is provided with a through hole for the flexible tightening piece to pass through, a part of the flexible tightening piece is arranged in the through hole in a penetrating way, and a part of the flexible tightening piece is exposed outside the climbing block.
Specifically, tighten up drive arrangement and be rotation rolling drive arrangement, rotate rolling drive arrangement and include that the winding axle with drive winding axle pivoted driving motor 6, the winding axle is connected with the one end transmission of flexible binding spare 10, at driving motor 6 during operation, the winding axle begins to coil the one end of flexible binding spare 10, flexible binding spare 10 this moment with two blocks of climbing cramp and make the two be close to gradually and then make wheel 1 that climbs compress tightly on the member. In other embodiments, the tightening driving device may be an electric push rod, the electric push rod forms a linear telescopic driving device, the telescopic rod of the electric push rod is in an extended state in a normal state, and one end of the flexible tightening member is tightened by retracting the telescopic rod, so that the two climbing blocks are tightened by the flexible tightening member and gradually approach to each other, so as to press the climbing wheel on the rod member. In other embodiments, the tightening driving device comprises a swing rod hinged on the first climbing block and a driving mechanism for driving the swing rod to swing, the swing rod is fixedly connected with the corresponding end of the flexible tightening piece, and the flexible tightening piece is driven to be tightened through the swing of the swing rod.
In this embodiment, in order to avoid the rotation of the winding shaft, which may cause the two climbing blocks not to be tightened and further cause the climbing wheel 1 not to be firmly pressed on the rod, as shown in fig. 2, a ratchet 7 is coaxially and fixedly arranged on the winding shaft, a locking mechanism is arranged beside the ratchet 7, the locking mechanism includes a pawl 12 capable of moving back and forth, a working position and an avoiding position are provided in the back and forth moving stroke of the pawl 12, the pawl 12 in the working position is used in cooperation with the ratchet 7 to prevent the winding shaft from rotating back when the winding shaft rotates forward to tension the flexible fastening member 10, the pawl 12 in the avoiding position is used to avoid the ratchet 7 so as not to obstruct the winding shaft from rotating back when the flexible fastening member 10 needs to be loosened, the locking mechanism further includes a pawl driving mechanism for driving the pawl 12 to move back and forth between the working position and the avoiding position, by providing the locking mechanism, the winding shaft is prevented from rotating back, the stability of the climbing wheel 1 in the compaction process is ensured. In other embodiments, the driving motor has a self-locking function, and after each climbing wheel compresses the rod piece, the driving motor is locked at the position. In other embodiments, in the case that the ratchet wheel is matched with the locking device, a crank handle can be fixedly arranged on the winding shaft, the crank handle is manually shaken to drive the winding shaft to rotate, and the winding shaft is locked by matching the ratchet wheel with the pawl, at the moment, the driving force of a person is small, so that the pressing force of each climbing wheel is small, and the climbing robot is suitable for being used when a climbing robot bears light objects. Wherein the locking engagement of the ratchet and pawl is prior art.
In this embodiment, the pawl driving structure includes an electromagnet 8, the electromagnet 8 is in transmission connection with the pawl 12 to drive the pawl 12 to reciprocate between the working position and the avoidance position, and the electromagnet 8 controls the pawl 12 to reciprocate, so that remote control is facilitated. In other embodiments, the locking mechanism comprises a pawl seat, a pawl which is assembled on the pawl seat in a reciprocating manner, and an ejecting structure which can eject the pawl to retract, wherein when the winding shaft winds the flexible binding piece, the pawl is in locking fit with the ratchet wheel to prevent the winding shaft from reversely rotating; when the compression on the rod piece needs to be relieved, the pawl is pushed to retract through the pushing structure so as to avoid the ratchet wheel, at the moment, the winding shaft rotates reversely to relieve the clamping effect of the flexible clamping piece on each climbing block, and then each climbing wheel relieves the compression on the rod piece. Wherein, one end of the pawl 12 far away from the ratchet wheel 7 is fixedly connected with an armature, the pawl 12 can reciprocate under the action of teeth on the ratchet wheel 7 and a spring, and when the electromagnet 8 loses power, the pawl 12 is matched with the teeth on the ratchet wheel 7, so that the ratchet wheel is prevented from rotating reversely when rotating forwards; when the electromagnet 8 is electrified, the armature drives the pawl 12 to be far away from the ratchet wheel 7 under the action of the electromagnet so as to avoid teeth on the ratchet wheel 7. The cooperating structure of the electromagnet and the pawl may be the structure of the electromagnet and the ejector rod disclosed in application publication No. CN106820690A, wherein the ejector rod corresponds to the pawl in the present application.
In this embodiment, the flexible fastening member 10 is connected to the one end on the first climbing block 2 and is equipped with couple 9, and the drive is first to climb and is set firmly on block 2 and be equipped with locking lever 13, and flexible fastening member 10 is through the couple 9 hook on locking lever 13 to realize that flexible fastening member 10 connects on first climbing block 2. In other embodiments, one end of the flexible tightening piece connected to the first climbing block is fixed on the first climbing block through a threaded fastener to realize detachable connection; or the end of the flexible tightening piece connected to the first climbing block is provided with a lock rod, and the first climbing block is provided with a hook. In other embodiments, the flexible tightening member may be detachably connected to the winding shaft at one end thereof by a screw, and may be fixedly connected at the other end thereof.
As shown in fig. 1 and 2, the edges of the first climbing block 2 and the second climbing block 3, which are in contact with the flexible fastening member 10, are provided with rolling elements 11, specifically rollers, to reduce the friction force applied to the flexible fastening member during the fastening process, which is beneficial for the flexible fastening member to fasten each climbing block. In other embodiments, the rolling elements may be bearings in order to reduce friction experienced by the flexible binding during binding. In other embodiments, the rolling members are not provided, and a convex round structure is processed at the edges of the first climbing block and the second climbing block, which are contacted with the flexible tightening member, so as to reduce the friction force applied to the flexible tightening member during the tightening process.
In this embodiment, the flexible cinch 10 is a flexible strap, such as a safety harness, to facilitate cinching of the climbing blocks by the flexible cinch 10. In other embodiments, to facilitate the flexible cinching member cinching each climbing block, the flexible cinching member is a flexible cord, such as a steel cable.
In this embodiment, the rod may be a lamp post, a telegraph pole, or the like.
As shown in fig. 1 and 2, a fixing frame 14 is fixedly arranged on the first climbing block 2, and the driving motor 6 and the locking mechanism are fixedly arranged on the fixing frame 14, so as to be fixedly arranged on the first climbing block 2.
In this embodiment, a hub motor is arranged in the climbing wheel 1, and a power supply for supplying power to the hub motor is installed on the climbing block, so that the climbing wheel can roll under the driving of the hub motor, and further the pole-climbing robot is driven to move. The climbing wheel 1 provided with the hub motor forms a driving wheel. In other embodiments, the climbing wheel is internally provided with the hub motor, the hub motor is connected with a cable on the ground, the power is supplied to the hub motor through a power supply on the ground, and the pole-climbing robot does not need to carry the power, so that the load of the pole-climbing robot is reduced, but the pole-climbing robot is not convenient for field operation. In other embodiments, a driving motor may be disposed at one end of the rotating shaft of the climbing wheel to drive the rotating shaft of the rotating shaft to rotate, so as to drive the climbing wheel to rotate, and at this time, two ends of the rotating shaft are hinged to the corresponding climbing blocks.
When the pole-climbing robot is installed, the hook 9 of the flexible fastening piece 10 is taken off from the lock rod 13, so that the first climbing block 2 and the second climbing block 3 move back to back through the sleeve 5 and the telescopic rod 4 and are separated; then the two climbing blocks are respectively placed on two sides of the rod piece and move oppositely through the guide of the sleeve 5 and the telescopic rod 4, so that the rod piece is clamped between the two climbing blocks; hang couple 9 on locking lever 13 again, start driving motor 6, make driving motor 6's winding shaft coiling flexible binding member 10, this in-process flexible binding member 10 cramps two blocks that climb, make wheel 1 that climbs compress tightly on the member, because the epaxial ratchet that is equipped with of winding, pawl 12 can make the winding shaft lock die, avoid the gyration, the stability after having guaranteed to compress tightly, at this moment, wheel 1 that climbs can roll on the member under drive arrangement's drive, so that pole-climbing robot can be on the member reciprocating motion, realize pole-climbing robot's pole-climbing function. The disassembly sequence of the pole-climbing robot is opposite to the sequence. The mode is suitable for climbing poles with larger diameters.
When in use, mounting plates can be arranged on the upper parts of the first climbing block 2 and the second climbing block 3 for mounting a camera or placing a tool. In other embodiments, a mounting plate may be disposed at the lower portion of the first climbing block and the second climbing block for hoisting a camera or a tool. In other embodiments, the first climbing block and the second climbing block may not be provided with a mounting plate, and are used for jacking the working platform so that an operator can work on the working platform.
In the embodiment 2 of the pole climbing robot of the present invention, as shown in fig. 3, the pole climbing robot includes a first climbing block 21 and a second climbing block 22, the two climbing blocks are provided with climbing wheels 29 on opposite sides, a guiding telescopic structure, specifically a guiding slot type telescopic structure, is provided between the two climbing blocks, the guiding slot type telescopic structure includes a guiding slot 28 and a telescopic rod 23 capable of guiding and sliding in the guiding slot 28, wherein the guiding slot 28 constitutes a guiding member, and the telescopic rod 23 constitutes a guiding mating member. In this embodiment, the guide slot 28 is fixed on the first climbing block 21, the telescopic rod 23 is fixed on the second climbing block 22, and by providing the guiding telescopic structure, the two climbing blocks can be aligned when approaching each other, thereby avoiding dislocation or deflection, and ensuring that the two climbing wheels 29 can be better pressed on the rod. The guide groove 28 and the telescopic rod 23 can be separated in the process of being far away, so that the two climbing blocks can be separated, and the assembly and disassembly operation of the pole-climbing robot on the rod piece can be further realized. In order to facilitate the sliding of the telescopic rod in the guide groove, balls can be arranged in the guide groove, the telescopic rod slides on the balls in the guide groove to reduce friction, and the driving motor 25 is convenient to drive the flexible hooping piece 24 to hoop each climbing block.
In this embodiment, the first climbing block 21 is provided with a tightening driving device, specifically, a driving motor 25, and the driving motor 25 has a winding shaft. The flexible hooping pieces 24 are wound on the outer sides of the two climbing blocks, the number of the flexible hooping pieces 24 is two, one ends of the two flexible hooping pieces 24 are connected to a winding shaft of the driving motor 25, and the other ends of the two flexible hooping pieces are detachably connected to the telescopic rod 23 so as to be connected to the second climbing block 22 through the telescopic rod 23. When the winding shaft winds the two flexible hoops 24, the two climbing blocks are close to press the rod piece, wherein the detachable connection mode can be a hook and lock rod matching structure. In this embodiment, a ratchet 26 is disposed on the winding shaft, and a locking mechanism is disposed on the first climbing block 21, and the locking mechanism includes a pawl locked and matched with the ratchet 26 and an electromagnet 27 for driving the pawl to retract. It should be noted that the first climbing block 21 provided with the tightening drive is a climbing block of the first type and the second climbing block 22 is a climbing block of the second type.
The embodiment 3 of the climbing robot of the present invention, as shown in fig. 4 and 5, differs from the embodiment 1 in that the climbing robot includes a first climbing block 32, a second climbing block 33, and a third climbing block 34, each of the three climbing blocks has a climbing wheel 35 on one side facing the rod, the three climbing blocks are tightened by a flexible tightening member to press the climbing wheels 35 of the three climbing blocks against the rod 31, a guiding telescopic structure is provided between two adjacent climbing blocks, and by providing the guiding telescopic structure, the climbing blocks can be aligned when approaching each other, so as to avoid dislocation or deflection, and ensure that the climbing blocks can be pressed against the rod well. In other embodiments, the climbing blocks may be provided in more than four, and the number of flexible cinch and cinch drivers may be provided as desired.
The embodiment 4 of the pole-climbing robot of the present invention, as shown in fig. 6 and 7, is different from the embodiment 1 in that one of the two guiding telescopic structures of the pole-climbing robot is an openable and closable guiding telescopic structure. The guide piece of the openable and closable guide telescopic structure is hinged on one of the two climbing blocks, and the guide matching piece is detachably and fixedly connected on the other climbing block. Specifically, an openable and closable guide telescopic structure is arranged between the first climbing block 41 and the second climbing block 44, the openable and closable guide telescopic structure comprises a sleeve 43 and a telescopic rod 42 which is guided and slides in the sleeve 43, and the telescopic rod 42 is assembled in the sleeve 43 and cannot be pulled out from the sleeve 43. One end, away from the first climbing block 41, of the sleeve 43 on one side is hinged to the second climbing block 44 through a hinge 45, one end, away from the second climbing block 44, of the telescopic rod 42 is provided with a lock hole, the first climbing block 41 is provided with a lock frame, and the lock frame is provided with a lock pin 47 matched with the lock hole in a locking mode so as to lock the telescopic rod 42 on the first climbing block 41. It should be noted that the sleeve constitutes the guide and the telescopic rod constitutes the guide fitting. Suitable for rod pieces with smaller diameters.
When the pole piece is installed, the hook of the flexible hoop member 46 is taken off from the lock rod of the first climbing block 41, then the lock pin 47 is opened, the telescopic rod 42 is rotated outwards, the sleeve 43 and the telescopic rod 42 are rotated outwards together until the interval between the two climbing blocks is not blocked, and at the moment, the first climbing block 41 and the second climbing block 44 are still integrated. The two climbing blocks are pulled apart through the guiding telescopic structure on the other side until the interval between the two climbing blocks can be used for a rod piece to enter, and after the rod piece enters between the two climbing blocks, the telescopic rod 42 is rotated to the position of the locking frame of the first climbing block 41 again, and is locked on the first climbing block 41 through the lock pin 47, and the hook of the flexible fastening piece is hung on the lock rod again. I.e. the installation to the bar is completed, the subsequent tensioning and climbing processes are the same as in embodiment 1 and will not be described again here.
In other embodiments, the locking manner of the telescopic rod is not limited to the above locking manner, for example, the telescopic rod is a magnetic conductive rod, the first climbing block is provided with a magnet, and the telescopic rod is adsorbed on the first climbing block by the magnet to lock the telescopic rod.
As shown in fig. 8, an embodiment 5 of the pole-climbing robot of the present invention is different from the embodiment 2 in that one of two guiding telescopic structures on the pole-climbing robot is an openable and closable guiding telescopic structure, a guiding element of the openable and closable guiding telescopic structure is hinged to one of two climbing blocks, and a guiding mating element is detachably and fixedly connected to the other climbing block. Specifically, an openable and closable guide telescopic structure is arranged between the first climbing block 51 and the second climbing block 54, the openable and closable guide telescopic structure comprises a guide groove 53 and a telescopic rod 52 which is guided and slides in the guide groove 53, and the telescopic rod 52 is assembled in the guide groove 53 and cannot be pulled out from the guide groove 53. One end of the telescopic rod 52 far away from the first climbing block 51 is hinged on the second climbing block 54 through a hinge 55, one end of the guide groove 53 far away from the second climbing block 54 is provided with a lock hole, and the guide groove 53 is fixed on the first climbing block 51 through the lock hole and a lock pin 57 in a matching manner. It should be noted that the sleeve constitutes the guide and the telescopic rod constitutes the guide fitting. Suitable for rod pieces with smaller diameters.
In this embodiment, one end of the flexible fastening member 56 is drivingly connected to the tightening driving device of the second climbing block 54, and the other end is fixedly arranged on the guide groove 53, so as to realize the fixed assembly on the first climbing block 51.
When the climbing rod is installed, the lock pin 57 is opened, the guide groove 53 is rotated outwards, the guide groove 53 and the telescopic rod 52 are rotated outwards together until the interval between the two climbing blocks is not blocked, and at the moment, the first climbing block 51 and the second climbing block 54 are connected into a whole through the guide telescopic structure on the other side. The two climbing blocks are pulled apart by the guiding telescopic structure on the other side until the space between the two climbing blocks can be used for a rod piece to enter, and after the rod piece enters between the two climbing blocks, the guide groove 53 is rotated to the side wall of the first climbing block 51 again and is locked on the first climbing block 51 through the lock pin 57. I.e. the installation to the rod is completed, the subsequent tensioning and climbing processes are the same as in embodiment 2 and will not be described again here.
Claims (10)
1. Pole-climbing robot, its characterized in that: comprises a climbing block, a flexible binding piece and a tightening driving device;
the number of the climbing blocks is at least two, and the climbing blocks are used for being distributed along the circumferential direction of the rod piece to be clamped;
one side of each climbing block facing the rod piece is provided with a climbing wheel, at least one climbing wheel is a driving wheel, and the driving wheel is in transmission connection with a wheel driving mechanism;
a guiding telescopic structure is arranged between any two adjacent climbing blocks and is used for guiding the two corresponding climbing blocks to approach towards each other so as to compress the rod piece and guiding the two corresponding climbing blocks to move away from each other so as to release the rod piece;
the flexible hooping piece extends along the distribution circumference of all the climbing blocks, and hoops on each climbing block when being tensioned, so that hooping acting force is applied to each climbing block by the tensioned flexible hooping piece to drive each climbing block to approach to each other, and then the climbing wheels of each climbing block are tightly pressed on the rod piece;
the tightening driving devices are arranged on the corresponding climbing blocks and are in transmission connection with the flexible tightening pieces for tightening the flexible tightening pieces.
2. The pole-climbing robot of claim 1, wherein: the flexible hooping piece is characterized in that the number of the flexible hooping pieces is one, the climbing block provided with the tightening driving device is defined as a climbing block of one type, one end of the flexible hooping piece is connected with the climbing block of one type, the other end of the flexible hooping piece is in transmission connection with the tightening driving device, and at least one end of the flexible hooping piece is a detachable end.
3. The pole-climbing robot of claim 1, wherein: the flexible hooping piece is characterized in that the number of the flexible hooping pieces is two, the climbing block provided with the tightening driving device is defined as a first-class climbing block, the rest climbing blocks are second-class climbing blocks, one end of each flexible hooping piece is in transmission connection with the tightening driving device, the other end of each flexible hooping piece is connected with the same second-class climbing block, and at least one end of each flexible hooping piece is a detachable end.
4. A pole-climbing robot as claimed in claim 1, 2 or 3, wherein: the tightening driving device is a direct-acting telescopic driving device or a rotary rolling type driving device.
5. The pole-climbing robot of claim 4, wherein: the winding type driving device comprises a winding shaft and a driving motor for driving the winding shaft to rotate, and the winding shaft is in transmission connection with one end of the flexible hooping piece corresponding to one end of the flexible hooping piece so as to realize transmission connection of the winding driving device and one end of the flexible hooping piece.
6. The pole-climbing robot of claim 5, wherein: a ratchet wheel is coaxially and fixedly arranged on the winding shaft, a locking mechanism is also arranged on the climbing block provided with the tightening driving device, the locking mechanism comprises a pawl capable of moving in a reciprocating manner, and the pawl is provided with a working position and an avoiding position on the reciprocating movement stroke of the pawl;
the pawl is arranged at the working position and is used for being matched with the ratchet wheel so as to prevent the winding shaft from reversely rotating when the winding shaft forwardly rotates to tension the flexible hooping piece;
the pawl is arranged at an avoiding position and is used for avoiding the ratchet wheel so as not to prevent the winding shaft from reversely rotating when the flexible hoop needs to be loosened;
the locking mechanism further comprises a pawl driving structure for driving the pawl to reciprocate between the working position and the avoiding position.
7. A pole-climbing robot as claimed in claim 1, 2 or 3, wherein: and two guiding telescopic structures are arranged on the same side of any two adjacent climbing blocks at intervals along the axial direction of the rod piece, and the flexible hooping piece is provided with a flexible hooping part arranged in the interval of the two guiding telescopic structures arranged at intervals along the axial direction of the rod piece.
8. A pole-climbing robot as claimed in claim 1, 2 or 3, wherein: and rolling parts are arranged at the edges of the climbing blocks, which are contacted with the flexible tightening parts.
9. A pole-climbing robot as claimed in claim 1, 2 or 3, wherein: the guiding telescopic structure comprises a guiding piece arranged on one of the two adjacent climbing blocks and a guiding matching piece arranged on the other climbing block and matched with the guiding piece in a guiding way, and the guiding piece and the guiding matching piece can be separated in the process that the two climbing blocks are away from each other.
10. A pole-climbing robot as claimed in claim 1, 2 or 3, wherein: the guiding telescopic structure comprises a guiding piece arranged on one of the two adjacent climbing blocks and a guiding matching piece arranged on the other and matched with the guiding piece in a guiding way, at least one guiding telescopic structure on the pole-climbing robot is an openable and closable guiding telescopic structure, the guiding piece of the openable and closable guiding telescopic structure is hinged on one of the two adjacent climbing blocks, and the guiding matching piece is detachably and fixedly assembled on the other climbing block.
Priority Applications (1)
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| CN201910809537.5A CN112441153A (en) | 2019-08-29 | 2019-08-29 | Pole-climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910809537.5A CN112441153A (en) | 2019-08-29 | 2019-08-29 | Pole-climbing robot |
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| CN112441153A true CN112441153A (en) | 2021-03-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910809537.5A Pending CN112441153A (en) | 2019-08-29 | 2019-08-29 | Pole-climbing robot |
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| CN114308785A (en) * | 2021-12-02 | 2022-04-12 | 长沙中联重科环境产业有限公司 | Pole setting washs car and pole setting belt cleaning device thereof |
| CN114378846A (en) * | 2022-03-02 | 2022-04-22 | 昆明理工大学 | Air bag inflatable pole-climbing robot with adaptability |
| CN114803964A (en) * | 2022-05-17 | 2022-07-29 | 中国南方电网有限责任公司超高压输电公司南宁局 | Lifting device for high-altitude operation |
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| CN114803964B (en) * | 2022-05-17 | 2024-03-19 | 中国南方电网有限责任公司超高压输电公司南宁局 | Lifting device for high-altitude operation |
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