CN205256498U - Pole -climbing robot system device - Google Patents
Pole -climbing robot system device Download PDFInfo
- Publication number
- CN205256498U CN205256498U CN201620013333.2U CN201620013333U CN205256498U CN 205256498 U CN205256498 U CN 205256498U CN 201620013333 U CN201620013333 U CN 201620013333U CN 205256498 U CN205256498 U CN 205256498U
- Authority
- CN
- China
- Prior art keywords
- gear
- climbing
- road wheel
- pole
- support
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
The utility model discloses a pole -climbing robot system device includes monomer pole -climbing robot of three groups at least, embraces through the gear connection collar and installs in the pole -climbing, motor gearbox mechanism, walking wheel actuating mechanism and air spring clamping mechanism have in each monomer pole -climbing robot, including two worm gear motors in the motor gearbox mechanism, output of each worm gear motor and the gearbox input connection that corresponds, the output shaft big bevel gear of gearbox, there is a pair of walking wheelset among the walking wheel actuating mechanism, including delegation's travelling wheel in each wheelset of walking, be equipped with the sprocket respectively on the output shaft of motor gearbox with on the live axle, two sprockets pass through the chain and connect, air spring clamping mechanism is by constituting a pair of gas spring bracket and the combination of a spell spring of walking wheel support formation packing force. It is rotatory to drive each motor with the power supply, and the drive robot goes upward or be down to the motion of creeping of robot has been formed, it can show improvement pole -climbing efficiency, reduces the cost of labor.
Description
Technical field
The utility model relates to a kind of robot Development Techniques field, is specifically related to a kind of climbing level robot mechanism.
Background technology
Beijing has approximately hundreds thousand of street lamps, will safeguard every year 2 times, among this, needs a large amount of personnel to climb up and down, and not only manual maintenance labour intensity is large, working environment is dangerous and inefficiency.
So the climbing level robot of developing alternative true man's work has become the problem of people's growing interest.
Utility model content
The purpose of this utility model is to provide a kind of climbing level robot system and device, utilizes it to increase work efficiency, and reduces human cost.
For achieving the above object, the utility model is taked following design:
A kind of climbing level robot system and device, it at least includes three groups of monomer climbing level robots, interconnects by transversal connecting assembly two two, and entirety is encircled and is installed in a pole-climbing; In each group monomer climbing level robot, there is electrical motor gearshift draw box mechanism, the gentle spring clamp mechanism of road wheel executing agency;
In described electrical motor gearshift draw box mechanism, include two worm and gear motors, link together in opposite directions by electric machine support, the output of each worm and gear motor is connected with the input of a gearbox, and the output shaft end of gearbox is connected with a bevel gear wheel;
In described road wheel executing agency, there are a pair of walking wheels; In each walking wheels, include a pair of road wheel support that is arranged on both sides, output shaft of gear-box end, a road wheel is arranged on this between road wheel support and be positioned at outer distolateral by live axle; On the output shaft of described motor gear box with on described live axle, sprocket wheel is housed respectively, two sprocket wheels connect and compose gear unit by chain;
Described air spring clamp mechanism is constituted by a pair of air spring support and an air spring that can form thrust to road wheel support.
In described climbing level robot system and device, the bevel pinion axle bed for small coning gear shaft is installed is housed on electric machine support, bevel pinion is installed respectively in the two ends of described small coning gear shaft, each bevel pinion engages with the bevel gear wheel of respective side respectively.
In described climbing level robot system and device, described road wheel outsourcing is for strengthening the rubber ring of frictional force while creeping.
In described climbing level robot system and device, between a pair of road wheel support, be fixed with support column.
Each group of climbing level robot of the present utility model can climb along lamp stand, and the height climbing can reach 10 meters, and electric pole gradient can be controlled in 0～15 degree, and adaptable electric pole diameter is 80～200 millimeters. It is immeasurable that this climbing level robot system and device can be given the value of social creativity, simultaneously also for contribution has been made in the development of robot of China cause.
The utility model has the advantages that: can significantly improve pole-climbing efficiency, reduce cost of labor, be suitable for batch production.
Brief description of the drawings
Fig. 1 is one group of monomer climbing level robot structural representation of the utility model (front view).
Fig. 2 is one group of monomer climbing level robot structural representation of the utility model (left view).
Fig. 3 is one group of monomer climbing level robot structural representation of the utility model (right view).
Fig. 4 is the structural representation (top view) under the utility model climbing level robot system and device application state.
In figure: 1-motor and gearbox; 2-electric machine support; 3-gear wheel; 4-large washer; 5-gear pad; 6-road wheel support; 7-support column; 8-road wheel; 9-live axle; 10-bevel gear wheel; 11-bevel pinion; 12-small coning gear shaft; 13-bevel pinion axle bed; 14-bearing; 15-sprocket wheel; 16-chain; 17-air spring; 18-air spring support; 19-connecting rod; 20-horizontal gear; 21-gear connecting plate; 100-monomer climbing level robot; 200-pole-climbing.
Below in conjunction with drawings and the specific embodiments, the utility model is described further.
Detailed description of the invention
The utility model climbing level robot system and device at least needs to have three groups of monomer climbing level robots (the best is three groups), can they be encircled mutually by gear connecting rod and be installed in pole-climbing (service object).
Referring to shown in Fig. 1 to Fig. 3, show a preferred embodiment structure of one group of monomer climbing level robot in the utility model climbing level robot system and device, mainly comprise electrical motor gearshift draw box mechanism, the gentle spring clamp mechanism three parts of road wheel executing agency.
Described electrical motor gearshift draw box mechanism is made up of motor gear box 1, electric machine support 2, gear wheel 3, large pad 4, gear pad 5 etc. Gear wheel 3 is housed on gear-box axle, and the other end is equipped with large washer 4, and they are connected by screw on electric machine support 2. Gear pad 5 is equipped with in large washer 4 outsides and gear wheel outside.
Described road wheel executing agency is made up of road wheel support 6, support column 7, road wheel 8, live axle 9, bevel gear wheel 10, bevel pinion 11, small coning gear shaft 12, bevel pinion axle bed 13, bearing 14, sprocket wheel 15, chain 16 etc. Road wheel support 6 is connected by bearing with live axle 9, and road wheel support 6 is also connected by bearing with motor gear box 1. Sprocket wheel 15 (forming a pair of) is housed respectively on motor gear box 1 output shaft and live axle 9, and this is connected to form sprocket drive system to sprocket wheel 15 by chain 16. Support column 7 is screwed on a pair of road wheel support 6, makes support become firm one. Road wheel 8 outpacking rubber circles, the frictional force while making to creep strengthens. Bevel gear wheel 10 is set on motor gear box 1 output shaft and is screwed simultaneously on road wheel support 6. Bevel pinion axle bed 13 is housed on electric machine support 2. Bevel pinion 11 is installed on small coning gear shaft 12. Small coning gear shaft 12 is connected with bevel pinion axle bed 13 by bearing 14. Bevel pinion 11 is connected with small coning gear shaft 12 by jackscrew. Bevel pinion 11 engages with bevel gear wheel 10, and object is to make two road wheel supports 6 have common angle. Two sprocket wheels 15 connect by chain 16. Object is to make electric machine rotation drive road wheel to rotate, and forms the object of walking pole-climbing.
Described air spring clamp mechanism includes air spring 17 and a pair of air spring support 18, air spring wherein can be made up of pressure cylinder, piston rod and piston, air spring 17 is connected with air spring support 18 by screw, and air spring support 18 is connected with road wheel support 6 by screw again. Air spring 17, by the effect of air pressure, can produce clamping force, road wheel 8 and pole-climbing is fitted tightly, thereby walk up and down.
While specifically application at the scene, be directly some (three groups is good) monomer climbing level robot of this climbing level robot system and device to be encircled and is installed in a pole-climbing. Can be by the storage battery of 12 volts, 7.2 amperes as power source, drive six worm and gear motors on three groups of monomer climbing level robots simultaneously, power lead is connected with the positive and negative level of each motor, on push away power switch, robot is up, under push away power switch, robot is descending, thereby has formed the crawling exercises of robot. So circulation continuous operation.
Realize many groups of (three groups better) monomer climbing level robots and encircle the example structure that jockey together can be shown in Figure 4, can with some connecting rods 19, three groups of monomer climbing level robots 100 be connected to an entirety by some horizontal gears 20, the body of adjacent two monomer climbing level robots is first fixedly connected with one end of a connecting rod respectively, the other end of this connecting rod is connected with horizontal gear again, then two mutual toe joints of horizontal gear between adjacent two monomer climbing level robots both being interfixed by gear connecting plate 21. Be useful on and realize that many group monomer climbing level robots interconnect and the gear of encircling horizontal gear together and be identical parameters (with the number of teeth and same modulus). When installing and using, the central axis of the central axis of horizontal gear 20 and pole-climbing 200 should keep being parallel to each other as far as possible, adopt the mode of two mutual toe joints of horizontal gear to connect, can allow the monomer climbing level robot 100 of two adjacency in the time jointly creeping, have certain activity surplus, walk more masterly.
Preferably, the link position adjustable (prior art can realize, and does not repeat herein) of described horizontal gear 20 and connecting rod 19, and by the tensioning amplitude of air spring, to adapt to different target (adapting to the pole-climbing of multiple diameter).
The technical characterictic of the utility model climbing level robot system and device is:
1) every group of motor is connected with two gearboxes respectively, and sprocket wheel is housed on output shaft of gear-box, and sprocket wheel, by chain, drives the sprocket rotation on road wheel, thereby drives road wheel to rotate; Road wheel is connected with motor gear box by road wheel support, and road wheel support is connected by bearing with gear-box axle, live axle, can ensure motion freely.
2) other end of gearbox is connected with bevel gear wheel, and bevel gear wheel and wheel carrier are fixed, and engages with bevel pinion, and can ensure to make air spring to form tension force time, two road wheel support angles are consistent.
3) preferably, by three pairs of gears and connecting rod, three groups of monomer climbing level robots are enclosed in aggregates, encircle in pole-climbing, center of circle angle is 120 degree, makes enclasping force equilibrium.
4) on three groups of wheel carriers, air spring is installed, by the tensile force of air spring, robot entirety is held tightly on lamp stand, applicable to the pole-climbing of different-diameter.
The utility model climbing level robot system and device can work independently, also can coordinate other intelligent robots of installation (carrying), to complete a greater variety of work, as crusing robot or deicing intelligent robot etc., this climbing level robot system and device can be responsible for that they are delivered to the position of wanting to reach and carry out Special Work, and be responsible for carrying they return to ground with harvesting or safeguard.
The various embodiments described above can not depart from some variations in addition under scope of the present utility model, thus above explanation comprise should be considered as exemplary, but not the protection domain of applying for a patent in order to limit the utility model.
Claims (4)
1. a climbing level robot system and device, is characterized in that: at least include three groups of monomer climbing level robots, interconnect by transversal connecting assembly two two, entirety is encircled and is installed in a pole-climbing; In each group monomer climbing level robot, there is electrical motor gearshift draw box mechanism, the gentle spring clamp mechanism of road wheel executing agency;
In described electrical motor gearshift draw box mechanism, include two worm and gear motors, link together in opposite directions by electric machine support, the output of each worm and gear motor is connected with the input of a gearbox, and the output shaft end of gearbox is connected with a bevel gear wheel;
In described road wheel executing agency, there are a pair of walking wheels; In each walking wheels, include a pair of road wheel support that is arranged on both sides, output shaft of gear-box end, a road wheel is arranged on this between road wheel support and be positioned at outer distolateral by live axle; On the output shaft of described motor gear box with on described live axle, sprocket wheel is housed respectively, two sprocket wheels connect and compose gear unit by chain;
Described air spring clamp mechanism is constituted by a pair of air spring support and an air spring that can form thrust to road wheel support.
2. climbing level robot system and device as claimed in claim 1, it is characterized in that: the bevel pinion axle bed for small coning gear shaft is installed is housed on electric machine support, bevel pinion is installed respectively in the two ends of described small coning gear shaft, and each bevel pinion engages with the bevel gear wheel of respective side respectively.
3. climbing level robot system and device as claimed in claim 1, is characterized in that: described road wheel outsourcing is for strengthening the rubber ring of frictional force while creeping.
4. climbing level robot system and device as claimed in claim 1, is characterized in that: between a pair of road wheel support, be fixed with support column.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620013333.2U CN205256498U (en) | 2016-01-06 | 2016-01-06 | Pole -climbing robot system device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620013333.2U CN205256498U (en) | 2016-01-06 | 2016-01-06 | Pole -climbing robot system device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205256498U true CN205256498U (en) | 2016-05-25 |
Family
ID=55998043
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620013333.2U Expired - Fee Related CN205256498U (en) | 2016-01-06 | 2016-01-06 | Pole -climbing robot system device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205256498U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105438304A (en) * | 2016-01-06 | 2016-03-30 | 北京电子科技职业学院 | Pole-climbing robot system device and application method |
| CN109262579A (en) * | 2018-09-13 | 2019-01-25 | 大唐苏州热电有限责任公司 | A kind of robot cleaning solar panels |
| CN109278893A (en) * | 2018-08-28 | 2019-01-29 | 山东科技大学 | A kind of accurate shock resistance robot leg part device of movement |
-
2016
- 2016-01-06 CN CN201620013333.2U patent/CN205256498U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105438304A (en) * | 2016-01-06 | 2016-03-30 | 北京电子科技职业学院 | Pole-climbing robot system device and application method |
| CN109278893A (en) * | 2018-08-28 | 2019-01-29 | 山东科技大学 | A kind of accurate shock resistance robot leg part device of movement |
| CN109262579A (en) * | 2018-09-13 | 2019-01-25 | 大唐苏州热电有限责任公司 | A kind of robot cleaning solar panels |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105438304B (en) | A kind of climbing level robot system and device and application process | |
| CN105644646A (en) | Wheel type pole-climbing robot | |
| CN207565726U (en) | A kind of wheeled climbing level robot | |
| CN205256498U (en) | Pole -climbing robot system device | |
| CN107859950A (en) | A kind of illumination capability is strong and has the solar street light of automatic cleaning function | |
| CN202593667U (en) | Two-section type rod climbing robot | |
| CN205327216U (en) | Wheeled pole -climbing robot | |
| CN109866552A (en) | Take turns sufficient deformation type robot running gear | |
| CN103887734A (en) | Four-connecting-rod mass-center-adjustable patrol robot mechanism | |
| CN203839815U (en) | Remote climbing device used for overhead power transmission conductor detection | |
| CN205916992U (en) | Street lamp maintenance hoisting device | |
| CN103332234B (en) | Loading robot for aloft work | |
| CN203295110U (en) | Detection platform for blades of wind tower barrel | |
| CN103603774A (en) | Wind power self-lifting system | |
| CN202499201U (en) | Rope climbing robot | |
| CN107214495A (en) | A kind of street lamp bulb is more changed trains | |
| CN204134846U (en) | Cylinder head core dip-coating fixture | |
| CN202997424U (en) | Four-connecting rod inspection robot mechanism with adjustable mass center | |
| CN105690404A (en) | Manipulator device at tail end of double-foot robot for power transmission line | |
| CN206413370U (en) | A kind of flowers mulch loosenning tiller | |
| CN204182123U (en) | One is travelled and is used chairoplane | |
| CN206011134U (en) | A kind of mechanical arm | |
| CN207931564U (en) | A kind of handling device | |
| CN204610158U (en) | Pavement generator | |
| CN211543728U (en) | Pole-climbing robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160525 Termination date: 20180106 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |