CN205327216U - Wheeled pole -climbing robot - Google Patents

Wheeled pole -climbing robot Download PDF

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Publication number
CN205327216U
CN205327216U CN201521141775.7U CN201521141775U CN205327216U CN 205327216 U CN205327216 U CN 205327216U CN 201521141775 U CN201521141775 U CN 201521141775U CN 205327216 U CN205327216 U CN 205327216U
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CN
China
Prior art keywords
sweden
main backstop
wheel
fixed
driving wheel
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Withdrawn - After Issue
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CN201521141775.7U
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Chinese (zh)
Inventor
管贻生
吴品弘
苏满佳
陈新
张宏
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Guangdong University of Technology
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Guangdong University of Technology
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Priority to CN201521141775.7U priority Critical patent/CN205327216U/en
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Abstract

The utility model relates to a wheeled pole -climbing robot. Adopt the annular structure, including being the annular first main tributary strut of semicircle, second main tributary strut, support frame lock joint, four drive wheel assemblies, power supply box and control boxs, wherein first main tributary strut passes through the realization of support frame lock joint with second main tributary strut and is connected, two drive wheel assemblies in four drive wheel assemblies are fixed in the upper end of first main tributary strut, and the lower extreme at second main tributary strut is fixed to two drive wheel assemblies in addition, the fixed control box in outside top of second main tributary strut, the below fixed power case of second main tributary strut. The utility model discloses simple structure is compact, installation and convenient to use, and the climbing member of adaptable different diameters has multiple motion form in circular climbing pole, palm or coco, can realize at the pole behind the installation operating device or the high altitude construction who sets.

Description

Wheeled climbing level robot
Technical field
This utility model relates to robotics, in particular to wheeled climbing level robot。
Background technology
Along with the development of robotics, robot completes, by replacing the mankind gradually, the operation that some high intensity, high duplication, the high-risk even mankind can not complete。Work high above the ground is as the one of high-risk operations, also slowly replaced by robot。In electric and communications industry, work high above the ground mainly includes some electrical equipments or the installation and removal of communication base station, electric wire is patrolled and examined and maintenance etc.。And for the installation and removal of electrical equipment on utility poles or communication base station, it is necessary to climbing level robot。Both at home and abroad climbing level robot was done a lot of research, also have developed many model machines, substantially can be divided into and grab clip, wound form and wheel clamping type three class。Wherein the 3DCLIMBER of Climbot, Portugal Tavakoli et al. the exploitation of Guan Yisheng et al. exploitation is that typical both hands pawl grabs clip climbing robot, and by two ends, alternately grabbing clamping bar part realizes climbing motion on bar。Climbot adopts modular method design, constituted, by two kinds of joint modules, the body being similar to motion arm, connect gripper module at two ends respectively, it is possible to grab the rod member of the folder difformity such as circular and square and size, there is multiple climbing gait, transition and obstacle crossing function between very strong bar。3DCLIMBER robot body is made up of the rotating mechanism of a planar three freedom serial linkage and a base end, and climbing ability is more weak, mechanism cumbersome。Hispanic CRP body adopts parallel institution, and two ends moving platform is made circlewise, is used for encircling climbing object, but owing to parallel institution work space is less, this kind of climbing robot lacks enough motilities, and climbing function is more weak。Relevant climbing robot also includes WOODY series robot capable of climbing trees and and the Treebot robot capable of climbing trees of raw et al. the exploitation of Hong Kong Xu Yang of Japan's exploitation。WOODY-I both-end is two big annulus dress clamp systems, and the two is connected by screw mandrel and guide rail, realizes climbing on trunk by stretching motion。WOODY-II configuration is similar with Climbot's, but degree of freedom is less。Being flexible continuum in the middle of Treebot, two ends are hook, are suitable only for the tree climbing rough surface。The snake-shaped robot of Hirose and Lipkin et al. exploitation is made up of multiple identical block coupled in series, and rod member is tightly wound around as Serpentis by whole body and overturns realization climbing。Iran UT-PCR by upper and lower two groups totally six wheels clamp rod member by spring force, the rotation of wheel is ordered about Robot rod member and is moved up and down。
Although having been developed for multiple climbing robot model machine both at home and abroad at present, being respectively arranged with advantage, but also having stronger purposiveness and limitation。It is said that in general, both hands pawl climbing robot has stronger climbing function, but owing to two ends need alternately to grab clamping bar part, climbing speed is relatively low。Snake-shaped robot needs more joint module, and the reliability being wound around climbing has much room for improvement, and load is less, it is difficult to extended operation function。Wheel clamping type robot realizes climbing, speed by wheel continuous rolling, is highly suitable on bar and climbs。But existing design can only be climbed in one direction, it is impossible to change body direction around rod member, thus limit operation orientation。
Summary of the invention
The purpose of this utility model is in that to design a kind of wheeled climbing level robot simple and compact for structure, easy to install and use。This utility model can adapt to the climbing rod member of different-diameter, and can quickly move up and down on climbing rod member and trunk, rotate and screw。
For realizing the purpose of this utility model, adopt the following technical scheme that wheeled climbing level robot of the present utility model, adopt circulus, include the first main backstop in semi-annular shape, the second main backstop, bracing frame fasten joint, four driving wheel assemblies, power supply box and control chamber, and wherein the first main backstop fastens joint with the second main backstop by bracing frame and realizes connection;Two driving wheel assemblies in four driving wheel assemblies are fixed on the upper end of the first main backstop, and another two driving wheel assembly is fixed on the lower end of the second main backstop, the outside control chamber fixed above of the second main backstop, the lower section fixed power source case of the second main backstop。
Compared with prior art, this utility model has the advantage that
1) this utility model is taken turns due to the Liang Zu Sweden contacted from climbing rod member and is in different height, utilize robot centre offset to produce Sweden's wheel and the pressure of climbing rod member is realized clamping, Sweden's wheel stops operating or can prevent Robot climbing rod member from gliding after power-off, it is ensured that the reliability of robot security and work;And this clamping mode is simple and reliable;
2) this utility model adopts worm mechanism, regulate the folding degree of four Sweden's wheels and the size of bite composition tetragon to adapt to the climbing rod member of various different-diameter, and utilize its auto-lock function to fix the angle of four Sweden's wheels, the danger that Sweden wheel pine makes robot drop from climbing rod member can be prevented;
3) this utility model uses left-handed two groups different with dextrorotation Sweden wheel, and can realize robot move up and down, rotate and screw around climbing rod member by controlling its rotation direction;
4) the first main backstop of this utility model robot and the two ends of the second main backstop two large divisions are attached by bracing frame fastening joint and are fastened, and conveniently carry out dismantling and installing;
5) this utility model can synchronize to drive worm screw to adapt to different rod member or the size of cylindrical trunk with the folding degree regulating the angle of worm gear and then four Sweden's wheels of adjustment simultaneously by disc type electric machine, therefore the wheeled climbing level robot of this utility model can be climbed in the vertical round bar of different-diameter, palm or Cocos nucifera L.;Further, since the auto-lock function of worm and gear, when disc type electric machine quits work, Sweden's wheel will not change folding size due to external force;
6) the driving wheel assembly at this utility model dextrorotation and left-handed Liang Zhong Sweden wheel place is separately mounted to the first main backstop and the upper and lower of the second main backstop, the rotation direction (turn clockwise, turn counterclockwise or motionless) of Sweden's wheel is changed by direct current generator, the wheel combination of four Sweden is made to form compound motion, thus realizing the motion mode that robot is different, allow the robot to realize rotating, moving up and down and screw on climbing object。
This utility model is a kind of wheeled climbing level robot with multi-motion modes, this utility model overcomes the deficiency of existing domestic and international climbing robot, and the dismounting and the work high above the ground such as branch pruning, Cortex cocois radicis gel harvesting for electric pole first-class such as distribution box and communication base station provides mobile platform。
Accompanying drawing explanation
The overall installation diagram of Tu1Shi this utility model robot;
The front view of Tu2Shi this utility model robot;
The top view of Tu3Shi this utility model robot;
Fig. 4 is the explosive view of this utility model driving wheel assembly;
Fig. 5 is the scheme of installation of this utility model bracing frame;
The schematic diagram of robot motion's the first situation of mode of Tu6Shi this utility model Sweden's wheel rotation direction and correspondence thereof;
The schematic diagram of robot motion's mode the second situation of Tu7Shi this utility model Sweden's wheel rotation direction and correspondence thereof;
The schematic diagram of robot motion's the third situation of mode of Tu8Shi this utility model Sweden's wheel rotation direction and correspondence thereof。
Detailed description of the invention
In order to be more fully understood that this utility model, below in conjunction with accompanying drawing, it is further described。
It is illustrated in figure 1 the overall installation diagram of robot。Wheeled climbing level robot of the present utility model, adopt circulus, include first main backstop the 1, second main backstop 6 in semi-annular shape, bracing frame fastens 8, four, joint driving wheel assembly, power supply box 10 and control chamber 7, and wherein the first main backstop 1 realizes being connected and fastening by bracing frame fastening joint 8 with the second main backstop 6;Two driving wheel assemblies in four driving wheel assemblies are fixed on the upper end of the first main backstop 1, another two driving wheel assembly is fixed on the lower end of the second main backstop 6, the outside control chamber 7 fixed above of the second main backstop 6, the lower section fixed power source case 10 of the second main backstop 6, four driving wheels are always shaped as being uniformly distributed along ring-type。
In the present embodiment, the total Chengdu of aforementioned four driving wheel is Sweden's wheel, two of which driving wheel assembly includes dextrorotation Sweden wheel 5, two other driving wheel assembly includes left-handed Sweden wheel 9, two the driving wheel assemblies including dextrorotation Sweden wheel 5 are fixed on the upper end of the first main backstop 1, and two driving wheel assemblies including left-handed Sweden wheel 9 are then fixed on the lower end of the second main backstop 6。Aforementioned four driving wheel assembly is fixed by screws on the first main backstop 1 and the second main backstop 6。Sweden's wheel used by this utility model can be existing general Sweden's wheel, it is also possible to be the wheel that can block climbing rod member。
As shown in Figure 4, above-mentioned each driving wheel assembly includes direct-drive motor 2, disc type electric machine 12, worm gearing, Sweden's wheel and Sweden's wheeling supporting frame 11, worm gearing includes worm gear 13, worm screw 1, worm and gear pedestal 4, end cap 3 and two pairs of bearings, disc type electric machine 12 is fixed on worm and gear pedestal 4, the output shaft of disc type electric machine 12 is connected with worm screw 1, disc type electric machine 12 drives worm screw 1 to move, worm gear 13 is fixed Sweden's wheeling supporting frame 11, Sweden's wheeling supporting frame 11 is installed left-handed Sweden wheel 5 or dextrorotation Sweden wheel 9, left-handed Sweden wheel 5 or dextrorotation Sweden wheel 9 are driven by direct current generator 2。In the present embodiment, the arm end of above-mentioned worm gear 13 is screwed Sweden's wheeling supporting frame 11, is namely provided with a linking arm on worm gear 13, at the end fixing Sweden wheeling supporting frame 11 of linking arm。Above-mentioned worm screw 1 is bearing in worm and gear pedestal 4 by two pairs of bearings。Additionally, above-mentioned worm and gear pedestal 4 is installed end cap 3。This utility model regulates the folding degree of four Sweden's wheels to adapt to different size of rod member by four worm gearings;Realize the rotation around round bar or trunk by regulating and combine the direction of rotation of four Sweden's wheels, move up and down or screw。
In the present embodiment, above-mentioned bracing frame fastens the two parts in joint 8 and is separately fixed on the first main backstop 1 and the second main backstop 6, and the two parts in bracing frame fastening joint 8 are connected by connector。Above-mentioned connector is alignment pin。
In the present embodiment, above-mentioned power supply box 10 is built-in is provided with supplying cell。
It is front view and the top view of utility model robot as shown in Figure 2,3, it is possible to the principle that this utility model robot is anti-fall is described。At Fig. 2, in 3, owing to the driving wheel assembly on the first main backstop (1) and the second main backstop 6 is in different height, and power supply box 10 and control chamber 7 are installed concentratedly on the second main backstop 6 being installed below driving wheel assembly, make the centre offset of robot, cause four driving wheels clamping action to climbing object。As in figure 2 it is shown, the action of gravity point of robot is moved to main backstop center, by gravityGTranslation isG', create moment of torsion around center simultaneouslyM, moment of torsionMMaking robot have the trend toppled around center, also this trend makes four Sweden's wheels that rod member is created pressure justF i (i=1,2,3,4)。The space so utilizing robot centre offset and Sweden's wheel is arranged, forms Sweden's wheel pressuring action to rod member, thus robot glides when preventing Sweden's wheel from stopping operating, it is ensured that the reliability of robot security and work。Anti-skidding principle be similar to previous people utilize meniscate pedal climbing electric pole time situation。
It is illustrated in figure 5 the scheme of installation of bracing frame。First main backstop the 1, second main backstop 6 and bracing frame is had to fasten joint 8 in Figure 5。Bracing frame fastens the two parts in joint 8 and is separately fixed on the first main backstop 1 and the second main backstop 6, before robot climbing, first main backstop 1 and the second main backstop 6 are respectively placed in the both sides of climbing object, bracing frame fastens joint 8 two-part two ends again fasten, plug alignment pin。Climbing complete, pull out alignment pin, untie fastening, the first main backstop 1 and the second main backstop 6 are that is separated。
The schematic diagram of 3 kinds of situations of robot motion's mode of Sweden's wheel rotation direction and correspondence thereof it is shown such as Fig. 6,7,8。In Fig. 6,7,8, left figure is Sweden's wheel composite motion schematic diagram, and right figure is corresponding robot motion's mode (diagrammatic top view)。Left figure utilizes the mode of helical gear left-handed or dextrorotation to define the left and right rotation direction of Sweden's wheel, right figure only depicts turning to and moving direction of four Sweden's wheels, rod member and robot。Seeing from left to right in left figure, velocity attitude is just being defined as counterclockwise, is counterclockwise just defined as in right figure。In Fig. 6,7,8, the Liang Ge Sweden wheel of top is taken turns for dextrorotation Sweden, and the Liang Ge Sweden wheel of lower section is left-handed Sweden wheel。When dextrorotation Sweden take turns positive direction rotate time, can produce one upwards and a frictional force to the right;Otherwise, when negative direction motion is taken turns by dextrorotation Sweden, a downward and frictional force to the left will be produced。The frictional force that left-handed Sweden wheel produces can do same analysis。Owing to dextrorotation Sweden wheel and left-handed Sweden take turns around robot bracing frame centrosymmetry, when they produce reverse friction power, the moment of torsion produced is offset by climbing the power that they produce by object, namely be equivalent to reverse friction power in the ideal case cancel out each other, therefore can control the motion of robot according to the Different Exercise Mode between them。The compound motion of Sweden's wheel and robot motion's mode following (only listing 3 kinds in Fig. 6,7,8, the rest may be inferred by analogy for it) of correspondence thereof: dextrorotation Sweden wheel rotates forward, and left-handed Sweden wheel is motionless, cause moving in robot rotating forward;Dextrorotation Sweden wheel is motionless, and left-handed Sweden wheel rotates forward, and causes shifting derotation in robot;The wheel reversion of dextrorotation Sweden, left-handed Sweden wheel is motionless, causes that robot moves down and reverses;Dextrorotation Sweden wheel is motionless, the wheel reversion of left-handed Sweden, causes that robot moves down and rotates forward;Four Sweden's wheels rotate forward simultaneously, cause moving in robot;Four Sweden's wheels reverse simultaneously, cause that robot moves down;Dextrorotation Sweden wheel rotates forward, the wheel reversion of left-handed Sweden, causes that robot rotates forward;The wheel reversion of dextrorotation Sweden, left-handed Sweden wheel rotates forward, and causes that robot reverses。

Claims (10)

1. a wheeled climbing level robot, it is characterized in that adopting circulus, include the first main backstop (1) in semi-annular shape, the second main backstop (6), bracing frame fasten joint (8), four driving wheel assemblies, power supply box (10) and control chamber (7), and wherein the first main backstop (1) fastens joint (8) realization with the second main backstop (6) by bracing frame and is connected and fastens;Two driving wheel assemblies in four driving wheel assemblies are fixed on the upper end of the first main backstop (1), another two driving wheel assembly is fixed on the lower end of the second main backstop (6), outside control chamber fixed above (7) of the second main backstop (6), lower section fixed power source case (10) of the second main backstop (6)。
2. wheeled climbing level robot according to claim 1, it is characterized in that the total Chengdu of aforementioned four driving wheel is Sweden's wheel, two of which driving wheel assembly includes dextrorotation Sweden wheel (5), two other driving wheel assembly includes left-handed Sweden wheel (9), two the driving wheel assemblies including dextrorotation Sweden wheel (5) are fixed on the upper end of the first main backstop (1), and two the driving wheel assemblies including left-handed Sweden wheel (9) are then fixed on the lower end of the second main backstop (6)。
3. wheeled climbing level robot according to claim 1, it is characterised in that aforementioned four driving wheel assembly is fixed by screws on the first main backstop (1) and the second main backstop (6)。
4. the wheeled climbing level robot according to any one of claims 1 to 3, it is characterized in that above-mentioned each driving wheel assembly includes direct-drive motor (2), disc type electric machine (12), worm gearing, Sweden's wheel and Sweden's wheeling supporting frame (11), worm gearing includes worm gear (13), worm screw (1), worm and gear pedestal (4), end cap (3) and two pairs of bearings, disc type electric machine (12) is fixed on worm and gear pedestal (4), the output shaft of disc type electric machine (12) is connected with worm screw (1), disc type electric machine (12) drives worm screw (1) motion, upper fixing Sweden's wheeling supporting frame (11) of worm gear (13), Sweden's wheeling supporting frame (11) is upper installs left-handed Sweden wheel (5) or dextrorotation Sweden wheel (9), left-handed Sweden wheel (5) or dextrorotation Sweden wheel (9) are driven by direct current generator (2)。
5. wheeled climbing level robot according to claim 4, it is characterised in that the arm end of above-mentioned worm gear (13) is screwed Sweden's wheeling supporting frame (11)。
6. wheeled climbing level robot according to claim 5, it is characterised in that above-mentioned worm screw (1) is bearing in worm and gear pedestal (4) by two pairs of bearings。
7. wheeled climbing level robot according to claim 6, it is characterised in that install end cap (3) on above-mentioned worm and gear pedestal (4)。
8. wheeled climbing level robot according to claim 4, it is characterized in that two parts of above-mentioned bracing frame fastening joint (8) are separately fixed on the first main backstop (1) and the second main backstop (6), and two parts of bracing frame fastening joint (8) are connected by connector。
9. wheeled climbing level robot according to claim 8, it is characterised in that above-mentioned connector is alignment pin。
10. wheeled climbing level robot according to claim 4, it is characterised in that above-mentioned power supply box (10) is built-in is provided with supplying cell。
CN201521141775.7U 2015-12-31 2015-12-31 Wheeled pole -climbing robot Withdrawn - After Issue CN205327216U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201521141775.7U CN205327216U (en) 2015-12-31 2015-12-31 Wheeled pole -climbing robot

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Application Number Priority Date Filing Date Title
CN201521141775.7U CN205327216U (en) 2015-12-31 2015-12-31 Wheeled pole -climbing robot

Publications (1)

Publication Number Publication Date
CN205327216U true CN205327216U (en) 2016-06-22

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105644646A (en) * 2015-12-31 2016-06-08 广东工业大学 Wheel type pole-climbing robot
CN108325894A (en) * 2018-02-05 2018-07-27 秦皇岛点知汇科技有限公司 A kind of highway lamp bar cleaning robot

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105644646A (en) * 2015-12-31 2016-06-08 广东工业大学 Wheel type pole-climbing robot
CN108325894A (en) * 2018-02-05 2018-07-27 秦皇岛点知汇科技有限公司 A kind of highway lamp bar cleaning robot
CN108325894B (en) * 2018-02-05 2020-06-05 郭毅 Highway light pole cleaning robot

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C14 Grant of patent or utility model
AV01 Patent right actively abandoned

Granted publication date: 20160622

Effective date of abandoning: 20180710

AV01 Patent right actively abandoned