CN205796415U - Climbers continuous way pole climbing device - Google Patents
Climbers continuous way pole climbing device Download PDFInfo
- Publication number
- CN205796415U CN205796415U CN201620523305.5U CN201620523305U CN205796415U CN 205796415 U CN205796415 U CN 205796415U CN 201620523305 U CN201620523305 U CN 201620523305U CN 205796415 U CN205796415 U CN 205796415U
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- CN
- China
- Prior art keywords
- climbers
- support arm
- crank
- hinged
- climbing device
- 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.)
- Withdrawn - After Issue
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Abstract
The utility model discloses a kind of climbers continuous way pole climbing device, including left and right actuator, left and right elevating mechanism and drive mechanism, actuator includes support arm and semicircle climbers, the rear end of support arm is hinged, climbers are hinged at support arm leading inside, and support arm is provided with the crank rocker component of regulation climbers and horizontal plane angle；Elevating mechanism includes the crank being hinged and connecting rod and the slide block vertically slided, and connecting rod is hinged on slide block, and the sliding pin on slide block slides and is located on support arm in the corresponding sliding tray offered；Drive mechanism includes the power transmission shaft that gear driving pair drives, and the left and right axle head of power transmission shaft connects the crank of correspondence respectively；The alternating movement of left and right actuator, thus realize pole climbing device seriality climbing on rod member.This utility model load is big, can seriality, pole-climbing efficient, safe, technical scheme is simple, from design with produce and have preferable prospect and economic benefit in terms of angle.
Description
Technical field
This utility model relates to climbing robot, is specially a kind of climbers continuous way pole climbing device.
Background technology
We the most many times need to carry out work high above the ground, such as high-altitude image, broadcast, illuminate, measure,
Cleaning and high-altitude repairing etc..These operations are with great insecurity, the raising realized autoprotection along with people, people
Learn the dangerous work researching and developing robot to replace self, help the mankind to complete some with machine loaded down with trivial details heavy simultaneously
Work, with the both hands that liberate mankind.
Climbing level robot is characterised by that robot needs to overcome the gravity of body and its carrier, and the direction of principal axis along bar does
Merit so that the height of robot changes, to complete other work specific.
Existing climbing level robot mainly has several: electrodynamic mechanical type climbing level robot, pneumatic crawling formula climbing level robot and
Electronic crawling formula climbing level robot.
Electrodynamic mechanical type climbing level robot is mainly using motor as main power source, in conjunction with sprocket wheel, gear, belt wheel, snail
The mechanism such as worm and gear and crank block carries out raising and lowering motion, and it supports the frictional force being dependent between wheel and rod member and comes
Keep balance, or rely on frictional force between clamping arm and rod member to keep balancing the motor that this kind of robot needs to control
Many, control part design complexity, frame for movement is heavy, and load capacity is very limited.
Pneumatic crawling formula climbing level robot is dependent on the alternating movement that air cylinder driven clamping arm is clamped and unclamps, and
Coordinating other mechanism to carry out up-down alternative motion to clamping arm up and down, thus realize the rise and fall of robot, it supports
Be dependent on clamping frictional force between arm and rod member keeping balancing this kind of robot advantage is that load-carrying is relatively big, robot body
Simple in construction, but the pneumatic system controlling its work is huge, is unsuitable for outdoor moving and uses, and also costly.
Electronic crawling climbing level robot is with motor as power source, take clamp system to be clamped and unclamp alternately
Motion, and coordinate other mechanism to carry out up-down alternative motion to clamping arm up and down, thus realize the climbing merit of robot
Crank block can be have employed as main motion mechanism by this kind of robot so that robot architecture is simple, easily realizes, but by
The restriction of frictional force of originally experiencing in clamping device so that the load capacity of this type robot is limited, is not suitable for loading by force
Working environment.
At present, the climbing sports of climbing robot is all intermittent movement, non-continuous movement, and climbing efficiency is low, adaptability
Differ from or load capacity is poor or system is huge.
Utility model content
For the deficiencies in the prior art, technical problem to be solved in the utility model is to propose one to load big, non-
Intermittent, efficient, the safe and stable and climbers continuous way pole climbing device of simple in construction.
Can solve the problem that the climbers continuous way pole climbing device of above-mentioned technical problem, its technical scheme includes based on frame setting
Left and right actuator, the left and right elevating mechanism arranged corresponding to left and right actuator and control left and right elevating mechanism simultaneously
Drive mechanism, wherein:
1, described actuator includes support arm and can unclamp and buckle the climbers of rod member, and the rear end of described support arm is hinged
In frame, the front end of support arm is located at by described climbers, and support arm is provided with and controls the climbers control that climbers loosen and buckle rod member
Assembly.
2, described elevating mechanism is the slider-crank mechanism arranged in frame, including the crank being hinged and connecting rod and vertically
The slide block slided, described connecting rod is hinged on slide block, and the sliding pin that described slide block is arranged slides to be located on corresponding support arm and opens
If sliding tray in.
3, described drive mechanism includes the power transmission shaft driven by the gear driving pair with decreasing transmission ratio, described power transmission shaft
Left and right axle head connect respectively correspondence crank.
The support arm of left and right actuator be in from the hinge point of frame on upper and lower different height and position and respectively to
Upper and lower tiltedly stretch.
The preferably semicircle latch closure of described climbers, described semicircle latch closure is hinged at the inner side of support arm, institute by clasp seat
State climbers and control the crank rocker assembly that a kind of scheme is the semicircle latch closure of rotary buckle ring seat regulation and horizontal plane angle of assembly.
Described semicircle latch closure is parallel to horizontal plane for unclamping rod member state, and semicircle latch closure and horizontal plane formation angle are
Buckle rod member state.
Buckling rod member for making semicircular rings be buckled with effect, described semicircle latch closure is 5 °～30 ° with the angle of horizontal plane.
The preferred steering wheel of driving of described crank rocker component, described steering wheel is by the electric control system controls arranged on device.
Described gear driving pair be driven to reducing motor, described reducing motor by device arrange electric-control system control
System.
The beneficial effects of the utility model:
1, this utility model climbers continuous way pole climbing device can realize device heavy load, and can seriality, efficient, safety
Pole-climbing.
2, technical solutions of the utility model are simple, design and cost of manufacture, and work efficiency is high.
3, this utility model can work independently, also can configure installation on its fuselage or carry multiple types functional component and
Complete different work.
Accompanying drawing explanation
Fig. 1 is the perspective view of a kind of embodiment of this utility model.
Fig. 2 is the front view of Fig. 1 embodiment.
Fig. 3 is the side view of Fig. 1 embodiment.
Fig. 4 is the top view of Fig. 1 embodiment.
Figure number identifies: 1, frame；2, support arm；3, climbers；4, clasp seat；5, crank rocker assembly；6, crank；7, even
Bar；8, slide block；9, power transmission shaft；10, steering wheel；11, gear driving pair；12, reducing motor；13, slide bar.
Detailed description of the invention
The technical solution of the utility model is described further by illustrated embodiment below in conjunction with the accompanying drawings.
The technical scheme of this utility model climbers continuous way pole climbing device, including the left and right execution machine arranged based on frame 1
Structure, the left and right elevating mechanism arranged corresponding to left and right actuator and the drive mechanism simultaneously controlling left and right elevating mechanism
And each actuator, the circuit control system of each elevating mechanism.
Described actuator includes support arm 2, climbers 3 (preferably semicircle latch closure), crank rocker assembly 5 and steering wheel 10,
The rear end of described support arm 2 cuts with scissors dress in the corresponding side surface of frame 1, and the middle part of described semicircle latch closure is arranged in clasp seat 4
Internal and make the collar extension of semicircle latch closure inside, described clasp seat 4 is loaded in the front end of support arm 2 by outside pivot pin hinge
Side；Described steering wheel 10 is installed on the outside of support arm 2, the pivot pin of described crank rocker assembly 5 junction button ring seat 4 and steering wheel 10
Output shaft；The left and right supporting arms 2 hinge holding position in frame 1 corresponding side surface is one high and one low, and support arm 2 is upward to be stretched, separately
One support arm 2 is stretched to declivity, and the steering wheel 10 on each support arm 2 controls corresponding semicircle latch closure by crank rocker assembly 5
Turned position so that it is with plane-parallel or horizontal by 5 °～the angle of 30 °, as shown in Figure 1, Figure 2, Figure 3, Figure 4.
Frame 1 top is located at by described drive mechanism, including power transmission shaft 9, gear driving pair 11 and reducing motor 12, described biography
On the left and right left and right side being horizontally placed on frame 1 of moving axis 9, described gear driving pair 11 (have one-level decreasing transmission than) driven
Gear wheel is installed on power transmission shaft 9, and the driver pinion of gear driving pair 11 is installed on the output shaft of reducing motor 12, such as figure
Shown in 2.
Described elevating mechanism uses slider-crank mechanism, and including crank 6, connecting rod 7 and slide block 8, described slide block 8 is slidably installed
On the slide bar 13 of frame 1 corresponding side surface, the be connected corresponding axle head of transmission 11 of the upper end of described crank 6 (is stretched in frame 1 corresponding
Outside side), the upper end of the lower end hinge connecting rod 7 of crank 6, the lower end hinge slide block 8 of described connecting rod 7, described slide block 8 is provided with cunning
Untie-sell, described sliding pin slides and is located on corresponding support arm 2 in the sliding tray offered, as shown in Figure 1, Figure 2, Figure 3 shows.
Use pole-climbing method of the present utility model, carry out as follows:
1, described frame 1 is placed in the lower end that rod member (such as electric pole) is other, upper and lower semicircle latch closure i.e. climbers 3 respectively at
Left and right direction surrounds rod member.
2, the actuator action that top semicircle latch closure (climbers 3) is corresponding, i.e. steering wheel 10 is by crank rocker assembly 5 turns
Dynamic semicircle latch closure, makes semicircle latch closure buckle rod member (turning of crank rocker component 5 horizontal by 5 °～the angle of 30 °
The fastening position of the semicircle latch closure of dynamic dead point locking)；Corresponding elevating mechanism action, i.e. controls lower crank at reducing motor 12 sliding
Block mechanism urges slide block 8 is descending, and the upward support arm 2 stretched gradually is transformed to stretch to declivity, at the conversion process of this support arm 2
In, frame 1 rises along rod member；The now actuator action of lower section climbers 3 correspondence, i.e. steering wheel 10 is by crank rocker assembly
5 rotate semicircle latch closures, make semicircle latch closure unclamp rod member horizontal by 0 °～the angle of 5 °, frame 1 rise same
Time, the semicircle latch closure of lower section follows rising.
3, the elevating mechanism action that semicircle latch closure in lower section is corresponding, i.e. controls lower crank slide block mechanism at reducing motor 12 and draws
Movable slider 8 is up, and the support arm 2 stretched to declivity is gradually transformed to upward stretching, in the conversion process of this support arm 2, originally
The semicircle latch closure of lower section is transformed to the semicircle latch closure in top, and the semicircle latch closure of original top is transformed to lower section semicircular rings
Button.
4, repetition the 2nd, third step, the most left and right elevating mechanism controls left and right actuator alternating movement, thus is implemented in
Seriality climbing on rod member.
Above-mentioned embodiment can without departing from the change carried out within the scope of this utility model in some designs, therefore more than
The explanation being embodied as case should be regarded as exemplary in nature, and is not used to limit the protection domain that this utility model is applied for a patent.
Claims (6)
1. climbers continuous way pole climbing device, it is characterised in that include the left and right actuator arranged based on frame (1), correspond to
Left and right elevating mechanism that left and right actuator is arranged and simultaneously control the drive mechanism of elevating mechanism, wherein:
1., described actuator includes support arm (2) and can unclamp and buckle the climbers (3) of rod member, after described support arm (2)
End is hinged in frame (1), and the front end of support arm (2) is located at by described climbers (3), and support arm (2) is provided with control climbers (3) to be loosened
Assembly is controlled with the climbers buckling rod member；
2., described elevating mechanism be the upper slider-crank mechanism arranged of frame (1), including the crank (6) being hinged and connecting rod (7) with
And the slide block (8) vertically slided, described connecting rod (7) is hinged on slide block (8), and the sliding pin on described slide block (8) slides and is located at
In the sliding tray offered on corresponding support arm (2)；
3., described drive mechanism includes the power transmission shaft (9) that driven by the gear driving pair (11) with decreasing transmission ratio, described biography
The left and right axle head of moving axis (9) connects the crank (6) of correspondence respectively；
The support arm (2) of left and right actuator is on upper and lower different height and position from the hinge point of frame (1) and difference
The most tiltedly stretch.
Climbers continuous way pole climbing device the most according to claim 1, it is characterised in that: described climbers (3) are semicircular rings
Button, described semicircle latch closure is hinged at the inner side of support arm (2) by clasp seat (4), and it is rotary buckle that described climbers control assembly
The semicircle latch closure of ring seat (4) regulation and the crank rocker assembly (5) of horizontal plane angle.
Climbers continuous way pole climbing device the most according to claim 2, it is characterised in that: described semicircle latch closure is parallel to water
Plane is for unclamping rod member state, and it is to buckle rod member state that semicircle latch closure and horizontal plane form angle.
Climbers continuous way pole climbing device the most according to claim 3, it is characterised in that: for making semicircular rings be buckled with effect clamping
Rod member, described semicircle latch closure is 5 °～30 ° with the angle of horizontal plane.
Climbers continuous way pole climbing device the most according to claim 2, it is characterised in that: described crank rocker assembly (5)
It is driven to the steering wheel (10) of electric control system controls.
6. according to the climbers continuous way pole climbing device described in any one in Claims 1 to 4, it is characterised in that: described gear
The motor (12) being driven to electric control system controls of transmission (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620523305.5U CN205796415U (en) | 2016-06-01 | 2016-06-01 | Climbers continuous way pole climbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620523305.5U CN205796415U (en) | 2016-06-01 | 2016-06-01 | Climbers continuous way pole climbing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205796415U true CN205796415U (en) | 2016-12-14 |
Family
ID=57501785
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620523305.5U Withdrawn - After Issue CN205796415U (en) | 2016-06-01 | 2016-06-01 | Climbers continuous way pole climbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205796415U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105833479A (en) * | 2016-06-01 | 2016-08-10 | 广西师范大学 | Pole climbing device with continuous grapplers and pole climbing method |
| CN111420368A (en) * | 2020-05-19 | 2020-07-17 | 郭细婷 | Automatic climbing device for erecting electric wire pole and power grid |
-
2016
- 2016-06-01 CN CN201620523305.5U patent/CN205796415U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105833479A (en) * | 2016-06-01 | 2016-08-10 | 广西师范大学 | Pole climbing device with continuous grapplers and pole climbing method |
| CN105833479B (en) * | 2016-06-01 | 2018-02-13 | 广西师范大学 | Climbers continous way pole climbing device and its pole-climbing method |
| CN111420368A (en) * | 2020-05-19 | 2020-07-17 | 郭细婷 | Automatic climbing device for erecting electric wire pole and power grid |
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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 | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20161214 Effective date of abandoning: 20180213 |