CN113928439A - Climbing device with obstacle crossing function - Google Patents
Climbing device with obstacle crossing function Download PDFInfo
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- CN113928439A CN113928439A CN202111413209.7A CN202111413209A CN113928439A CN 113928439 A CN113928439 A CN 113928439A CN 202111413209 A CN202111413209 A CN 202111413209A CN 113928439 A CN113928439 A CN 113928439A
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- climbing
- clasping
- obstacle crossing
- roller seats
- clamping
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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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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Abstract
The invention discloses a climbing device with an obstacle crossing function, relates to the field of robots, and can cross obstacles on a climbing rod piece in the climbing process of the climbing rod piece. The device comprises a device base and two clasping mechanisms, wherein the clasping mechanisms can be simultaneously or independently attached to a climbing rod piece and move along the axial direction of the climbing rod piece; two hold tight mechanism along the main axis interval set up and with the device base rotates and is connected, and its rotation direction is for being close to each other or keeping away from, be equipped with on the device base and be used for the drive hold tight mechanism and carry out pivoted first drive arrangement. According to the invention, through the matching of the two holding mechanisms and the device base, the whole device can have the obstacle crossing function in the moving process of the climbing rod piece, so that the whole device can continuously move, the whole width of the device cannot be excessively increased in the obstacle crossing process, and the obstacle crossing is convenient.
Description
Technical Field
The invention relates to the field of robots, in particular to a climbing device with an obstacle crossing function.
Background
At present, the domestic agricultural distribution network line is a channel for operating a rural power system, and the safety operation of the rural power system is directly related to the stability and reliability of power supply. In the using process of the agricultural distribution network line, the line is exposed outdoors for a long time, various faults are easy to occur, if reasonable maintenance is not given in time, the original tiny damage and defects can be enlarged, and finally serious accidents are caused, so that large-area power failure and huge economic loss are caused. Therefore, the line needs to be regularly inspected, the equipment defects and the potential safety hazards of the line are timely found, and reasonable maintenance is given according to the severity of the defects, so that the safe and reliable operation of the power system is ensured.
The daily maintenance basically adopts the mode of pole climbing operation to accomplish corresponding tasks. This not only consumes maintainer's physical power in a large number, influences work efficiency, also is very unsafe, consequently also need overhaul the operation through some climbing device replacement personnel sometimes, but at the climbing in-process of pole, can meet the barrier on climbing route sometimes, climbing device is difficult to continue to advance this moment.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: a climbing device is provided that can clear obstacles on a climbing bar during the climbing process of the climbing bar. The invention provides a climbing device with an obstacle crossing function, which solves the problems.
The invention is realized by the following technical scheme:
a climbing device with an obstacle crossing function comprises a device base and two clasping mechanisms, wherein the clasping mechanisms can be simultaneously or independently attached to a climbing rod piece and move along the axial direction of the climbing rod piece;
two hold tight mechanism along the main axis interval set up and with the device base rotates and is connected, and its rotation direction is for being close to each other or keeping away from, be equipped with on the device base and be used for the drive hold tight mechanism and carry out pivoted first drive arrangement.
The main axis is a preset line beside the device base, and when the two clasping mechanisms are simultaneously attached to the climbing rod piece in a climbing mode, the main axis is parallel to the axis of the climbing rod piece.
When encountering an obstacle on the climbing rod piece, the mechanism is rotated through the clasping mechanism, so that the clasping mechanism adjacent to the obstacle is far away from the climbing rod piece, then, another clasping mechanism drives the whole device to move towards the obstacle direction, when the obstacle moves to the interval of the two clasping mechanisms, the clasping mechanism far away from the climbing rod piece is reset through rotation, so that the mechanism can climb on the climbing rod piece again, another clasping mechanism is far away from the climbing rod piece, the whole device is driven to move continuously through the clasping mechanism which climbs on the climbing rod piece again at the moment until the obstacle is bypassed, finally, the other clasping mechanism far away from the climbing rod piece is reset, and the mechanism climbs on the climbing rod piece again, and then obstacle crossing operation is completed.
Optionally, the relative rotation angle range of the two clasping mechanisms and the device base is 0-45 degrees, and when the relative rotation angle of the two clasping mechanisms and the device base is 45 degrees, the two clasping mechanisms are relatively vertical.
Optionally, one side or both sides of the device base are provided with electric push rods capable of stretching along the main axis, and one end of each electric push rod far away from the device base is rotatably connected with the clasping mechanism. The distance between the two clasping mechanisms is changed according to the width of the obstacle.
Optionally, hold the mechanism tightly including hold the main part tightly and with hold main part swing joint's first clamping part and second clamping part tightly, hold the main part tightly with the device base rotates and connects, it is used for the drive to hold to be equipped with in the main part tightly first clamping part and second clamping part are close to each other or the second drive arrangement who keeps away from, be equipped with a plurality of action wheel on first clamping part and the second clamping part, follow the driving wheel and be used for the drive the action wheel carries out pivoted third drive arrangement, works as when first clamping part and second clamping part are close to each other, the action wheel can closely laminate from the driving wheel on the climbing member, at this moment the action wheel, the axis from the driving wheel are perpendicular with the main axis. The climbing rod piece is clamped by the first clamping part and the second clamping part, and the driving wheel drives the device to move.
Further, optionally, the first clamping portion and the second clamping portion are both connected with the clasping body in a sliding manner, sliding paths of the first clamping portion and the second clamping portion are on the same straight line, and the straight line is perpendicular to the main axis. At this moment first clamping part and second clamping part all follow the perpendicular to the axial direction of climbing member removes, and first clamping part and second clamping part can be applicable to the climbing member of different diameters through the change of its interval this moment, make simultaneously when carrying out the centre gripping to the climbing member, the position of its centre gripping is comparatively fixed, can be convenient for improve the stability of clasping the mechanism from this.
Further, optionally, the clasping main body comprises a screw rod and a plurality of guide rods which are both perpendicular to the main axis, the middle part of the guide rod is fixedly connected with a rotating seat which is rotationally connected with the device base, two ends of the guide rod are fixedly connected with side plates which are respectively and rotatably connected with two ends of the screw rod, the side plate of the first driving device is provided with a second driving device for driving the screw rod to rotate, the screw rod is provided with a first thread section and a second thread section, the rotating directions of the first thread section and the second thread section are opposite, a first screw rod seat fixedly connected with the first clamping part is connected to the first thread section in a threaded manner, and a second screw rod seat fixedly connected with the second clamping part is in threaded connection with the second thread section, and the first screw rod seat and the second screw rod seat are in sliding connection with the guide rod. The screw rod is driven to rotate through the second driving device so as to drive the first clamping part and the second clamping part to be close to or far away from each other.
Optionally, the first clamping portion includes a first clamping seat movably connected to the clasping body, the first clamping seat is at least provided with four roller seats, the roller seats are rotatably connected to the driving wheel or the driven wheel, the four roller seats are divided into two groups, two roller seats in each group are located at the same axial position of the main axis, and an included angle between the axes of the two roller seats is an obtuse angle; two roller seats respectively corresponding to different groups are arranged along the main axis at intervals.
Further, optionally, two roller seats in one of the groups are rotatably connected with the driving wheel, and two roller seats in the other group are rotatably connected with the driven wheel.
Further, optionally, the second clamping part includes with hold main part swing joint's second grip slipper, be equipped with two at least gyro wheel seats on the second grip slipper, rotate in the gyro wheel seat and be connected with from the driving wheel, two the gyro wheel seat sets up along the main axis interval.
Further, optionally, the driving wheel and the driven wheel are rubber wheels or nylon layers are covered on the surfaces of the rubber wheels and the driven wheel.
The invention has the following advantages and beneficial effects:
1. according to the climbing device with the obstacle crossing function, the whole device can have the obstacle crossing function in the moving process on the climbing rod piece through the matching of the two holding mechanisms and the device base, so that the whole device can move continuously. When no barrier exists, the two clasping mechanisms can enhance the stability of the whole device in the climbing process.
2. According to the climbing device with the obstacle crossing function, the two holding mechanisms can be further away from each other along the direction of the main axis through the arrangement of the electric push rod, the distance between the two holding mechanisms can be further increased through the extension of the flashlight push rod for a part of obstacles with larger volume, and the obstacles with larger volume can be conveniently crossed in the obstacle crossing process, so that the obstacle crossing performance of the whole device is improved.
3. According to the climbing device with the obstacle crossing function, the first clamping part and the second clamping part are in sliding connection with the holding main body, so that the climbing device can be suitable for climbing rod pieces with different diameters or can adapt to diameter changes of the same climbing rod piece. Simultaneously, when the climbing rod piece is clamped, the clamping point position is fixed, and therefore the stability of the holding mechanism can be improved conveniently.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is an overall schematic view of embodiment 1 of the present invention;
FIG. 2 is a front view of embodiment 1 of the present invention;
FIG. 3 is a side view of example 1 of the present invention;
FIG. 4 is a schematic view of the moving direction of embodiment 1 of the present invention;
FIG. 5 is a top view of example 1 of the present invention;
fig. 6 is a schematic view showing the attachment of the device to the climbing rod in example 1 of the present invention.
Reference numbers and corresponding part names in the drawings:
1-device base, 11-first driving device, 12-electric push rod, 2-enclasping mechanism, 21-enclasping main body, 211-screw rod, 212-guide rod, 213-rotating seat, 214-side plate, 215-second driving device, 216-first screw rod seat, 217-second screw rod seat, 22-first clamping part, 221-first clamping seat, 23-second clamping part, 231-second clamping seat, 24-driving wheel and 25-driven wheel.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that: it is not necessary to employ these specific details to practice the present invention. In other instances, well-known structures, circuits, materials, or methods have not been described in detail so as not to obscure the present invention.
Throughout the specification, reference to "one embodiment," "an embodiment," "one example," or "an example" means: the particular features, structures, or characteristics described in connection with the embodiment or example are included in at least one embodiment of the invention. Thus, the appearances of the phrases "one embodiment," "an embodiment," "one example" or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Further, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and are not necessarily drawn to scale. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In the description of the present invention, the terms "front", "rear", "left", "right", "upper", "lower", "vertical", "horizontal", "upper", "lower", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore, should not be construed as limiting the scope of the present invention.
Example 1:
a climbing device with an obstacle crossing function comprises a device base 1 and two clasping mechanisms 2, wherein the clasping mechanisms 2 can be simultaneously or independently attached to a climbing rod piece and move along the axial direction of the climbing rod piece;
two hold tight mechanism 2 along the main axis interval set up and with device base 1 rotates and is connected, and its rotation direction is for being close to each other or keeping away from, be equipped with on the device base 1 and be used for the drive hold tight mechanism 2 and carry out pivoted first drive arrangement 11.
The main axis is a preset line beside the device base 1, and when the two clasping mechanisms 2 are simultaneously attached to the climbing rod piece in a climbing mode, the main axis is parallel to the axis of the climbing rod piece. The clasping mechanisms 2 are rotatably connected with the device base 1, through rotation, the two clasping mechanisms 2 can be simultaneously close to the climbing rod piece and are attached to the climbing rod piece in a climbing mode, only one clasping mechanism 2 can be attached to the climbing rod piece in a climbing mode, the other clasping mechanism 2 and the device base 1 incline towards the direction far away from the climbing rod piece, and in the process, the clasping mechanisms 2 attached to the climbing rod piece in a climbing mode can drive the whole device to move along the axial direction of the climbing rod piece.
When encountering an obstacle on the climbing rod, the mechanism 2 adjacent to the obstacle is enabled to be far away from the climbing rod through the rotation of the mechanism 2, then, the other mechanism 2 is enabled to drive the whole device to move towards the direction of the obstacle, when the obstacle moves into the interval between the two mechanisms 2, the mechanism 2 far away from the climbing rod is reset through rotation, the mechanism can be climbed on the climbing rod again, the other mechanism 2 is enabled to be far away from the climbing rod, the mechanism 2 climbed on the climbing rod again drives the whole device to continue to move until the obstacle is bypassed, and finally, the other mechanism 2 far away from the climbing rod is reset and climbed on the climbing rod again, so that the obstacle crossing operation is completed. Through the cooperation of two enclasping mechanisms 2 and device base 1 for whole device can have the function of hindering more in the removal process on climbing the member, realizes the continuous movement of whole device from this, is carrying out the in-process of hindering more, mainly through making enclasping mechanism 2 rotates to the axial direction of climbing the member, and the holistic width of device can not excessive increase, can play the effect of hindering more equally to the condition that still is equipped with other parts beside the climbing member. When no obstacle exists, the two clasping mechanisms 2 can enhance the stability of the whole device in the climbing process.
In one or more embodiments, the relative rotation angle range between the clasping mechanism 2 and the device base 1 is 0-45 °, and when the relative rotation angle between the two clasping mechanisms 2 and the device base 1 is 45 °, the two clasping mechanisms 2 are relatively perpendicular.
Due to the two clasping mechanisms 2, when the relative rotation angle between the clasping mechanisms 2 and the device base 1 is 45 degrees, the two clasping mechanisms 2 are relatively vertical, so that the phenomenon that the rotatable amplitude of the clasping mechanisms 2 is too small to avoid the influence of obstacles is avoided; or the radian is too big, keeps away from the mechanism 2 of holding tightly of climbing the member and device base 1 cause the influence to still climbing the stability of the mechanism 2 of holding tightly of attaching on climbing the member.
Wherein, the connecting position of the device base 1 and the clasping mechanism 2 is provided with a limit stop for limiting the excessive rotation of the clasping mechanism 2.
In one or more embodiments, an electric push rod 12 capable of extending and retracting along a main axis is arranged on one side or two sides of the device base 1, and one end, away from the device base 1, of the electric push rod 12 is rotatably connected with the clasping mechanism 2.
Through electric putter 12 for two hold close mechanism 2 and can further keep away from each other along the major axis direction, to the great barrier of partial volume, can pass through stretching out of torch push rod, make two hold close mechanism 2's interval further increase, be convenient for surmount the barrier of bigger volume in the obstacle crossing process, with this obstacle crossing function that improves whole device.
Wherein, in one or more embodiments, hold tightly mechanism 2 including hold tightly main part 21 and with hold tightly main part 21 swing joint's first clamping part 22 and second clamping part 23, hold tightly main part 21 with device base 1 rotates and is connected, it is used for the drive to be equipped with on the main part 21 to hold tightly first clamping part 22 and second clamping part 23 are close to each other or the second drive arrangement 215 who keeps away from, be equipped with a plurality of action wheel 24 on first clamping part 22 and the second clamping part 23, follow driving wheel 25 and be used for the drive action wheel 24 carries out the pivoted third drive arrangement, works as when first clamping part 22 and second clamping part 23 are close to each other, action wheel 24 and follow driving wheel 25 can closely laminate on the climbing pole piece, and this moment the axis of action wheel 24, follow driving wheel 25 is perpendicular with the main axis.
Wherein it makes to hold mechanism 2 through being close to each other of first clamping part 22 and second clamping part 23 the action wheel 24 on first clamping part 22 and the second clamping part 23 can closely laminate from driving wheel 25 on the climbing member, it is right with this climbing member forms the effect of a centre gripping, realizes from this that hold mechanism 2 and climb the effect on climbing member, simultaneously, when whole device need remove, through the drive of third drive arrangement the action wheel 24 rotates, and then drives whole device along axial displacement on climbing member.
The first clamping portion 22 and the second clamping portion 23 may be rotatably connected to the clasping body 21, and approach or separate from each other in a rotating manner; or may be slidably connected to the clasping body 21, and the clasping body 21 can slide along the same straight line to realize the relative approaching or separating of the clasping body and the clasping body. Thus, in one or more embodiments, the first clamping portion 22 and the second clamping portion 23 are both slidably connected to the clasping body 21 with the sliding paths on the same line, which is perpendicular to the main axis.
At this moment first clamping part 22 and second clamping part 23 are close to each other or are kept away from through the mode of sliding along same straight line, because this straight line perpendicular to the main axis is when clasping mechanism 2 centre gripping promptly, first clamping part 22 and second clamping part 23 all follow the perpendicular to the axial direction of climbing member removes, and first clamping part 22 and second clamping part 23 can be applicable to the climbing member of different diameters through the change of its interval this moment, make simultaneously when carrying out the centre gripping to the climbing member, the position of its centre gripping is comparatively fixed, can be convenient for improve the stability of clasping mechanism 2 from this.
The first clamping portion 22 and the second clamping portion 23 may be slidably connected to the clasping body 21 by driving means such as an air cylinder to drive the first clamping portion 22 and the second clamping portion 23 respectively; or, the two clamping portions are driven simultaneously by the transmission of the screw rod 211, that is, in one or more embodiments, the clasping body 21 includes a screw rod 211 and a plurality of guide rods 212, both of which are perpendicular to the main axis, a rotating seat 213 is fixedly connected to the middle of the guide rods 212, the rotating seat 213 is rotatably connected to the device base 1, both ends of the guide rods 212 are fixedly connected to side plates 214, the side plates 214 are respectively rotatably connected to both ends of the screw rod 211, one of the side plates 214 is provided with a second driving device 215 for driving the screw rod 211 to rotate, the screw rod 211 is provided with a first screw thread section and a second screw thread section, the rotation directions of the first screw thread section and the second screw thread section are opposite, the first screw thread section is in threaded connection with a first screw rod seat 216 fixedly connected to the first clamping portion 22, and the second screw thread section is in threaded connection with a second screw rod seat 217 fixedly connected to the second clamping portion 23, the first screw base 216 and the second screw base 217 are slidably connected to the guide rod 212.
Wherein, the screw rod is a left-right screw rod.
When the first clamping part 22 and the second clamping part 23 need to approach or separate from each other, the screw rod 211 is driven to rotate by the second driving device 215, and as the thread directions of the first thread section and the second thread section are opposite, when the first clamping part 22 and the second clamping part 23 rotate, the first clamping part 22 and the second clamping part 23 move in opposite directions, so that the first clamping part 22 and the second clamping part 23 approach or separate from each other.
The mode of driving the first clamping part 22 and the second clamping part 23 through the screw rod 12 has the advantage that the structure has a self-locking function, when the robot climbs to a working position, the power can be cut off, and at the moment, the first clamping part 22 and the second clamping part 23 are still fixed on a climbing rod, so that the power consumption of the device is reduced, and the single maximum working time of the whole device is prolonged; meanwhile, the device is prevented from being damaged due to the fact that the device is clamped firmly when the power is cut off due to accidents and falls off from the climbing rod piece.
In one or more embodiments, the first clamping portion 22 includes a first clamping seat 221 movably connected to the clasping body 21, the first clamping seat 221 is provided with at least four roller seats, the roller seats are rotatably connected to the driving wheel 24 or the driven wheel 25, the four roller seats are divided into two groups, two roller seats in each group are located at the same axial position of the main axis, and an included angle between the axes of the two roller seats is an obtuse angle; two roller seats respectively corresponding to different groups are arranged along the main axis at intervals.
The axis of the roller seat is the axis of the driving wheel 24 or the driven wheel 25 which is connected with the roller seat in a rotating way. The four roller seats are uniformly distributed in two layers and two rows, wherein the two roller seats in each layer are divided into two groups, the included angle between the axes of the two roller seats is an obtuse angle, the roller seats in different groups correspond to each other according to the distance from the enclasping main body 21, namely the two roller seats relatively close to the enclasping main body 21 correspond to each other, and the two roller seats relatively far away from the enclasping main body 21 correspond to each other.
When the first clamping part 22 and the second clamping part 23 are matched to clamp the climbing rod piece, the driving wheel 24 or the driven wheel 25 in the roller seat is attached to the surface of the climbing rod piece, wherein the driving wheel 24 or the driven wheel 25 arranged at an obtuse angle can prevent the climbing rod piece from falling off from the climbing rod piece in the obstacle crossing process so as to avoid the falling of the whole device in the climbing process; in addition, the four roller seats can enhance the stability of the whole device in the climbing process and reduce the shaking.
Wherein the angle between two roller seats in the same group is generally 120 deg., which enables an optimal stabilizing effect and is easy to cooperate with the second grip portion 23.
In one or more embodiments, the two roller holders in one of the groups are rotatably connected to the driving wheel 24, and the two roller holders in the other group are rotatably connected to the driven wheel 25.
For the second clamping portion 23 engaged with the first clamping portion 22, in one or more embodiments, the second clamping portion 23 includes a second clamping seat 231 movably connected to the clasping body 21, at least two roller seats are disposed on the second clamping seat 231, the driven wheel 25 is rotatably connected to the roller seats, and the two roller seats are spaced apart from each other along the main axis.
The roller seat of the first clamping part 22 is matched with each other, three-point centering is realized, force balance is achieved, reliable attachment of the whole device is ensured, stability of the whole device in the climbing process is further enhanced, and shaking is reduced.
In addition, the second clamping portion 23 may also be similar to the first clamping portion 22 in structure, that is, at least four roller seats are also disposed on the second clamping portion 23, wherein the four roller seats are divided into two groups, two roller seats in each group are located at the same axial position of the main axis, and an included angle between the axes of the two roller seats is an obtuse angle; two roller seats respectively corresponding to different groups are arranged along the main axis at intervals. Therefore, the clamping effect on the climbing rod piece can be enhanced, and the center of gravity of the climbing rod piece is prevented from shifting.
The driving wheel 24 and the driven wheel 25 are rubber wheels or nylon layers covered on the surfaces. Thereby increasing the coefficient of friction between the driving wheel 24, the driven wheel 25 and the climbing bar.
The use mode of the embodiment is as follows:
when the climbing operation is needed, the device is placed beside the climbing rod, the first clamping part 22 and the second clamping part 23 of the two clasping mechanisms 2 are close to each other, the driving wheel 24 and the driven wheel 25 are attached to the climbing rod, so that the device is climbed on the climbing rod, and when the whole device needs to move, the driving wheel 24 is driven to rotate through the third driving device, and then the whole device is driven to move axially on the climbing rod.
When an obstacle on a climbing rod piece is encountered, a first clamping part 22 and a second clamping part 23 on the clasping mechanism 2 adjacent to the obstacle are far away from each other, one or two clasping mechanisms 2 are relatively rotated with the device body, so that the clasping mechanism 2 is far away from the climbing rod piece, and then the other clasping mechanism 2 drives the whole device to move towards the obstacle; when the obstacle moves into the interval between the two clasping mechanisms 2, the clasping mechanism 2 far away from the climbing rod is reset through rotation, so that the obstacle can climb on the climbing rod again, wherein if the width of the obstacle is larger than the interval between the two clasping mechanisms 2, the electric push rod 12 can be extended, and the interval between the two clasping mechanisms 2 is increased until the width of the obstacle is larger than the width of the obstacle; then another mechanism 2 of holding tightly keeps away from the climbing member, through this moment again the mechanism 2 of holding tightly of climbing on the climbing member drives whole device and continues to remove, until bypassing this barrier, makes another mechanism 2 of holding tightly of keeping away from the climbing member restore to the throne at last, again climb attach on the climbing member, and then accomplish once and cross the barrier operation.
Furthermore, it is foreseen that the device can also be applied to moving on a rod with a bend, by the pivoting cooperation of the two clasping mechanisms 2 with the device base 1.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A climbing device with an obstacle crossing function is characterized by comprising a device base (1) and two clasping mechanisms (2), wherein the clasping mechanisms (2) can be simultaneously or independently attached to a climbing rod piece and move along the axial direction of the climbing rod piece;
two hold tight mechanism (2) along the main axis interval set up and with device base (1) rotates and is connected, and its rotation direction is for being close to each other or keeping away from, be equipped with on device base (1) and be used for the drive hold tight mechanism (2) and carry out pivoted first drive arrangement (11).
2. The climbing device with the obstacle crossing function according to claim 1, wherein the relative rotation angle of the clasping mechanism (2) and the device base (1) ranges from 0 to 45 degrees, and when the relative rotation angle of the two clasping mechanisms (2) and the device base (1) is 45 degrees, the two clasping mechanisms (2) are relatively vertical.
3. The climbing device with the obstacle crossing function according to claim 1, wherein one side or two sides of the device base (1) are provided with electric push rods (12) capable of extending and retracting along a main axis, and one end, away from the device base (1), of each electric push rod (12) is rotatably connected with the clasping mechanism (2).
4. The climbing device with the obstacle crossing function according to claim 1, wherein the clasping mechanism (2) comprises a clasping main body (21) and a first clamping portion (22) and a second clamping portion (23) movably connected with the clasping main body (21), the clasping main body (21) is rotatably connected with the device base (1), the clasping main body (21) is provided with a second driving device (215) for driving the first clamping portion (22) and the second clamping portion (23) to approach or separate from each other, the first clamping portion (22) and the second clamping portion (23) are provided with a plurality of driving wheels (24), driven wheels (25) and a third driving device for driving the driving wheels (24) to rotate, when the first clamping portion (22) and the second clamping portion (23) approach each other, the driving wheels (24) and the driven wheels (25) can closely attach to the climbing pole, at the moment, the axes of the driving wheel (24) and the driven wheel (25) are vertical to the main axis.
5. A climbing device with obstacle crossing function according to claim 4, characterized in that the first gripping part (22) and the second gripping part (23) are both slidingly connected to the gripping body (21) with their sliding paths on the same line, perpendicular to the main axis.
6. The climbing device with the obstacle crossing function according to claim 5, wherein the clasping body (21) comprises a screw rod (211) and a plurality of guide rods (212), the screw rod (211) and the plurality of guide rods (212) are both perpendicular to the main axis, a rotating seat (213) is fixedly connected to the middle of each guide rod (212), the rotating seat (213) is rotatably connected to the device base (1), side plates (214) are fixedly connected to both ends of each guide rod (212), the side plates (214) are respectively rotatably connected to both ends of each screw rod (211), a second driving device (215) for driving the screw rod (211) to rotate is arranged on one side plate (214), a first screw thread section and a second screw thread section are arranged on each screw rod (211), the rotating directions of the first screw thread section and the second screw thread section are opposite, a first screw rod seat (216) fixedly connected to the first clamping portion (22) is in threaded connection with the first screw thread section, and a second screw rod seat (217) fixedly connected with the second clamping part (23) is in threaded connection with the second thread section, and the first screw rod seat (216) and the second screw rod seat (217) are in sliding connection with the guide rod (212).
7. The climbing device with the obstacle crossing function according to claim 4, wherein the first clamping part (22) comprises a first clamping seat (221) movably connected with the enclasping main body (21), the first clamping seat (221) is provided with at least four roller seats, the roller seats are rotatably connected with the driving wheel (24) or the driven wheel (25), the four roller seats are divided into two groups, two roller seats in each group are located at the same axial position of a main axis, and an included angle between the axes of the two roller seats is an obtuse angle; two roller seats respectively corresponding to different groups are arranged along the main axis at intervals.
8. A climbing device with obstacle crossing function according to claim 7, characterized in that two roller seats in one of the groups are rotatably connected with the driving wheel (24), and two roller seats in the other group are rotatably connected with the driven wheel (25).
9. The climbing device with obstacle crossing function according to claim 8, wherein the second clamping part (23) comprises a second clamping seat (231) movably connected with the enclasping main body (21), at least two roller seats are arranged on the second clamping seat (231), the driven wheel (25) is rotatably connected in the roller seats, and the two roller seats are arranged at intervals along the main axis.
10. A climbing device with obstacle crossing function according to claim 9, characterized in that the driving wheel (24) and the driven wheel (25) are rubber wheels or covered with nylon layer.
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| CN202111413209.7A CN113928439A (en) | 2021-11-25 | 2021-11-25 | Climbing device with obstacle crossing function |
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