CN206536454U - Novel pole-climbing robot - Google Patents

Abstract

The utility model discloses a novel pole climbing robot, which comprises a first locking ring, a second locking ring, a first lifting mechanism, a second lifting mechanism and a controller. The first lifting mechanism includes a first motor, a first top seat , the first guide rail, the first lead screw, the first slide table and the first base; the second lifting mechanism includes the second motor, the second top seat, the second guide rail, the second lead screw, the second slide table and the first Two bases; the first sliding platform and the second top seat are respectively connected to the left and right ends of the first locking ring through the rotating shaft, and the first base and the second sliding platform are respectively connected to the left and right ends of the second locking ring through the rotating shaft end, the first locking ring includes a first left semicircular clamp and a first right semicircular clamp, and the second locking ring includes a second left semicircular clamp and a second right semicircular clamp. The structure of the pole climbing robot is simple and easy Control, the current posture can be maintained after a failure, higher safety and better practicability.

Description

A New Rod Climbing Robot

technical field

The utility model relates to the mechanical field, in particular to a novel pole climbing robot.

Background technique

Light poles, utility poles, wind power towers and other facilities often need to be inspected and cleaned. At present, in our country, this kind of high-altitude operation mainly relies on manual labor and large-scale equipment to complete. This kind of operation method is costly, dangerous and inefficient. It is a practical method to use a stable pole-climbing robot to replace manual work at heights such as pole-climbing. There are many types of pole-climbing robots at present, which can be divided into roller-type pole-climbing robots and inchworm-type pole-climbing robots according to their pole-climbing forms. The overall structure of the roller-type pole-climbing robot is relatively complex, the control process is relatively cumbersome, and the current posture cannot be maintained after a failure; although the existing inchworm-type pole-climbing robots have a simple structure, are easy to control, and can climb poles, they have limited carrying capacity and are difficult to complete. pole work tasks.

Utility model content

The purpose of the utility model is to provide a new type of pole-climbing robot. The pole-climbing robot has a simple structure and is easy to control. It can maintain the current posture after a failure, and has higher safety and better practicability.

The utility model is in order to realize above-mentioned object, and the technical solution that adopts is:

A new type of pole climbing robot, including a first locking ring, a second locking ring, a first lifting mechanism, a second lifting mechanism and a controller, the first lifting mechanism includes a first motor, a first top seat, and a first guide rail , the first lead screw, the first sliding table and the first base, the first motor is connected to the lower end of the first base, the upper end of the first base is connected to the first top seat through the first guide rail, and the first sliding table is sleeved on the first guide rail Above, the lower end of the first lead screw is connected to the first motor through a coupling, and the upper end of the first lead screw passes through the first slide table and is connected to the first top seat through a bearing; the second lifting mechanism includes a second motor , the second top seat, the second guide rail, the second lead screw, the second slide table and the second base, the upper end of the second top seat is connected to the second motor, the lower end of the second top seat is connected to the second base through the second guide rail, and the second top seat is connected to the second base through the second guide rail. The second slide table is sleeved on the second guide rail, the upper end of the second lead screw is connected with the second motor through a coupling, and the lower end of the second lead screw passes through the second slide table and is connected with the second top seat through a bearing; The first sliding table and the second top seat are respectively connected to the left and right ends of the first locking ring through the rotating shaft, and the first base and the second sliding table are respectively connected to the left and right ends of the second locking ring through the rotating shaft.

Preferably, the first locking ring is located at the upper end of the second locking ring, the first locking ring includes a first left semicircular clamp and a first right semicircular clamp, both ends of the first left semicircular clamp and the second A plurality of first bolt holes are opened at both ends of a right semicircle clamp; the second locking ring includes a second left semicircle clamp and a second right semicircle clamp, and the two ends of the first left semicircle clamp and the first Both ends of the right semicircular clamp are provided with a plurality of second bolt holes.

Preferably, the first slide table is connected to the left end wall of the first left semicircular clamp, the second top seat is connected to the right end wall of the first right semicircular clamp, and the first base is connected to the left end of the second left semicircular clamp , the second sliding table is connected with the right end wall of the second right semicircular clamp.

Preferably, there are two first guide rails and two second guide rails, the two first guide rails pass through the first slide table, the first lead screw is located between the two first guide rails, and the two second guide rails pass through Pass the second slide table, and the second screw rod is located between the two second guide rails.

Preferably, the controller includes an external remote control device, a sensor and a single-chip microcomputer. The sensor and the single-chip microcomputer are provided in two groups and connected to the first base and the second top base respectively.

Preferably, both the first motor and the second motor are stepping motors, and one end of the stepping motor is connected with a rotating shaft.

Preferably, both the first slide table and the second slide table are in the shape of a square plate, the middle part of the first slide table is provided with a first rotation bolt hole, and the first lead screw is rotatably connected with the first slide table through the first rotation bolt hole , there is a second rotating bolt hole in the middle of the second sliding table, and the second lead screw is rotatably connected with the second sliding table through the second rotating bolt hole.

The beneficial effects of the utility model are:

The utility model provides a new pole climbing robot. In the initial state, the upper locking ring, the lower locking ring and the climbing pole are in a self-locking state. When the stepping motor rotates forward, the upper locking ring releases the self-locking Lock and move upward, the upper locking ring is locked after moving a certain distance; when the stepper motor reverses, the lower locking ring releases self-locking and moves upward, and the lower locking ring locks after moving a certain distance. The robot has a simple structure, is easy to control, can maintain the current posture after a failure, and can improve the shortcoming of poor carrying capacity.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of the new pole-climbing robot.

detailed description

Below in conjunction with accompanying drawing, the utility model is described in detail:

Referring to FIG. 1 , a new pole-climbing robot includes a first locking ring 1 , a second locking ring 2 , a first lifting mechanism 3 , a second lifting mechanism 4 and a controller. The first locking ring 1 is located on the upper end of the second locking ring 2 .

The first locking ring 41 includes a first left semicircle clamp 11 and a first right semicircle clamp 12, and both ends of the first left semicircle clamp 11 and both ends of the first right semicircle clamp 12 are provided with a plurality of bolts Through the hole 13 , the first left semicircle clamp 11 and the first right semicircle clamp 12 are bolted and connected through the first bolt hole 13 .

The second locking ring 2 includes a second left semicircle clamp 21 and a second right semicircle clamp 22, and both ends of the first left semicircle clamp 21 and the two ends of the first right semicircle clamp 22 are provided with a plurality of bolts The hole 23 , the second left semicircle clamp 21 and the second right semicircle clamp 23 are bolted and connected through the bolt hole 23 .

The first lifting mechanism 3 includes a first motor 31, a first top seat 32, a first guide rail 33, a first screw 34, a first slide table 35 and a first base 36, and the first motor 31 is connected to the lower end of the first base 32 , the upper end of the first base 32 is connected to the first top seat 32 through the first guide rail 33 . The first slide table 35 is sleeved on the first guide rail 33, and the first guide rail 33 is provided with two, and the two first guide rails 33 pass through the first slide table and the first lead screw 34 is located between the two first guide rails 33 The lower end of the first leading screw is connected with the first motor through a shaft coupling, and the upper end of the first leading screw passes through the first slide table and is connected with the first top seat through a bearing.

The second lifting mechanism 4 includes a second motor 41, a second top seat 42, a second guide rail 43, a second screw 44, a second slide table 45 and a second base 46, and the second top seat 42 is connected to the second motor 41 at the upper end. , the lower end of the second top seat 42 is connected to the second base 46 through the second guide rail 43, the second slide table 45 is sleeved on the second guide rail 43, and the upper end of the second lead screw 44 is connected with the second motor 41 through a coupling . The lower end of the second lead screw 44 passes through the second slide table 45 and is connected with the second top seat 42 through a bearing.

The first sliding platform 35 and the second top seat 42 are respectively connected to the left and right ends of the first locking ring 1 through the rotating shaft, and the first base 36 and the second sliding platform 45 are respectively connected to the second locking ring 2 through the rotating shaft. left and right ends. After the connection is completed, the first slide 35 is connected with the left end wall of the first left semicircle clamp 11, the second top seat 42 is connected with the right end wall of the first right semicircle clamp 12, and the first base 36 is connected with the second left semicircle. The left end of the clamp 21 is connected, and the second sliding platform 45 is connected with the right end wall of the second right semicircular clamp 22 .

The controller includes an external remote control device, a sensor and a single-chip microcomputer. The sensor and the single-chip microcomputer are arranged in two groups and connected to the first base and the second top base respectively. Both the first motor 31 and the second motor 41 are stepping motors, and one end of the stepping motors is connected with a rotating shaft.

Both the first sliding table 35 and the second sliding table 45 are in the shape of a square plate, and the middle part of the first sliding table 35 has a first rotating bolt hole, and the first lead screw 34 rotates with the first sliding table 35 through the first rotating bolt hole. Connect, the middle part of the second slide table 45 has a second rotation bolt hole, and the second lead screw 44 is connected with the second slide table in rotation through the second rotation bolt hole.

When the above-mentioned novel pole-climbing robot is in use, the external remote control device and the sensor are connected through wireless signals, and the sensor transmits the signal emitted by the external remote control device to the single-chip microcomputer, and the single-chip microcomputer controls the movement of the stepping motor. When the pole-climbing robot moves, the first locking ring 1 and the second locking ring 2 select the appropriate radius value and put it on the utility pole 5, and then the external remote control device works. When climbing up:

The first step is to control the first motor 31 to work, the first lead screw 34 to rotate, the first sliding table 35 to rise and drive the left end of the first locking ring 1 to rise, and at this time, the first locking ring 1 is locked obliquely to the right. Connect on the utility pole 5. The second step is that the second motor 41 works, the second lead screw 44 rotates, the second sliding table 45 rises and drives the right end of the second locking ring 2 to rise, and at this time, the second locking ring 2 is locked obliquely to the left On pole 5. The third step is that the second motor 41 works, the second lead screw 44 rotates, the second top seat 42 rises and drives the right end of the first locking ring 1 to rise, and at this time, the first locking ring 1 rises and tilts to the left Clipped on the utility pole 5; the fourth step is that the first motor 31 works, the first screw 34 rotates, the first base 36 rises and drives the left end of the second locking ring 2 to rise, and the second locking ring 2 rises and obliquely clamps on the electric pole 5 to the left. The pole-climbing robot moves repeatedly according to the first to fourth steps above to complete the ascent of the pole-climbing robot.

Of course, the above description is not a limitation of the present utility model, and the present utility model is not limited to the above-mentioned examples, and changes, modifications, additions or replacements made by those skilled in the art within the essential scope of the present utility model are also acceptable. Should belong to the protection scope of the utility model.

Claims (7)

1. A novel pole-climbing robot is characterized in that it comprises a first locking ring, a second locking ring, a first lifting mechanism, a second lifting mechanism and a controller, and the first lifting mechanism includes a first motor, a first The top seat, the first guide rail, the first lead screw, the first slide table and the first base, the first motor is connected to the lower end of the first base, the upper end of the first base is connected to the first top seat through the first guide rail, and the first slide table Socketed on the first guide rail, the lower end of the first lead screw is connected with the first motor through a coupling, the upper end of the first lead screw passes through the first slide table and is connected with the first top seat through a bearing; the second The lifting mechanism includes a second motor, a second top seat, a second guide rail, a second lead screw, a second slide table and a second base, the upper end of the second top seat is connected to the second motor, and the lower end of the second top seat passes through the second guide rail Connect the second base, the second slide table is sleeved on the second guide rail, the upper end of the second lead screw is connected with the second motor through a coupling, the lower end of the second lead screw passes through the second slide table and connects with the second lead screw through the bearing. The two top seats are connected; the first sliding table and the second top seat are respectively connected to the left and right ends of the first locking ring through the rotating shaft, and the first base and the second sliding table are respectively connected to the left and right ends of the second locking ring through the rotating shaft. Left and right ends. 2. A novel pole-climbing robot according to claim 1, wherein the first locking ring is located at the upper end of the second locking ring, and the first locking ring includes a first left semicircle clamp and a first locking ring. A right semicircle clamp, the two ends of the first left semicircle clamp and the two ends of the first right semicircle clamp are provided with a plurality of first bolt holes; the second locking ring includes the second left semicircle clamp and the second The right semicircle clamp, the two ends of the first left semicircle clamp and the two ends of the first right semicircle clamp are provided with a plurality of second bolt holes. 3. A new type of pole-climbing robot according to claim 2, wherein the first slide table is connected to the left end wall of the first left semicircle clamp, and the second top seat is connected to the first right semicircle clamp. The right end wall is connected, the first base is connected with the left end of the second left semicircle clamp, and the second sliding table is connected with the right end wall of the second right semicircle clamp. 4. A new type of pole-climbing robot according to claim 1, wherein there are two first guide rails and two second guide rails, and the two first guide rails pass through the first slide table, and the first wire The bar is located between the two first guide rails, the two second guide rails pass through the second slide table, and the second screw rod is located between the two second guide rails. 5. A kind of novel pole-climbing robot according to claim 1, is characterized in that, described controller comprises external remote control device, sensor and single-chip microcomputer, and sensor and single-chip microcomputer are provided with two groups and are respectively connected on the first base and the second On the second seat. 6. A novel pole-climbing robot according to claim 1, wherein the first motor and the second motor are both stepping motors, and one end of the stepping motors is connected with a rotating shaft. 7. A novel pole-climbing robot according to claim 1, characterized in that, both the first sliding platform and the second sliding platform are in the shape of a square plate, and a first rotating bolt hole is opened in the middle of the first sliding platform. The first lead screw is rotatably connected with the first sliding table through the first rotating bolt hole, the second rotating bolt hole is opened in the middle of the second sliding table, and the second lead screw is rotatably connected with the second sliding table through the second rotating bolt hole.