CN205203185U - Lead screw repulsive -type maglev pole -climbing robot - Google Patents
Lead screw repulsive -type maglev pole -climbing robot Download PDFInfo
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- CN205203185U CN205203185U CN201520939589.1U CN201520939589U CN205203185U CN 205203185 U CN205203185 U CN 205203185U CN 201520939589 U CN201520939589 U CN 201520939589U CN 205203185 U CN205203185 U CN 205203185U
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Abstract
The utility model discloses a lead screw repulsive -type maglev pole -climbing robot, including moving the automobile body, fixing move the pole -climbing arm on the automobile body, the removal automobile body include vehicle body support, set up be in the wheel of vehicle body support bottom, the wheel is connected with driving motor, the pole -climbing arm includes: lead screw motor, shaft coupling, lead screw, lead screw cover, slider, locking screw, two connecting rods, two T shape frames of holding arm, two motor cabinets, two motors that climb, two initiative friction pulleys, driven friction pulley tightly, being equipped with the spout. The utility model discloses the mechanism is simple, and convenient operation is reliable and stable, adapts to tubular product, the rod of different diameters, cross sectional shape, is applicable to various different technical field's high altitude pole -climbing operation, the inspection, the maintenance of high altitude fluorescent tube, the building decoration that set up cable, high altitude water pipe like electric power system spray paint etc. Bring very big facility can for the staff who detects, have reduced high altitude construction's danger.
Description
Technical field
The utility model relates to a kind of climbing level robot, particularly a kind of screw mandrel repulsive-type maglev climbing level robot that can adapt to multi-section shape.
Background technology
Along with China's economic construction development, scientific and technological level promotes day by day, the various body of rod or pipe structure are applied more and more extensive in people's life, and as natural gas line, water pipe, electric pole, light pole etc., aloft work becomes the more and more general task of society.Various relevant enterprise mechanism needs a robot can creeped on the body of rod, thus replaces the aloft work of artificial pole-climbing, on the one hand, the efficiency of work is improved greatly; On the other hand, staff is allowed to free from the working environment of danger.Thus, need to design a kind of climbing level robot that staff can be replaced to carry out aloft work, and need can carry weight, various shape cross section can be adapted to, climbing rapidly, can straight line or climbing level robot that is spiral or the formula pole-climbing that rotates to an angle.
Utility model content
The utility model is for above-mentioned technical need, a kind of climbing level robot utilizing screw mandrel to promote that can adapt to multiple section shape is provided, this robot can adapt to various different-diameter, difform roofbolt, and can realize straight line climbing, spiral climbing, climbs and rotate to an angle, carry the functions such as weight.
The purpose of this utility model is achieved through the following technical solutions:
A kind of screw mandrel repulsive-type maglev climbing level robot, comprises moving body, the climbing pole machine mechanical arm be fixed on described moving body,
Described moving body comprises vehicle body hanger, be arranged on wheel bottom described vehicle body hanger, and described wheel is connected with drive motor;
Described climbing pole machine mechanical arm comprises: lead screw motor, coupler, screw mandrel, screw rod bushing, slide block, lock screw, two connecting rods, two holding arms, two motor cabinets, two motors that climb, two active friction wheels, driven friction wheel, be provided with the T-shaped frame of chute
Described lead screw motor is fixed on frame rear end, and is connected with screw mandrel by coupler, described screw rod bushing is enclosed within screw mandrel, and be connected with the slide block be movably arranged in T-shaped chassis runners by screw, one end of two connecting rods is movably hinged by the lock screw be fixed on slide block, the other end is movably hinged with the tail end of two holding arms respectively by bearing pin, two holding arms are hinged on the left and right sides of frame front end respectively by fixed pin shaft, two motor cabinets are separately fixed in two holding arms by screw-nut, two motors that climb are separately fixed on two motor cabinets by screw, described active friction wheel is arranged on and climbs on motor output shaft, described driven friction wheel is arranged in vehicle body hanger, the body of rod is clamped together with two active friction wheels.
During climbing level robot work, lead screw motor is rotated, screw mandrel is driven to rotate by coupler, make screw rod bushing driven forward slide block, the angle of two connecting rods is increased, and promote holding arm and rotate to an angle and to make between two holding arms angle reduce, thus make climb motor and active friction wheel clamping roofbolt; After clamping roofbolt, driven by motor of climbing active friction wheel rotates, thus active friction wheel is scrolled up along roofbolt, and driven friction wheel also scrolls up along roofbolt, and whole climbing level robot realizes the action of pole-climbing.
Further, on described holding arm and motor cabinet, the position had by adjusting two motor cabinets regulates the angle of two motors that climb and the straight trough mouth of relative position relation, before using, the position of two motor cabinets can be regulated control by the position of set screw on straight trough mouth the angle of two transport motors, thus adapt to different-diameter, the tubing of different cross section shape, bar.
Further, described active friction wheel and driven friction wheel comprise plastic wheel and silica gel ring, described silica gel ring is enclosed within plastic wheel, the plastic wheel of described active friction wheel is directly fixed on and climbs on the motor shaft of motor, silica gel ring friction coefficient is larger, the friction force to materials in the tube can be improved, prevent from skidding.
Further, described driven friction wheel also comprises unilateral bearing, and the plastic wheel of described driven friction wheel is enclosed within unilateral bearing, and described unilateral bearing is fixed in vehicle body hanger, and due to the effect of unilateral bearing, robot can not fall back when pole-climbing.
Further, one end that described connecting rod and lock screw are movably hinged is provided with bearing, and described lock screw matches with bearing bore.
Further, described bearing is deep groove ball bearing.
Further, described vehicle body hanger is connected by screw by aluminum corner brace and builds, and well can reduce deadweight.
Further, also comprise battery vehicle body hanger is provided with for providing electric power to each motor, be convenient to the open air use that electric power is provided in inconvenience.
Further, the described motor that climbs is buncher, by regulating the rotating speed of two motors that climb, thus regulate the rotating speed of active friction wheel, robot can be rotated to an angle around roofbolt while climbing, thus can realize that straight line climbs, corkscrew climb, around actions such as fixed angle climb.
The utility model advantage compared with prior art and beneficial effect are that this climbing level robot can adapt to the roofbolt of different-diameter, different cross section shape by the angle changing two active friction wheels, thus can more multiple roofbolt be creeped; The mode that the utility model is climbed by the driven by motor active friction wheel that climbs, the pole-climbing speed of climbing level robot can be increased substantially, and three friction wheels are mutually 120 degree of angles and can clamp roofbolt well, and driven friction wheel there is unilateral bearing, when preventing climbing level robot in pole-climbing or be parked on bar, occurs setback; The utility model moves on level land by regulating the different rotating speeds of wheel to realize, obstacle detouring, simultaneously, the utility model utilizes the self-locking of screw thread on screw mandrel to realize the self-locking of two holding arms, can not unclamp or come off after making mechanical arm hold tubing tightly, stably can realize operation of climbing, be applicable to the aloft work in various different technologies field, as electric system erection cable, the inspection of high-altitude water pipe, the maintenance of high-altitude fluorescent tube, construction and decoration are sprayed paint, bring convenience can to the staff detected, reduce the danger of aloft work.
Accompanying drawing explanation
Fig. 1 is that the integral shaft of the utility model embodiment measures intention.
Fig. 2 is the local structure schematic diagram of the screw mandrel pushing structure of the utility model embodiment.
Fig. 3 is the local structural scheme of mechanism of the Slipper of the utility model embodiment.
Fig. 4 is that the axle that the slide block of the utility model embodiment is connected with connecting rod measures intention.
Fig. 5 is the schematic diagram of the utility model pole-climbing state.
In figure, sequence number is: 1-vehicle body hanger, 2-active friction wheel, 3-driven friction wheel, 4-motor that climbs, 5-motor cabinet, 6-holding arm, 7-connecting rod, 8-slide block, 9-screw rod bushing, 10-screw mandrel, 11-coupler, 12-lead screw motor, 13-battery, 14-wheel, 15-lock screw, 16-deep groove ball bearing; 17-frame.
Detailed description of the invention
In order to be illustrated more clearly in the technical scheme of the utility model embodiment, below in conjunction with accompanying drawing, by embodiment, the utility model is further described.
As shown in Figures 1 to 4, a kind of screw mandrel repulsive-type maglev climbing level robot, comprises moving body, the climbing pole machine mechanical arm be fixed on described moving body,
Described moving body comprise by aluminum corner brace be connected by screw build vehicle body hanger 1, be arranged on wheel 14 bottom described vehicle body hanger 1, described wheel 14 is connected with drive motor;
Described climbing pole machine mechanical arm comprises: lead screw motor 12, coupler 11, screw mandrel 10, screw rod bushing 9, slide block 8, lock screw 15, two connecting rods 7, two holding arms 6, two motor cabinets 5, two climb motor 4, two active friction wheels 2, driven friction wheel 3, be provided with the T-shaped frame 17 of chute
Described lead screw motor 12 is fixed on frame 17 rear end, and is connected with screw mandrel 10 by coupler 11, described screw rod bushing 9 is enclosed within screw mandrel 10, and be connected with the slide block 8 be movably arranged in T-shaped frame 17 chute by screw, one end of two connecting rods 7 is movably hinged by the lock screw 15 be fixed on slide block 8, the other end is movably hinged with the tail end of two holding arms 6 respectively by bearing pin, two holding arms 6 are hinged on the left and right sides of frame 17 front end respectively by fixed pin shaft, two motor cabinets 5 are separately fixed in two holding arms 6 by screw-nut, two motors 4 that climb are separately fixed on two motor cabinets 5 by screw, described active friction wheel 2 is arranged on and climbs on motor 4 output shaft, described driven friction wheel 3 is arranged in vehicle body hanger 1, be mutually 120 degree and clamp the body of rod together with two active friction wheels 2.
In one embodiment, as shown in Figures 2 and 3, on described holding arm 6 and motor cabinet 5, the position had by adjusting two motor cabinets 5 regulates the angle of two motors 4 that climb and the straight trough mouth of relative position relation, before using, the position of two motor cabinets can be regulated control by the position of set screw on straight trough mouth the angle of two transport motors, thus adapt to different-diameter, the tubing of different cross section shape, bar.
In one embodiment, described active friction wheel 2 and driven friction wheel 3 comprise plastic wheel and silica gel ring, described silica gel ring is enclosed within plastic wheel, the plastic wheel of described active friction wheel 2 is directly fixed on and climbs on the motor shaft of motor 4, silica gel ring friction coefficient is larger, the friction force to materials in the tube can be improved, prevent from skidding.
In one embodiment, described driven friction wheel 3 also comprises unilateral bearing, and the plastic wheel of described driven friction wheel 3 is enclosed within unilateral bearing, and described unilateral bearing is fixed in vehicle body hanger 1, due to the effect of unilateral bearing, robot can not fall back when pole-climbing.
In one embodiment, one end that described connecting rod 7 and lock screw 15 are movably hinged is provided with deep groove ball bearing, and described lock screw 15 matches with bearing bore, thus reduces the friction of hinged place.
In one embodiment, vehicle body hanger 1 is provided with the battery 13 for providing electric power to each motor, can be used for providing electric power to whole climbing level robot, be convenient to the open air use that electric power is provided in inconvenience.
In one embodiment, the described motor 4 that climbs is for buncher, by regulating the rotating speed of two motors that climb, thus regulate the rotating speed of active friction wheel, robot can be rotated to an angle around roofbolt while climbing, thus can realize that straight line climbs, corkscrew climb, around actions such as fixed angle climb.
As shown in Figure 5, during climbing level robot work, lead screw motor is rotated, screw mandrel 10 is driven to rotate by coupler 11, make screw rod bushing driven forward slide block, the angle of two connecting rods 7 is increased, and promotes holding arm and rotate to an angle and to make between two holding arms angle reduce, thus make climb motor and active friction wheel clamping roofbolt; After clamping roofbolt, the motor 4 that climbs drives active friction wheel 2 to rotate, thus active friction wheel 2 is scrolled up along roofbolt, and driven friction wheel 3 also scrolls up along roofbolt, and whole climbing level robot realizes the action of pole-climbing.Described screw mandrel repulsive-type maglev climbing level robot can be climbed by adjustment two rotating speed of motor 4, thus regulate the rotating speed of active friction wheel, robot can be rotated to an angle around roofbolt while climbing, thus can realize that straight line climbs, corkscrew climb, around actions such as fixed angle climb.
Above-described embodiment of the present utility model is only for the utility model example is clearly described, and is not the restriction to embodiment of the present utility model.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without the need to also giving all embodiments.All do within spirit of the present utility model and principle any amendment, equivalent to replace and improvement etc., within the protection domain that all should be included in the utility model claim.
Claims (9)
1. a screw mandrel repulsive-type maglev climbing level robot, is characterized in that: comprise moving body, the climbing pole machine mechanical arm be fixed on described moving body,
Described moving body comprises vehicle body hanger (1), is arranged on the wheel (14) of described vehicle body hanger (1) bottom, and described wheel (14) is connected with drive motor;
Described climbing pole machine mechanical arm comprises: lead screw motor (12), coupler (11), screw mandrel (10), screw rod bushing (9), slide block (8), lock screw (15), two connecting rods (7), two holding arms (6), two motor cabinets (5), two motors that climb (4), two active friction wheels (2), driven friction wheel (3), be provided with the T-shaped frame (17) of chute
Described lead screw motor (12) is fixed on frame (17) rear end, and is connected with screw mandrel (10) by coupler (11), described screw rod bushing (9) is enclosed within screw mandrel (10), and be connected with the slide block (8) be movably arranged in T-shaped frame (17) chute by screw, one end of two connecting rods (7) is movably hinged by the lock screw (15) be fixed on slide block (8), the other end is movably hinged with the tail end of two holding arms (6) respectively by bearing pin, two holding arms (6) are hinged on the left and right sides of frame (17) front end respectively by fixed pin shaft, two motor cabinets (5) are separately fixed on two holding arms (6) by screw-nut, two motors that climb (4) are separately fixed on two motor cabinets (5) by screw, described active friction wheel (2) is arranged on the motor that climbs (4) output shaft, described driven friction wheel (3) is arranged in vehicle body hanger (1), the body of rod is clamped together with two active friction wheels (2).
2. screw mandrel repulsive-type maglev climbing level robot according to claim 1, is characterized in that: on described holding arm (6) and motor cabinet (5), the position had by adjusting two motor cabinets (5) regulates the angle of two motors that climb (4) and the straight trough mouth of relative position relation.
3. screw mandrel repulsive-type maglev climbing level robot according to claim 1, it is characterized in that: described active friction wheel (2) and driven friction wheel (3) comprise plastic wheel and silica gel ring, described silica gel ring is enclosed within plastic wheel, and the plastic wheel of described active friction wheel (2) is directly fixed on the motor shaft of the motor that climbs (4).
4. a screw mandrel repulsive-type maglev climbing level robot according to claim 3, it is characterized in that: described driven friction wheel (3) also comprises unilateral bearing, the plastic wheel of described driven friction wheel (3) is enclosed within unilateral bearing, and described unilateral bearing is fixed in vehicle body hanger (1).
5. screw mandrel repulsive-type maglev climbing level robot according to claim 1, is characterized in that: one end that described connecting rod (7) and lock screw (15) are movably hinged is provided with bearing, and described lock screw (15) matches with bearing bore.
6. screw mandrel repulsive-type maglev climbing level robot according to claim 5, is characterized in that: described bearing is deep groove ball bearing.
7. screw mandrel repulsive-type maglev climbing level robot according to claim 1, is characterized in that: described vehicle body hanger (1) is connected by screw by aluminum corner brace and builds.
8. screw mandrel repulsive-type maglev climbing level robot according to claim 1, is characterized in that: also comprise the battery (13) vehicle body hanger (1) is provided with for providing electric power to each motor.
9. screw mandrel repulsive-type maglev climbing level robot according to any one of claim 1 to 8, is characterized in that: described in the motor (4) that climbs be buncher.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520939589.1U CN205203185U (en) | 2015-11-20 | 2015-11-20 | Lead screw repulsive -type maglev pole -climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520939589.1U CN205203185U (en) | 2015-11-20 | 2015-11-20 | Lead screw repulsive -type maglev pole -climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205203185U true CN205203185U (en) | 2016-05-04 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520939589.1U Withdrawn - After Issue CN205203185U (en) | 2015-11-20 | 2015-11-20 | Lead screw repulsive -type maglev pole -climbing robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN205203185U (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106428283A (en) * | 2016-11-30 | 2017-02-22 | 西南大学 | Inner wall corner climbing robot |
| CN106476924A (en) * | 2016-11-30 | 2017-03-08 | 西南大学 | A kind of outside corner of wall Climbing Robot |
| CN106505475A (en) * | 2016-12-29 | 2017-03-15 | 广州供电局有限公司 | Crusing robot |
| CN106741266A (en) * | 2015-11-20 | 2017-05-31 | 华南理工大学 | A kind of screw mandrel promotion type climbing level robot |
| CN106743558A (en) * | 2016-12-23 | 2017-05-31 | 瑞金市金和塑业发展有限公司 | A kind of pipeline transportation device |
| CN106939551A (en) * | 2017-03-23 | 2017-07-11 | 武汉理工大学 | A kind of cable cohesion device |
| CN107104385A (en) * | 2017-05-27 | 2017-08-29 | 国网山东省电力公司济南市历城区供电公司 | A kind of distribution line mobile operation vehicle |
| CN107161230A (en) * | 2017-05-08 | 2017-09-15 | 江南大学 | A kind of automatic climbing pole machine devices and methods therefor |
| CN107913497A (en) * | 2016-10-26 | 2018-04-17 | 徐州工程学院 | The electronic pole climbing device of electric pole |
| CN108086151A (en) * | 2017-12-21 | 2018-05-29 | 香港中文大学（深圳） | A kind of reducing clamping device |
| CN108724158A (en) * | 2017-04-20 | 2018-11-02 | 深圳市朗驰欣创科技股份有限公司 | Climbing level robot |
| CN108873873A (en) * | 2017-05-10 | 2018-11-23 | 深圳市朗驰欣创科技股份有限公司 | GIS device live detection robot of substation |
| CN109250006A (en) * | 2018-09-05 | 2019-01-22 | 浙江工业大学 | A kind of link-type climbing level robot |
| CN110271619A (en) * | 2018-03-15 | 2019-09-24 | 天津工业大学 | A kind of quickly wheeled climbing level robot |
| CN111688837A (en) * | 2020-06-19 | 2020-09-22 | 重庆大学 | High-speed climbing robot based on active clamping device |
-
2015
- 2015-11-20 CN CN201520939589.1U patent/CN205203185U/en not_active Withdrawn - After Issue
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106741266A (en) * | 2015-11-20 | 2017-05-31 | 华南理工大学 | A kind of screw mandrel promotion type climbing level robot |
| CN106741266B (en) * | 2015-11-20 | 2019-10-18 | 华南理工大学 | A kind of screw rod promotion type climbing level robot |
| CN107913497A (en) * | 2016-10-26 | 2018-04-17 | 徐州工程学院 | The electronic pole climbing device of electric pole |
| CN106476924A (en) * | 2016-11-30 | 2017-03-08 | 西南大学 | A kind of outside corner of wall Climbing Robot |
| CN106428283A (en) * | 2016-11-30 | 2017-02-22 | 西南大学 | Inner wall corner climbing robot |
| CN106476924B (en) * | 2016-11-30 | 2019-05-14 | 西南大学 | A kind of outside corner of wall Climbing Robot |
| CN106743558A (en) * | 2016-12-23 | 2017-05-31 | 瑞金市金和塑业发展有限公司 | A kind of pipeline transportation device |
| CN106505475A (en) * | 2016-12-29 | 2017-03-15 | 广州供电局有限公司 | Crusing robot |
| CN106939551A (en) * | 2017-03-23 | 2017-07-11 | 武汉理工大学 | A kind of cable cohesion device |
| CN108724158A (en) * | 2017-04-20 | 2018-11-02 | 深圳市朗驰欣创科技股份有限公司 | Climbing level robot |
| CN108724158B (en) * | 2017-04-20 | 2024-02-27 | 深圳市朗驰欣创科技股份有限公司 | Pole climbing robot |
| CN107161230A (en) * | 2017-05-08 | 2017-09-15 | 江南大学 | A kind of automatic climbing pole machine devices and methods therefor |
| CN108873873A (en) * | 2017-05-10 | 2018-11-23 | 深圳市朗驰欣创科技股份有限公司 | GIS device live detection robot of substation |
| CN108873873B (en) * | 2017-05-10 | 2023-12-26 | 深圳市朗驰欣创科技股份有限公司 | Live detection robot for GIS equipment of transformer substation |
| CN107104385A (en) * | 2017-05-27 | 2017-08-29 | 国网山东省电力公司济南市历城区供电公司 | A kind of distribution line mobile operation vehicle |
| CN108086151A (en) * | 2017-12-21 | 2018-05-29 | 香港中文大学（深圳） | A kind of reducing clamping device |
| CN108086151B (en) * | 2017-12-21 | 2023-09-08 | 香港中文大学（深圳） | Reducing clamping device |
| CN110271619A (en) * | 2018-03-15 | 2019-09-24 | 天津工业大学 | A kind of quickly wheeled climbing level robot |
| CN109250006A (en) * | 2018-09-05 | 2019-01-22 | 浙江工业大学 | A kind of link-type climbing level robot |
| CN111688837A (en) * | 2020-06-19 | 2020-09-22 | 重庆大学 | High-speed climbing robot based on active clamping device |
| CN111688837B (en) * | 2020-06-19 | 2021-11-23 | 重庆大学 | High-speed climbing robot based on active clamping device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160504 Effective date of abandoning: 20191018 |
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| AV01 | Patent right actively abandoned |