CN113911224B - Obstacle-crossing pole-climbing robot - Google Patents
Obstacle-crossing pole-climbing robot Download PDFInfo
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- CN113911224B CN113911224B CN202111207525.9A CN202111207525A CN113911224B CN 113911224 B CN113911224 B CN 113911224B CN 202111207525 A CN202111207525 A CN 202111207525A CN 113911224 B CN113911224 B CN 113911224B
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- 239000011425 bamboo Substances 0.000 claims description 4
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- 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
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Abstract
The invention discloses an obstacle-crossing pole-climbing robot, which comprises two walking arms; the walking arm comprises two clamping mechanisms which are distributed up and down, the bottom of the upper clamping mechanism is provided with a telescopic mechanism, the top of the lower clamping mechanism is provided with a translation mechanism, and the telescopic mechanism is connected with the translation mechanism; the translation mechanism can control the distance between the upper clamping mechanism and the lower clamping mechanism along the radial direction of the rod body; the telescopic mechanism can control the distance between the upper clamping mechanism and the lower clamping mechanism along the axial direction of the rod body; the upper end and the lower end of each walking arm are connected through a rotating mechanism; the rotating mechanism can control the included angle between the two walking arms. According to the invention, through the arrangement of the two walking arms, the arrangement of the clamping mechanism, the translation mechanism and the telescopic mechanism on the walking arms and the arrangement of the rotating mechanism between the two walking arms, the climbing operation of the robot on the rod body can be realized, and the obstacle-crossing climbing operation of annular obstacles and more prominent obstacles on the rod body can also be realized.
Description
Technical Field
The invention belongs to the technical field of industrial robots, and particularly relates to an obstacle-crossing pole-climbing robot.
Background
At present, when rod-shaped objects such as telegraph poles and street lamp poles are operated at high altitude, workers need to climb the rod-shaped objects, and therefore safety risks exist. The pole-climbing robot can replace workers to climb high altitude, so that high-risk work such as high-altitude operation is completed, personal safety of the workers in the working process is greatly guaranteed, and working efficiency is improved.
However, the existing pole-climbing robot generally has the characteristic of poor obstacle-crossing capability, and the situation that additional parts on poles of more prominent obstacles such as guideboards are difficult to cross exists.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an obstacle-surmounting pole-climbing robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
an obstacle-crossing pole-climbing robot comprises two walking arms;
the walking arm comprises two clamping mechanisms which are distributed up and down, the bottom of the upper clamping mechanism is provided with a telescopic mechanism, the top of the lower clamping mechanism is provided with a translation mechanism, and the telescopic mechanism is connected with the translation mechanism;
the translation mechanism can control the distance between the upper clamping mechanism and the lower clamping mechanism along the radial direction of the rod body;
the telescopic mechanism can control the distance between the upper clamping mechanism and the lower clamping mechanism along the axial direction of the rod body;
the upper end and the lower end of each of the two walking arms are connected through a rotating mechanism; the rotating mechanism can control the included angle between the two walking arms.
Preferably, the clamping mechanism comprises a clamping cylinder, a clamping bracket and two clamping jaw assemblies;
the clamping cylinder is fixedly arranged on the clamping bracket;
the piston rod of the clamping cylinder is connected with the two clamping jaw assemblies, and the clamping cylinder can control the two clamping jaw assemblies to synchronously approach to each other so as to clamp the rod body or synchronously move away from each other back to back so as to loosen the rod body.
Preferably, the clamping jaw assembly comprises a clamping jaw and a connecting plate, and the clamping jaw comprises an arc-shaped clamping part and a connecting part which are fixedly connected; the end part of the connecting part close to the arc-shaped clamping part is hinged with the clamping support, the end part of the connecting part far away from the arc-shaped clamping part is hinged with one end of the connecting plate, and the other end of the connecting plate is hinged with a piston rod of the clamping cylinder.
Preferably, the translation mechanism comprises a first translation plate fixedly arranged at the top of the lower clamping mechanism;
the upper part of the first translation plate is in sliding fit with a second translation plate along the radial direction of the rod body; a translation control mechanism is arranged between the first translation plate and the second translation plate, and the translation control mechanism can control the relative sliding between the first translation plate and the second translation plate;
the top of second translation board is provided with the lift section of thick bamboo that extends along body of rod axial direction, sets up the internal thread on the inside wall of a lift section of thick bamboo.
Preferably, the translation control mechanism comprises two racks fixedly arranged at the top of the first translation plate and extending along the radial direction of the rod body, and the upper part of each rack is connected with a gear in a meshing manner;
the two gears are coaxially connected through a gear shaft; two ends of the gear shaft are in running fit with the second translation plate;
and a driving piece capable of controlling the gear to rotate is arranged on the second translation plate.
Preferably, the driving member comprises a translation motor fixedly arranged at the top end of the second translation plate;
an output shaft of the translation motor is downwards coaxially and fixedly connected with the first bevel gear;
and a second bevel gear meshed with the first bevel gear is coaxially and fixedly arranged on the gear shaft.
Preferably, the telescopic mechanism comprises a telescopic motor fixedly arranged at the bottom of the upper clamping mechanism;
an output shaft of the telescopic motor is downwards coaxially and fixedly connected with the lifting rod;
the outer wall surface of the lifting rod is provided with an external thread, and the lifting rod is in threaded fit with the lifting cylinder;
two groups of telescopic frames which can be stretched along the axial direction of the rod body are arranged between the telescopic mechanism and the translation mechanism.
Preferably, the rotating mechanism comprises an electric push rod;
two ends of an electric push rod of the upper rotating mechanism are respectively hinged with upper clamping mechanisms in the two walking arms;
two ends of an electric push rod of the lower rotating mechanism are respectively hinged with the lower clamping mechanisms in the two walking arms.
Preferably, a first hinged plate is fixedly arranged at the lower end of a clamping support of the upper clamping mechanism in one walking arm, and a second hinged plate is fixedly arranged at the bottom end of the clamping support of the lower clamping mechanism;
a third hinged plate is fixedly arranged at the top end of the clamping bracket of the middle-upper part clamping mechanism of the other walking arm, and a fourth hinged plate is fixedly arranged at the upper end of the clamping bracket of the lower part clamping mechanism;
two ends of an electric push rod of the upper rotating mechanism are respectively hinged with the first hinge plate and the third hinge plate;
two ends of an electric push rod of the lower rotating mechanism are respectively hinged with the second hinge plate and the fourth hinge plate.
The invention has the beneficial effects that:
according to the robot, the two walking arms are arranged, the clamping mechanism, the translation mechanism and the telescopic mechanism are arranged on the walking arms, and the rotating mechanism is arranged between the two walking arms, so that the robot can climb a rod body, and can also climb obstacles on the rod body, such as annular obstacles and more prominent obstacles; therefore, the robot has high obstacle crossing capability, and the problem that the existing robot is difficult to cross over more prominent obstacles (such as guideboards) on the rod body is solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a schematic perspective view of the obstacle-surmounting pole-climbing robot of the present invention;
FIG. 2 is a schematic view of the structure of the traveling arm according to the present invention;
FIG. 3 is a schematic view of the clamping mechanism of the present invention;
FIG. 4 is a schematic view of the translation mechanism of the present invention;
wherein:
0-rod body;
1-clamping mechanism, 101-clamping cylinder, 102-clamping bracket, 103-connecting plate, 104-arc clamping part and 105-connecting part;
2-translation mechanism, 201-first translation plate, 2011-sliding chute, 202-second translation plate, 2021-sliding block, 203-lifting cylinder, 204-translation motor, 2041-motor bracket, 205-first helical gear, 206-rack, 207-gear, 208-gear shaft, 209-second helical gear;
3-a telescoping mechanism, 301-a telescoping motor, 302-a lifting rod, 303-a speed reducer, 304-a motor mounting rack, 305-a telescoping rack, 3051-a connecting rod, 3052-a mounting block, 3053-a connecting rod sliding block and 3054-a connecting rod sliding groove;
4-rotation mechanism, 401-electric push rod, 402-first hinge plate, 403-second hinge plate, 404-third hinge plate, and 405-fourth hinge plate.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present invention, terms such as "upper", "lower", "bottom", "top", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only terms of relationships determined for convenience in describing structural relationships of the components or elements of the present invention, and do not particularly indicate any components or elements of the present invention, and are not to be construed as limiting the present invention.
In the present invention, terms such as "connected" and "connecting" should be interpreted broadly, and mean either a fixed connection or an integral connection or a detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be determined according to specific situations by persons skilled in the relevant scientific or technical field, and are not to be construed as limiting the present invention.
The invention is further illustrated with reference to the following figures and examples.
As shown in fig. 1-2, an obstacle-surmounting pole-climbing robot comprises two walking arms;
the walking arm comprises two clamping mechanisms 1 which are distributed up and down, the bottom of the upper clamping mechanism 1 is provided with a telescopic mechanism 3, the top of the lower clamping mechanism 1 is provided with a translation mechanism 2, and the telescopic mechanism 3 is connected with the translation mechanism 2;
the translation mechanism 2 can control the distance between the upper clamping mechanism 1 and the lower clamping mechanism 1 along the radial direction of the rod body 0;
the telescopic mechanism 3 can control the distance between the upper clamping mechanism 1 and the lower clamping mechanism 1 along the axial direction of the rod body 0;
the upper end and the lower end of each of the two walking arms 1 are connected through a rotating mechanism 4; the rotating mechanism 4 can control the included angle between the two walking arms 1.
Preferably, as shown in fig. 3, the clamping mechanism 1 comprises a clamping cylinder 101, a clamping bracket 102 and two clamping jaw assemblies;
the clamping cylinder 101 is fixedly arranged on the clamping bracket 102;
the piston rod of the clamping cylinder 101 is connected with the two clamping jaw assemblies, and the clamping cylinder 101 can control the two clamping jaw assemblies to synchronously approach to each other to clamp the rod body 0 or synchronously move away from each other back to loosen the rod body 0.
Preferably, as shown in fig. 3, the clamping jaw assembly comprises a clamping jaw and a connecting plate 103, wherein the clamping jaw comprises an arc-shaped clamping part 104 and a connecting part 105 which are fixedly connected; the end part of the connecting part 105 close to the arc-shaped clamping part 104 is hinged with the clamping bracket 102, the end part of the connecting part 105 far from the arc-shaped clamping part 104 is hinged with one end of the connecting plate 103, and the other end of the connecting plate 103 is hinged with a piston rod of the clamping cylinder 101.
In the process of extending and retracting the piston rod of the clamping cylinder 101, the two arc-shaped clamping parts 104 can be synchronously close to each other to clamp the rod body 0 or synchronously back to each other to release the rod body 0.
Preferably, as shown in fig. 4, the translation mechanism 2 comprises a first translation plate 201 fixedly arranged on top of the lower clamping mechanism 1;
the upper part of the first translation plate 201 is matched with a second translation plate 202 in a sliding way along the radial direction of the rod body 0; a translation control mechanism is arranged between the first translation plate 201 and the second translation plate 202, and the translation control mechanism can control the relative sliding between the first translation plate 201 and the second translation plate 202; specifically, a sliding groove 2011 extending along the radial direction of the rod body 0 is arranged on the first translation plate 201, and a sliding block 2021 in sliding fit with the sliding groove 2011 is arranged on the second translation plate 202;
the top of the second translation plate 202 is provided with a lifting cylinder 203 extending along the axial direction of the rod body 0, and the inner side wall of the lifting cylinder 203 is provided with an internal thread.
Preferably, as shown in fig. 4, the translation control mechanism includes two racks 206 fixedly disposed on the top of the first translation plate 201 and extending along the radial direction of the rod body 0, and an upper portion of each rack 206 is engaged with a gear 207;
the two gears 207 are coaxially connected through a gear shaft 208, and specifically, the gears 207 are in key connection with the gear shaft 208; both ends of the gear shaft 208 are rotationally matched with the second translation plate 202;
the second translation plate 202 is provided with a driving member capable of controlling the rotation of the gear 207.
Preferably, as shown in fig. 4, the driving member includes a translation motor 204 fixedly disposed at a top end of the second translation plate 202; specifically, the translation motor 204 is fixedly arranged at the top end of the second translation plate 202 through a motor bracket 2041;
an output shaft of the translation motor 204 is downward coaxially and fixedly connected with the first bevel gear 205, and specifically, the output shaft of the translation motor 204 is connected with the first bevel gear 205 through a coupling;
a second bevel gear 209 meshed with the first bevel gear 205 is coaxially and fixedly arranged on the gear shaft 208.
The translation motor 204 is started to drive the first bevel gear 205 to rotate, and under the cooperation between the first bevel gear 205 and the second bevel gear 209, the rotation of the gear shaft 208 is realized, so that the rotation of the two gears 207 on the gear shaft 208 is driven, and thus, under the cooperation between the gear 207 and the rack 206, the relative sliding between the first translation plate 201 and the second translation plate 202 is realized.
When the lower clamping mechanism 1 connected with the first translation plate 201 clamps the rod body 0 and the upper clamping mechanism 1 connected with the second translation plate 202 looses the rod body 0, the second translation plate 202 drives the upper clamping mechanism 1 to move along the radial direction of the rod body 0 when the translation motor 204 is started;
when the lower clamping mechanism 1 connected to the first translation plate 201 releases the rod body 0 and the upper clamping mechanism 1 connected to the second translation plate 202 clamps the rod body 0, the first translation plate 202 drives the lower clamping mechanism 1 to move along the radial direction of the rod body 0 when the translation motor 204 is started.
Preferably, as shown in fig. 2, the telescoping mechanism 3 comprises a telescoping motor 301 fixedly arranged at the bottom of the upper clamping mechanism 1;
an output shaft of the telescopic motor 301 is downwards coaxially and fixedly connected with the lifting rod 302, specifically, the output shaft of the telescopic motor 301 is connected with the speed reducer 303, and an output shaft of the speed reducer 303 is downwards connected with the lifting rod 302 through a coupler; the telescopic motor 301 is fixedly arranged at the bottom of the upper clamping mechanism 1 through a motor mounting frame 304, and the shell of the speed reducer 303 is fixedly connected with the bottom end of the upper clamping mechanism 1;
an external thread is arranged on the outer wall surface of the lifting rod 302, and the lifting rod 302 is in threaded fit with the lifting cylinder 203;
two sets of telescopic frames 305 capable of extending and retracting along the axial direction of the rod body 0 are arranged between the telescopic mechanism 3 and the translation mechanism 2.
When the telescopic mechanism 3 controls the movement of the clamping mechanism 1, the telescopic frame 305 provides a certain guiding function for the clamping mechanism 1, and simultaneously provides better flexibility and buffering for the movement of the whole pole-climbing robot.
Specifically, the telescopic frame 305 can be realized by adopting the prior art, in the application, the telescopic frame 305 comprises a telescopic frame body formed by cross-hinging a plurality of connecting rods 3051 and mounting blocks 3052 positioned at two ends of the telescopic frame body, two connecting rod 3051 end parts at each end of the telescopic frame body are respectively hinged with a connecting rod slider 3053, a connecting rod chute 3054 is arranged on the mounting blocks 3052, and the connecting rod sliders 3053 are in sliding fit with the corresponding connecting rod chutes 3054 so as to realize the extension and retraction of the telescopic frame body in a matching manner; one mounting block 3052 of the telescopic frame 305 is fixedly connected with the shell of the speed reducer 303, and the other mounting block 3052 is fixedly connected with the second translation plate 202.
When the upper and lower clamping mechanisms 1 in the traveling arm clamp the rod body and the other clamping mechanism 1 loosens the rod body 0, the telescopic motor 301 is started at this time, so that the clamping mechanisms 1 loosening the rod body 0 can move along the axial direction of the rod body.
Preferably, as shown in fig. 1, the rotating mechanism 4 comprises an electric push rod 401;
two ends of an electric push rod 401 of the upper rotating mechanism 4 are respectively hinged with the upper clamping mechanisms 1 in the two walking arms;
two ends of an electric push rod 401 of the lower rotating mechanism 4 are respectively hinged with the lower clamping mechanisms 1 in the two walking arms.
Preferably, a first hinge plate 402 is fixedly arranged at the lower end of the clamping bracket 102 of the upper clamping mechanism 1 in one walking arm, and a second hinge plate 403 is fixedly arranged at the bottom end of the clamping bracket 102 of the lower clamping mechanism 1;
a third hinge plate 404 is fixedly arranged at the top end of the clamping bracket 102 of the upper clamping mechanism 1 in the other walking arm, and a fourth hinge plate 405 is fixedly arranged at the upper end of the clamping bracket of the lower clamping mechanism 1;
two ends of an electric push rod 401 of the upper rotating mechanism 4 are respectively hinged with a first hinge plate 402 and a third hinge plate 404;
two ends of an electric push rod 401 of the lower rotating mechanism 4 are hinged with a second hinge plate 403 and a fourth hinge plate 405 respectively.
The telescopic direction of the electric push rod 401 is perpendicular to the axial direction of the rod body 0; the first hinge plate 402, the third hinge plate 404, the second hinge plate 403 and the fourth hinge plate 405 are arranged in positions, so that the upper clamping mechanism 1 and the lower clamping mechanism 1 on the two traveling arms can be arranged in a crossed manner, that is, the upper clamping mechanism 1 and the lower clamping mechanism 1 in one traveling arm are respectively positioned on the upper parts of the upper clamping mechanism 1 and the lower clamping mechanism 1 in the other traveling arm, and thus the interference of the clamping mechanisms in the two traveling arms is avoided.
Meanwhile, the arrangement of the electric push rod 401 in the application can ensure the connection between the two walking arms on one hand; on the other hand, when one walking arm clamps the rod body 0 and the other walking arm looses the rod body 0, if the electric push rod 401 is started, the walking arm loosening the rod body 0 can rotate around the rod body 0, and the walking arm can avoid the protruding obstacle through the rotation action.
The specific implementation mode of the obstacle-crossing pole-climbing robot is as follows:
the application provides a hinder pole-climbing robot more can adapt to the most body of rod that has the annular obstacle, also can adapt to simultaneously and have the body of rod of more outstanding obstacle, obstacle such as signpost. Different walking obstacle crossing modes are provided corresponding to different rod bodies.
When the rod bodies 0 are different in thickness, the extension distances of the piston rods of the clamping cylinders 101 in the clamping mechanism 1 are also different, so that the opening and closing sizes of the two arc-shaped clamping parts 104 are also different.
The climbing process without obstacles on the rod body 0 is as follows:
two groups of upper clamping mechanisms 1 in the two walking arms are opened, and two groups of lower clamping mechanisms 1 clamp the rod body 0;
then, the telescopic motors 301 of the telescopic mechanisms 3 in the two traveling arms are started to drive the two groups of upper clamping mechanisms 1 in the two traveling arms to move upwards, then the two groups of upper clamping mechanisms 1 clamp the rod body 0, and the two groups of lower clamping mechanisms 1 are opened;
then, the telescopic motors 301 of the telescopic mechanisms 3 in the two traveling arms are started again to drive the two groups of lower clamping mechanisms 1 in the two traveling arms to move upwards, then the two groups of upper clamping mechanisms 1 in the two traveling arms are opened, and the two groups of lower clamping mechanisms 1 clamp the rod body 0;
thus, a one-time telescopic climbing process is completed; the above-described actions are then repeated to achieve climbing along the stick body 0.
The climbing process when the circular obstacle appears on the rod body 0 is as follows:
two groups of upper clamping mechanisms 1 in the two walking arms are opened, and two groups of lower clamping mechanisms 1 clamp the rod body 0;
then, the translation motors 204 in the two traveling arms are started, so that the second translation plates 202 in the two traveling arms drive the upper telescopic mechanisms 3 and the upper clamping mechanisms 1 to move outwards along the radial direction of the rod body 0 until the two groups of upper clamping mechanisms 1 can avoid the annular obstacle; in this process, the upper electric push rod 401 follows the push out to adapt to the position change of the two sets of upper clamping mechanisms 1;
then, the telescopic motors 301 of the telescopic mechanisms 3 in the two travelling arms are started to drive the two groups of upper clamping mechanisms 1 in the two travelling arms to move upwards and cross the annular obstacle, then the two groups of upper clamping mechanisms 1 after crossing the annular obstacle clamp the rod body 0, and the two groups of lower clamping mechanisms 1 are opened;
then, the translation motors 204 in the two traveling arms are started again, so that the first translation plates 201 in the two traveling arms drive the two groups of lower clamping mechanisms 1 to move outwards along the radial direction of the rod body 0 until the two groups of lower clamping mechanisms 1 can avoid the annular obstacle; in this process, the lower electric push rod 401 follows the push-out to adapt to the position change of the two sets of lower clamping mechanisms 1;
then, the telescopic motors 301 of the telescopic mechanisms 3 in the two traveling arms are started again, so that the two groups of lower clamping mechanisms 1 in the two traveling arms move upwards and cross the annular obstacle, then the two groups of lower clamping mechanisms 1 after crossing the annular obstacle clamp the rod body 0, and the two groups of upper clamping mechanisms 1 are opened;
the crossing process of the annular barrier is completed.
The climbing process when a relatively prominent obstacle (such as a guideboard) appears on the rod body 0 is as follows:
an upper clamping mechanism 1 and a lower clamping mechanism 1 on one traveling arm (a first traveling arm) clamp the rod body 0, and an upper clamping mechanism 1 and a lower clamping mechanism 1 on the other traveling arm (a second traveling arm) are opened;
then, the two electric push rods 401 act to enable the second walking arm to rotate around the rod body 0, after the second walking arm rotates, the upper clamping mechanism 1 and the lower clamping mechanism 1 on the second walking arm clamp the rod body 0, and the upper clamping mechanism 1 and the lower clamping mechanism 1 on the first walking arm are opened; then, the two electric push rods 401 act again to enable the first walking arm to rotate around the rod body 0, after the rotation is finished, the upper clamping mechanism 1 and the lower clamping mechanism 1 on the first walking arm clamp the rod body 0, and the upper clamping mechanism 1 and the lower clamping mechanism 1 on the second walking arm are opened;
then the two walking arms repeat the rotating action until the two clamping mechanisms 1 on the two walking arms can avoid obstacles when moving up and down;
the process that the two walking arms bypass obstacles such as guideboards is completed;
and then two groups of upper clamping mechanisms 1 in the two walking arms are controlled to be opened, two groups of lower clamping mechanisms 1 clamp the rod body 0, and climbing is started according to the climbing process when no obstacle exists on the rod body 0.
Parts which are not described in the invention can be realized by adopting or referring to the prior art.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the present invention, and it should be understood by those skilled in the art that various modifications and changes may be made without inventive efforts based on the technical solutions of the present invention.
Claims (8)
1. An obstacle-crossing pole-climbing robot is characterized by comprising two walking arms;
the walking arm comprises two clamping mechanisms which are distributed up and down, the bottom of the upper clamping mechanism is provided with a telescopic mechanism, the top of the lower clamping mechanism is provided with a translation mechanism, and the telescopic mechanism is connected with the translation mechanism;
the translation mechanism can control the distance between the upper clamping mechanism and the lower clamping mechanism along the radial direction of the rod body;
the telescopic mechanism can control the distance between the upper clamping mechanism and the lower clamping mechanism along the axial direction of the rod body;
the upper end and the lower end of each walking arm are connected through a rotating mechanism; the rotating mechanism can control the included angle between the two walking arms;
the translation mechanism comprises a first translation plate fixedly arranged at the top of the lower clamping mechanism;
the upper part of the first translation plate is in sliding fit with a second translation plate along the radial direction of the rod body; a translation control mechanism is arranged between the first translation plate and the second translation plate, and the translation control mechanism can control the relative sliding between the first translation plate and the second translation plate;
the top of second translation board is provided with the lift section of thick bamboo that extends along body of rod axial direction, sets up the internal thread on the inside wall of a lift section of thick bamboo.
2. The obstacle-surmounting, pole-climbing robot of claim 1 wherein the clamping mechanism includes a clamping cylinder, a clamping bracket, and two jaw assemblies;
the clamping cylinder is fixedly arranged on the clamping bracket;
the piston rod of the clamping cylinder is connected with the two clamping jaw assemblies, and the clamping cylinder can control the two clamping jaw assemblies to synchronously approach to each other so as to clamp the rod body or synchronously move away from each other back to loosen the rod body.
3. The obstacle-surmounting and pole-climbing robot of claim 2, wherein the clamping jaw assembly comprises a clamping jaw and a connecting plate, the clamping jaw comprises an arc-shaped clamping part and a connecting part which are fixedly connected; the end part of the connecting part close to the arc-shaped clamping part is hinged with the clamping support, the end part of the connecting part far away from the arc-shaped clamping part is hinged with one end of the connecting plate, and the other end of the connecting plate is hinged with a piston rod of the clamping cylinder.
4. The robot of claim 1, wherein the translational control mechanism comprises two racks fixedly arranged on the top of the first translational plate and extending along the radial direction of the rod body, and the upper part of each rack is engaged with a gear;
the two gears are coaxially connected through a gear shaft; two ends of the gear shaft are in running fit with the second translation plate;
and a driving piece capable of controlling the gear to rotate is arranged on the second translation plate.
5. The obstacle-surmounting and pole-climbing robot of claim 4, wherein the driving member includes a translation motor fixedly disposed at a top end of the second translation plate;
an output shaft of the translation motor is downwards coaxially and fixedly connected with the first bevel gear;
and a second bevel gear meshed with the first bevel gear is coaxially and fixedly arranged on the gear shaft.
6. The robot of claim 1, wherein the telescoping mechanism comprises a telescoping motor fixedly disposed at the bottom of the upper clamping mechanism;
an output shaft of the telescopic motor is downwards coaxially and fixedly connected with the lifting rod;
the outer wall surface of the lifting rod is provided with an external thread, and the lifting rod is in threaded fit with the lifting cylinder;
two groups of telescopic frames which can be stretched along the axial direction of the rod body are arranged between the telescopic mechanism and the translation mechanism.
7. The obstacle-surmounting pole-climbing robot of claim 2, wherein said rotating mechanism comprises an electric push rod;
two ends of an electric push rod of the upper rotating mechanism are respectively hinged with upper clamping mechanisms in the two walking arms;
two ends of an electric push rod of the lower rotating mechanism are respectively hinged with the lower clamping mechanisms in the two walking arms.
8. The obstacle-surmounting pole-climbing robot as claimed in claim 7, wherein a first hinged plate is fixedly arranged at the lower end of the clamping bracket of the upper clamping mechanism in one walking arm, and a second hinged plate is fixedly arranged at the bottom end of the clamping bracket of the lower clamping mechanism;
a third hinged plate is fixedly arranged at the top end of the clamping bracket of the middle upper part clamping mechanism of the other walking arm, and a fourth hinged plate is fixedly arranged at the upper end of the clamping bracket of the lower part clamping mechanism;
two ends of an electric push rod of the upper rotating mechanism are respectively hinged with the first hinge plate and the third hinge plate;
two ends of an electric push rod of the lower rotating mechanism are respectively hinged with the second hinge plate and the fourth hinge plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111207525.9A CN113911224B (en) | 2021-10-18 | 2021-10-18 | Obstacle-crossing pole-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111207525.9A CN113911224B (en) | 2021-10-18 | 2021-10-18 | Obstacle-crossing pole-climbing robot |
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| Publication Number | Publication Date |
|---|---|
| CN113911224A CN113911224A (en) | 2022-01-11 |
| CN113911224B true CN113911224B (en) | 2022-10-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111207525.9A Active CN113911224B (en) | 2021-10-18 | 2021-10-18 | Obstacle-crossing pole-climbing robot |
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| CN114715303B (en) * | 2022-05-06 | 2023-01-10 | 安徽理工大学 | Pipe pole inspection robot with climbing and obstacle crossing functions |
| CN115056879A (en) * | 2022-08-16 | 2022-09-16 | 南京中泓智电电气有限公司 | Suspension insulator detection robot and crawling method thereof |
| CN116118891A (en) * | 2023-03-17 | 2023-05-16 | 南京派光高速载运智慧感知研究院有限公司 | Pipeline clamping running gear |
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