CN205365796U - Pole -climbing supervisory -controlled robot - Google Patents

Pole -climbing supervisory -controlled robot Download PDF

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Publication number
CN205365796U
CN205365796U CN201620030181.7U CN201620030181U CN205365796U CN 205365796 U CN205365796 U CN 205365796U CN 201620030181 U CN201620030181 U CN 201620030181U CN 205365796 U CN205365796 U CN 205365796U
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CN
China
Prior art keywords
arm
pole
chassis
motor
controlled robot
Prior art date
Application number
CN201620030181.7U
Other languages
Chinese (zh)
Inventor
侯林源
毕忠思
王宁
雷倩
穆剑桥
Original Assignee
山东科技大学
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 山东科技大学 filed Critical 山东科技大学
Priority to CN201620030181.7U priority Critical patent/CN205365796U/en
Application granted granted Critical
Publication of CN205365796U publication Critical patent/CN205365796U/en

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Abstract

The utility model provides a pole -climbing supervisory -controlled robot, include the chassis and set up the control unit, drive unit, armful pole unit, wireless blit unit and the camera device on the chassis, the control unit and drive unit, armful pole unit and wireless blit unit signal connection, wireless blit unit and camera device signal connection, drive unit includes first motor, transmission, drive wheel and from the driving wheel, and first motor and chassis be assembled between/be connected between, rotate with the chassis from the driving wheel and are connected at the drive wheel, and first motor is through transmission power connection drive wheel, embracing the pole unit and including and embrace the arm with first armful of arm of chassis articulated and second, the terminal end with second armful arm one end of first armful of arm one end is provided with first magnet, first armful of arm other end and second armful arm other end fixedly connected with lance. The beneficial effects of the utility model are that: simple structure, convenient operation, operation are stably to can realize man -machine interdynamic and monitoring angle's self -adaptive control.

Description

Pole-climbing supervisory-controlled robot
Technical field
This utility model relates to robotics, particularly relates to a kind of pole-climbing supervisory-controlled robot.
Background technology
Pole-climbing work high above the ground is in extreme danger often, labor intensity is big and inefficient work, and pole-climbing supervisory-controlled robot can well substitute manually in operations such as high-altitude investigation, street lamp replacing, electric lines of force tours.Existing pole-climbing supervisory-controlled robot structure is complicated, operation is inconvenient, fluctuation of service, and can not realize human-computer interaction and the Automatic adjusument of monitoring angle.
Utility model content
The purpose of this utility model is in that the Optimum Operation and the operation that provide a kind of pole-climbing supervisory-controlled robot to realize pole-climbing supervisory-controlled robot.
This utility model provides a kind of pole-climbing supervisory-controlled robot, including chassis and the control unit being arranged on chassis, driver element, pole unit, wireless blit unit and camera head, control unit is connected with driver element, pole unit and wireless blit cell signal, and wireless blit unit is connected with camera head signal;Driver element includes the first motor, actuating device, driving wheel and driven pulley, the first motor and chassis assembly connection, and driving wheel, driven pulley and chassis are rotationally connected, and the first motor is through actuating device power connection driving wheel;Pole unit includes first arm hinged with chassis and the second arm, and the end of first arm one end and the end of second arm one end are provided with the first Magnet, and the first arm other end and the second arm other end are fixedly connected with lance.
Further, the end of the first arm other end and the end of the second arm other end are provided with the second Magnet.
Further, the first Magnet, the second Magnet are electric magnet and are connected with control unit signal.
Further, the inner side of the first arm is provided with the friction pulley being rotationally connected with the first arm, and the inner side of the second arm is provided with the friction pulley being rotationally connected with the second arm.
Further, also including orthogonal first turntable and the second turntable, the first turntable and chassis are rotationally connected, and the second turntable and the first turntable are rotationally connected, and on the second turntable, assembly connection has camera head.
Further, the first turntable is rotationally connected through the second motor and chassis, and the second turntable is rotationally connected through the 3rd motor and the first turntable, and the second motor, the 3rd motor are connected with control unit signal.
Further, also including bracing frame, bracing frame is fixing with chassis to be connected, and the first turntable is rotationally connected through the second motor and bracing frame.
Further, also including three axle digital compass, three axle digital compass are arranged on chassis and are connected with control unit signal.
Further, also including ultrasonic distance measuring module, ultrasonic distance measuring module is arranged on chassis and is connected with control unit signal.
Further, also including wireless remote control module, wireless remote control module is arranged on chassis and is connected with control unit signal.
Compared with prior art, pole-climbing supervisory-controlled robot of the present utility model has the characteristics that and advantage: pole-climbing supervisory-controlled robot of the present utility model, simple in construction, easy to operate, stable, and can realize human-computer interaction and the Automatic adjusument of monitoring angle.
After reading in conjunction with the accompanying detailed description of the invention of the present utility model, feature of the present utility model and advantage will become clearer from.
Accompanying drawing explanation
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in the following describes is embodiments more of the present utility model, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the structural representation one of a kind of pole-climbing supervisory-controlled robot in this utility model embodiment;
Fig. 2 is the structural representation two of a kind of pole-climbing supervisory-controlled robot in this utility model embodiment;
Fig. 3 is the structural representation three of a kind of pole-climbing supervisory-controlled robot in this utility model embodiment;
Fig. 4 is the structural representation four of a kind of pole-climbing supervisory-controlled robot in this utility model embodiment;
Wherein,
1, chassis, the 21, first motor, 22, actuating device, 23, driving wheel, 24, driven pulley, the 31, first arm, 32, the second arm, 33, friction pulley, 34, lance, 35, jointed shaft, the 36, first Magnet, the 37, second Magnet, 41, the second motor, the 42, the 3rd motor, the 43, first turntable, 44, the second turntable, 45, bracing frame.
Detailed description of the invention
The present embodiment provides a kind of pole-climbing supervisory-controlled robot, chassis 1 is provided with control unit, driver element, pole unit, wireless blit unit, camera head, three axle digital compass, ultrasonic distance measuring module, wireless remote control module, control unit is connected with driver element, pole unit, wireless blit unit, three axle digital compass, ultrasonic distance measuring module and wireless remote control module signal, and wireless blit unit is connected with camera head signal.Driver element includes the first motor 21, actuating device 22, driving wheel 23 and driven pulley 24, and the first motor 21 assembling is installed on chassis 1, and chassis 1 is arranged below driving wheel 23 and driven pulley 24, and the first motor 21 connects driving wheel 23 through actuating device 22 power.Pole unit includes through hinged the first arm 31 and the second arm 32 in jointed shaft 35 and chassis 1, the end of first arm 31 one end and the end of second arm 32 one end are provided with the first Magnet 36, first arm 31 other end and second arm 32 other end are fixedly connected with lance 34, the end of first arm 31 other end and the end of second arm 32 other end are provided with the second Magnet 37, and first Magnet the 36, second Magnet 37 in the present embodiment remittance is electric magnet and is connected with control unit signal.The inner side of the first arm 31 is provided with the friction pulley 33 being rotationally connected with the first arm 31, and the inner side of the second arm 32 is provided with the friction pulley 33 being rotationally connected with the second arm 32.Fixing connection bracing frame 45 on chassis 1, on bracing frame 45, the second motor 41 is installed in assembling, the first turntable 43 is installed in the rotating shaft assembling of the second motor 41, on first turntable 43, the 3rd motor 42 is installed in assembling, the second turntable 44 is installed in the rotating shaft assembling of the 3rd motor 42, on second turntable 44, camera head is installed in assembling, and the first turntable 43 and the second turntable 44 are vertically arranged, and the second motor 41 and the 3rd motor 42 are connected with control unit signal.
The running of the pole-climbing supervisory-controlled robot in the present embodiment is as follows: start the first motor 21 by control unit control or wireless remote control module, first motor 21 drives driving wheel 23 in the upper motion of horizontal plane (such as ground), now the second Magnet 37 in the first arm 31 and the second mutual adhesive of Magnet 37 in the second arm 32 makes the first arm 31 and the second arm 32 open towards front, when pole-climbing supervisory-controlled robot touches cylindrical bar, cylindrical bar touches lance 34 makes the second Magnet 37 separate, lance 34 rotarily drives the first arm 31 and the second arm 32 rotates, first arm 31 and the second arm 32 are closed up and hold cylindrical bar tightly by the first Magnet 36 adhesive, driving wheel 23 and friction pulley 33 are clamped on cylindrical bar.Driving wheel 23 is rotated further, and pole-climbing supervisory-controlled robot moves along cylindrical bar at vertical direction.By sound ranging module detection range, it is determined that after pole-climbing supervisory-controlled robot setting height on earth, the first motor 21 slows down self-locking, and pole-climbing supervisory-controlled robot is fixed on cylindrical bar.The second motor 41 and the camera angle of the 3rd motor 42 rotational angle adjustment camera head is controlled by control unit or wireless remote control module, when skew occurs in climbing process in pole-climbing supervisory-controlled robot, three axle digital compass can be detected side-play amount and by wireless remote control module or control unit, camera position are corrected.Image by image storage or is transmitted in real time through wireless blit unit by pole-climbing supervisory-controlled robot through camera head.After monitoring camera, control driving wheel 23 by wireless remote control module or control unit to reverse, pole-climbing supervisory-controlled robot comes downwards to cylindrical bar bottom, driving wheel 23 touches ground, driving wheel 23 drives pole-climbing supervisory-controlled robot to move along the horizontal plane, first arm 31 and the second arm 32 depart from cylindrical bar, and the first Magnet 36 separates, the second Magnet 37 adhesive, and the first arm 31 and the second arm 32 are in open configuration again.
Certainly; described above is not to restriction of the present utility model; this utility model is also not limited to the example above, the change made in essential scope of the present utility model of those skilled in the art, remodeling, interpolation or replacement, also should belong to protection domain of the present utility model.

Claims (10)

1. a pole-climbing supervisory-controlled robot, it is characterized in that: control unit, driver element, pole unit, wireless blit unit and the camera head including chassis with being arranged on chassis, control unit is connected with driver element, pole unit and wireless blit cell signal, and wireless blit unit is connected with camera head signal;Driver element includes the first motor, actuating device, driving wheel and driven pulley, the first motor and chassis assembly connection, and driving wheel, driven pulley and chassis are rotationally connected, and the first motor is through actuating device power connection driving wheel;Pole unit includes first arm hinged with chassis and the second arm, and the end of first arm one end and the end of second arm one end are provided with the first Magnet, and the first arm other end and the second arm other end are fixedly connected with lance.
2. pole-climbing supervisory-controlled robot according to claim 1, it is characterised in that: the end of the first arm other end and the end of the second arm other end are provided with the second Magnet.
3. pole-climbing supervisory-controlled robot according to claim 2, it is characterised in that: the first Magnet, the second Magnet are electric magnet and are connected with control unit signal.
4. pole-climbing supervisory-controlled robot according to claim 3, it is characterised in that: the inner side of the first arm is provided with the friction pulley being rotationally connected with the first arm, and the inner side of the second arm is provided with the friction pulley being rotationally connected with the second arm.
5. the pole-climbing supervisory-controlled robot according to any one of Claims 1-4, it is characterized in that: also include orthogonal first turntable and the second turntable, first turntable and chassis are rotationally connected, and the second turntable and the first turntable are rotationally connected, and on the second turntable, assembly connection has camera head.
6. pole-climbing supervisory-controlled robot according to claim 5, it is characterised in that: the first turntable is rotationally connected through the second motor and chassis, and the second turntable is rotationally connected through the 3rd motor and the first turntable, and the second motor, the 3rd motor are connected with control unit signal.
7. pole-climbing supervisory-controlled robot according to claim 6, it is characterised in that: also including bracing frame, bracing frame is fixing with chassis to be connected, and the first turntable is rotationally connected through the second motor and bracing frame.
8. pole-climbing supervisory-controlled robot according to claim 7, it is characterised in that: also including three axle digital compass, three axle digital compass are arranged on chassis and are connected with control unit signal.
9. pole-climbing supervisory-controlled robot according to claim 8, it is characterised in that: also including ultrasonic distance measuring module, ultrasonic distance measuring module is arranged on chassis and is connected with control unit signal.
10. pole-climbing supervisory-controlled robot according to claim 9, it is characterised in that: also including wireless remote control module, wireless remote control module is arranged on chassis and is connected with control unit signal.
CN201620030181.7U 2016-01-13 2016-01-13 Pole -climbing supervisory -controlled robot CN205365796U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201620030181.7U CN205365796U (en) 2016-01-13 2016-01-13 Pole -climbing supervisory -controlled robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201620030181.7U CN205365796U (en) 2016-01-13 2016-01-13 Pole -climbing supervisory -controlled robot

Publications (1)

Publication Number Publication Date
CN205365796U true CN205365796U (en) 2016-07-06

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201620030181.7U CN205365796U (en) 2016-01-13 2016-01-13 Pole -climbing supervisory -controlled robot

Country Status (1)

Country Link
CN (1) CN205365796U (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108999086A (en) * 2018-08-02 2018-12-14 胡彬 Overhead bridge construction climbing constructing device
CN109969663A (en) * 2019-03-12 2019-07-05 苏州得尔达国际物流有限公司 A kind of climbing robot and its mating shelf for monitoring
CN110521421A (en) * 2019-08-28 2019-12-03 三峡大学 A kind of screen of trees based on image recognition removes robot and application method automatically
CN110639865A (en) * 2019-09-27 2020-01-03 长安大学 Climbing type street lamp scrubbing robot and scrubbing method thereof

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108999086A (en) * 2018-08-02 2018-12-14 胡彬 Overhead bridge construction climbing constructing device
CN109969663A (en) * 2019-03-12 2019-07-05 苏州得尔达国际物流有限公司 A kind of climbing robot and its mating shelf for monitoring
CN110521421A (en) * 2019-08-28 2019-12-03 三峡大学 A kind of screen of trees based on image recognition removes robot and application method automatically
CN110639865A (en) * 2019-09-27 2020-01-03 长安大学 Climbing type street lamp scrubbing robot and scrubbing method thereof
CN110639865B (en) * 2019-09-27 2020-10-30 长安大学 Climbing type street lamp scrubbing robot and scrubbing method thereof

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C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20160706

Termination date: 20170113