CN205499106U - Novel pole -climbing supervisory -controlled robot - Google Patents
Novel pole -climbing supervisory -controlled robot Download PDFInfo
- Publication number
- CN205499106U CN205499106U CN201620179322.1U CN201620179322U CN205499106U CN 205499106 U CN205499106 U CN 205499106U CN 201620179322 U CN201620179322 U CN 201620179322U CN 205499106 U CN205499106 U CN 205499106U
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- arm
- pole
- chassis
- climbing
- supervisory
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Abstract
The utility model provides a novel pole -climbing supervisory -controlled robot. It include the chassis and set up the control unit on the chassis, drive unit, embrace the pole unit, apart from recognition cell, nos line chart leaflet unit and camera device, the control unit with drive unit, embrace the pole unit, apart from recognition cell with do not have the first signal connection of line chart leaflet, no line chart leaflet unit and camera device signal connection, drive unit includes first motor, transmission, drive wheel and follows the driving wheel, first motor and chassis be assembled between/be connected between, and drive wheel, chassis are connected from driving wheel and chassis rotation, and the drive wheel is connected through transmission power to first motor, embrace the pole unit include with first armful of arm of chassis articulated and second armful arm to reaching and embracing an arm articulated electric putter and the 2nd electric putter, the end terminal and second armful arm one end of first armful of arm one end is provided with armful arm from driving wheel, and the one end terminal and an electric putter of the first armful of arm other end is articulated, and the end of the second armful arm other end and the 2nd electric putter's one end are articulated.
Description
Technical field
This utility model relates to robotics and monitoring field, particularly relates to a kind of pole-climbing supervisory-controlled robot.
Background technology
Supervisory control of robot is named again robot assisted remote control, is the groundwork mode of teleoperator, and other also have master slave system and from master mode.Master slave system refers to that operator remote control robot, inefficiency, and operator are in constant tension, easily tired；Being following thing from master mode, present robot autonomous mode is relatively low.Therefore monitoring is the working method that robot is best, is controlled the rudimentary intelligence of machine by the high-grade intelligent of people, it is achieved interact.
Pole-climbing work high above the ground is typically to be in extreme danger, the most inefficient work of labor intensity, and pole-climbing supervisory-controlled robot can well substitute manpower carry out investigations in high-altitude, street lamp replacing, the operation such as electric lines of force tour.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, and the device with electric magnet also carries possible electromagnetic interference factor.These add the difficulty of work high above the ground undoubtedly, no matter to company or individual, are all unfavorable for realizing the general object of safety in production.Therefore, it is possible to improved machines people's technology, design also carries out highly difficult, the work of high risk by climbing level robot, changes the mode of tradition pole-climbing work high above the ground, have important social meaning and Humanistic Value.
Summary of the invention
The purpose of this utility model is to provide a kind of pole-climbing supervisory-controlled robot operate with the optimization realizing pole-climbing supervisory-controlled robot and run, and adapts to different operating environments.
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, distance recognition unit, wireless image transmission unit and camera head, control unit is connected with driver element, pole unit, distance recognition unit and wireless image transmission cell signal, and wireless image transmission unit is connected with camera head signal；Driver element includes the first motor, actuating device, driving wheel and chassis driven pulley, the first motor and chassis assembly connection, and driving wheel, chassis driven pulley are rotationally connected with chassis, and the first motor connects driving wheel through actuating device power；Pole unit includes first arm hinged with chassis and the second arm, and first electric pushrod hinged with arm and the second electric pushrod, the end of first arm one end and the end of second arm one end are provided with arm driven pulley.
Further, the end of the first arm other end and the end of the second arm other end and the first electric pushrod and the second electric pushrod are hinged.
Further, the first electric pushrod and the second electric pushrod are fixed on chassis 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, the end of first arm one end is provided with the arm driven pulley being in transmission connection with the first arm, the inner side of the second arm is provided with the friction pulley being rotationally connected with the second arm, and the end of second arm one end is provided with the arm driven pulley being in transmission connection with the second arm.
Further, also including orthogonal first turntable and the second turntable, the first turntable is rotationally connected with chassis, and the second turntable and the first turntable are rotationally connected.
Further, the first turntable is rotationally connected with chassis through the second motor, 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 with bracing frame through the second motor.
Further, also include that three axle digital compass, three axle digital compass are arranged on chassis and are connected with control unit signal.
Further, also including can be with 90 degree of infrared distance sensor rotated, and infrared distance sensor is arranged on bracing frame 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, can automatically identify the stand under varying environment, and human-computer interaction and the Automatic adjusument of monitoring angle can be realized, compared with the climbing level robot with electric magnet, not there is the electromagnetic interference factor that the latter may cause.
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 describing below is embodiments more of the present utility model, for those of ordinary skill in the art, on the premise of 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, chassis driven pulley, the 31, first arm, 32, the second arm, 33, friction pulley, 34, arm driven pulley, 35, jointed shaft, the 36, first electric pushrod, the 37, second electric pushrod, 41, the second motor, the 42, the 3rd motor, the 43, first turntable, 44, the second turntable, 45, bracing frame, 46, infrared distance sensor.
Detailed description of the invention
The present embodiment provides a kind of pole-climbing supervisory-controlled robot, control unit, driver element, pole unit, distance recognition unit, wireless image transmission unit, camera head, three axle digital compass, wireless remote control module it is provided with on chassis 1, control unit is connected with driver element, pole unit, distance recognition unit, wireless image transmission unit, three axle digital compass and wireless remote control module signal, and wireless image transmission unit is connected with camera head signal.Driver element includes the first motor 21, actuating device 22, driving wheel 23 and chassis driven pulley 24, first motor 21 assembling is installed on chassis 1, being provided with driving wheel 23 and chassis driven pulley 24 below chassis 1, the first motor 21 connects driving wheel 23 through actuating device 22 power.Pole unit includes through the first arm 31 and the second arm 32 and the first electric pushrod 36 and the second electric pushrod 37 that jointed shaft 35 is hinged with chassis 1, the end of first arm 31 one end and the end of second arm 32 one end are provided with arm driven pulley 34, end and first electric pushrod 36 one end of first arm 31 other end are hinged, the end of second arm 32 other end and one end of the second electric pushrod 37 are hinged, and first electric pushrod the 36, second electric pushrod 37 in the present embodiment remittance is fixed on chassis 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 and infrared distance sensor 46 are 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 the 41, the 3rd motor 42 and infrared distance sensor 46 are connected with control unit signal.
nullThe 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 first electric pushrod 36 in the first arm 31 and the second electric pushrod 37 in the second arm 32 are in contraction state and make the first arm 31 and the second arm 32 open towards front，When pole-climbing supervisory-controlled robot touches cylindrical bar，Infrared distance sensor 46 measures level-preset distance makes the first electric pushrod 36 and the second electric pushrod 37 stretch out，The first arm 31 and the second arm 32 is promoted to rotate，First arm 31 and the second arm 32 are closed up makes two arm driven pulleys 34 merge and hold cylindrical bar tightly，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 infrared distance sensor 46 detection range, after determining 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 pole-climbing supervisory-controlled robot occurs skew during climbing, and three axle digital compass can be detected side-play amount and are corrected camera position by wireless remote control module or control unit.Image by image storage or is transmitted in real time through wireless image transmission 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, infrared distance sensor 46 perceived distance again makes the first electric pushrod 36 and the second electric pushrod 37 shrink, first arm 31 and the second arm 32 depart from cylindrical bar, and the first arm 31 and the second arm 32 are in open configuration again, and driving wheel 23 drives pole-climbing supervisory-controlled robot to move along the horizontal plane.
Certainly; described above is not to restriction of the present utility model; this utility model is also not limited to the example above, change that those skilled in the art are made in essential scope of the present utility model, retrofits, adds or replaces, and 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, distance recognition unit, wireless image transmission unit and the camera head including chassis with being arranged on chassis, control unit is connected with driver element, pole unit, distance recognition unit and wireless image transmission cell signal, and wireless image transmission 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, chassis driven pulley are rotationally connected with chassis, and the first motor connects driving wheel through actuating device power；Pole unit includes first arm hinged with chassis and the second arm, and first electric pushrod hinged with arm and the second electric pushrod, the end of first arm one end and the end of second arm one end are provided with arm driven pulley, the end of the first arm other end and one end of the first electric pushrod are hinged, and the end of the second arm other end and one end of the second electric pushrod are hinged.
Pole-climbing supervisory-controlled robot the most 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 hinged with electric pushrod.
Pole-climbing supervisory-controlled robot the most according to claim 2, it is characterised in that: the first electric pushrod and the controlled unit of the second electric pushrod control.
Pole-climbing supervisory-controlled robot the most according to claim 3, it is characterized in that: the inner side of the first arm is provided with the friction pulley being rotationally connected with the first arm, the end of first arm one end is provided with the arm driven pulley being rotationally connected with the first arm, the inner side of the second arm is provided with the friction pulley being rotationally connected with the second arm, and the end of second arm one end is provided with the arm driven pulley being rotationally connected with the second arm.
5. according to the pole-climbing supervisory-controlled robot described in Claims 1-4, it is characterized in that: also include orthogonal first turntable and the second turntable, first turntable is rotationally connected with chassis, and the second turntable and the first turntable are rotationally connected, and on the second turntable, assembly connection has camera head.
Pole-climbing supervisory-controlled robot the most according to claim 5, it is characterised in that: the first turntable is rotationally connected with chassis through the second motor, 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.
Pole-climbing supervisory-controlled robot the most 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 with bracing frame through the second motor.
Pole-climbing supervisory-controlled robot the most according to claim 7, it is characterised in that: also include that three axle digital compass, three axle digital compass are arranged on chassis and are connected with control unit signal.
Pole-climbing supervisory-controlled robot the most according to claim 8, it is characterised in that: also include that infrared distance measuring module, infrared distance measuring module are arranged on bracing frame and are connected with control unit signal.
Pole-climbing supervisory-controlled robot the most 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620179322.1U CN205499106U (en) | 2016-03-10 | 2016-03-10 | Novel pole -climbing supervisory -controlled robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620179322.1U CN205499106U (en) | 2016-03-10 | 2016-03-10 | Novel pole -climbing supervisory -controlled robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205499106U true CN205499106U (en) | 2016-08-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620179322.1U Expired - Fee Related CN205499106U (en) | 2016-03-10 | 2016-03-10 | Novel pole -climbing supervisory -controlled robot |
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| CN (1) | CN205499106U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426168A (en) * | 2016-10-19 | 2017-02-22 | 辽宁工程技术大学 | Bionic mechanical arm and control method thereof |
| CN108406802A (en) * | 2018-03-23 | 2018-08-17 | 广东电网有限责任公司清远供电局 | A kind of tight-holding type chops at a tree robot |
| CN108438075A (en) * | 2018-03-23 | 2018-08-24 | 广东电网有限责任公司清远供电局 | A kind of climbing mechanism for the robot that chops at a tree |
| CN108438074A (en) * | 2018-03-23 | 2018-08-24 | 广东电网有限责任公司清远供电局 | A kind of climbing mechanism that chops at a tree of working at height |
| CN109080729A (en) * | 2018-06-20 | 2018-12-25 | 中国矿业大学 | A kind of underground obstacle detouring mobile robot |
| CN110562343A (en) * | 2019-03-18 | 2019-12-13 | 金华绿川科技有限公司 | Tree-climbing pruning robot |
| CN113844563A (en) * | 2021-09-30 | 2021-12-28 | 国网四川省电力公司南充供电公司 | Continuous mobile pole climbing device with obstacle crossing function |
-
2016
- 2016-03-10 CN CN201620179322.1U patent/CN205499106U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426168A (en) * | 2016-10-19 | 2017-02-22 | 辽宁工程技术大学 | Bionic mechanical arm and control method thereof |
| CN108406802A (en) * | 2018-03-23 | 2018-08-17 | 广东电网有限责任公司清远供电局 | A kind of tight-holding type chops at a tree robot |
| CN108438075A (en) * | 2018-03-23 | 2018-08-24 | 广东电网有限责任公司清远供电局 | A kind of climbing mechanism for the robot that chops at a tree |
| CN108438074A (en) * | 2018-03-23 | 2018-08-24 | 广东电网有限责任公司清远供电局 | A kind of climbing mechanism that chops at a tree of working at height |
| CN109080729A (en) * | 2018-06-20 | 2018-12-25 | 中国矿业大学 | A kind of underground obstacle detouring mobile robot |
| CN109080729B (en) * | 2018-06-20 | 2021-01-15 | 中国矿业大学 | Obstacle-surmounting mobile robot in pit |
| CN110562343A (en) * | 2019-03-18 | 2019-12-13 | 金华绿川科技有限公司 | Tree-climbing pruning robot |
| CN110562343B (en) * | 2019-03-18 | 2024-02-27 | 金华绿川科技有限公司 | Tree climbing pruning robot |
| CN113844563A (en) * | 2021-09-30 | 2021-12-28 | 国网四川省电力公司南充供电公司 | Continuous mobile pole climbing device with obstacle crossing function |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160824 Termination date: 20170310 |