CN207402789U - Pneumatic pole-climbing robot - Google Patents
Pneumatic pole-climbing robot Download PDFInfo
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- CN207402789U CN207402789U CN201720960934.9U CN201720960934U CN207402789U CN 207402789 U CN207402789 U CN 207402789U CN 201720960934 U CN201720960934 U CN 201720960934U CN 207402789 U CN207402789 U CN 207402789U
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- cylinder
- clamping cylinder
- hand
- foot
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Abstract
The utility model is related to pneumatic pole-climbing robots, including the hand clamping cylinder connected by waist cylinder and leg clamping cylinder, hand clamping cylinder is equipped with left side including clamping cylinder under clamping cylinder on the hand by junction steel plate connection and hand, on the movable paw on hand on the left of clamping cylinder and holds small cylinder tightly；Right side is equipped on movable paw under hand on the right side of clamping cylinder and holds small cylinder tightly；Foot's clamping cylinder is equipped with left side including clamping cylinder under clamping cylinder in the foot by junction steel plate connection and foot, on the movable paw in foot on the left of clamping cylinder and holds small cylinder tightly；The movable paw on the right side of clamping cylinder is equipped with right side and holds small cylinder tightly under the foot.The pneumatic pole-climbing robot of the utility model, one be across obstacle method it is simply handy；Second is that robot uses Pneumatic Transmission, it is environment friendly and pollution-free；It third, robot encircles upright bar in pole-climbing, does not turn over after the meeting, securely and reliably.
Description
Technical field
The utility model belongs to robotic technology field more particularly to pneumatic pole-climbing robot.
Background technology
With being skyrocketed through of Chinese national economy, living standards of the people increasingly improve, and have been stood therewith in cities and towns countless
High-rise urban architecture, the municipal administration of each class set practicability and aesthetics one, business engineering such as electric pole, light pole, bridge
Oblique pull cable wire, billboard column etc., the work such as cleaning, repair, maintenance of these facilities are substantially carried out high by worker now
What idle job was completed, not only efficiency is low, but also abnormally dangerous.A kind of practice at the construction field (site) of energy is developed in design
Climbing level robot frees worker from dangerous, severe, onerous toil environment, will generate good economic benefit
And social benefit.
Climbing level robot family is very huge, is broadly divided into mechanical and two major class of pneumatic type.But most robot is only
It can realize the climbing of smooth accessible bar.And many electric poles of construction site, light pole etc. be there may be leaping over obstacles, therefore
It is badly in need of a kind of obstacle realized with simple method during robot pole-climbing to cross over.
Utility model content
In order to solve the above-mentioned technical problem, the utility model provides pneumatic pole-climbing robot, and the pneumatic of the utility model climbs
Pole robot, one be across obstacle method it is simply handy；Second is that robot uses Pneumatic Transmission, it is environment friendly and pollution-free；Third, machine
Device people encircles upright bar in pole-climbing, does not turn over after the meeting, securely and reliably.
The utility model is achieved by the following technical solution, and provides pneumatic pole-climbing robot, and gas is clamped including hand
Cylinder and leg clamping cylinder, the hand clamping cylinder are connected with leg clamping cylinder by waist cylinder, and the hand clamps
Cylinder holds small cylinder and left side tightly including clamping cylinder, junction steel plate, movable paw, right side under clamping cylinder, hand on hand
Hold small cylinder tightly, on the hand under clamping cylinder, hand the piston rod end of clamping cylinder and waist cylinder by connecting steel
Plate connects, and is equipped with movable paw in the clamping pneumatic clamper of clamping cylinder under clamping cylinder and hand on hand, is pressed from both sides on hand
Movable paw on the left of tight cylinder is equipped with left side and holds small cylinder tightly；It is equipped on movable paw under hand on the right side of clamping cylinder
Hold small cylinder tightly in right side；The leg clamping cylinder includes clamping cylinder, junction steel plate, the right side under clamping cylinder, foot in foot
Side holds small cylinder tightly and small cylinder is held in left side tightly, in the foot under clamping cylinder, foot clamping cylinder and waist cylinder work
Plug cylinder cylinder body is connected by junction steel plate, and work is equipped in the clamping pneumatic clamper of clamping cylinder under clamping cylinder and foot in foot
It starts pawl, left side is equipped on the movable paw in foot on the left of clamping cylinder and holds small cylinder tightly；Clamping cylinder is right under the foot
The movable paw of side is equipped with right side and holds small cylinder tightly.
Preferably, resetting spring, the movable hand are additionally provided on clamping cylinder on hand under clamping cylinder and hand
It grabs and is connected respectively with being arranged on the resetting spring on hand under clamping cylinder and hand on clamping cylinder.
Preferably, resetting spring, the movable hand are additionally provided on clamping cylinder in foot under clamping cylinder and foot
It grabs and is connected respectively with being arranged on the resetting spring in foot under clamping cylinder and foot on clamping cylinder.
The pole-climbing robot of the utility model, which uses, applies wider pneumatic type, and using bionics principle, leg clamps gas
When cylinder clamps, hand clamping cylinder unclamps, and waist cylinder piston rod stretches out, and then hand clamping cylinder clamps, and leg clamps gas
Cylinder unclamps, and waist cylinder block follows up upwards, completes a climbing motion.So repeatedly, robot can realize continuously to
On creep.
In order to avoid robot is when climbing vertical rod, because being turned over after the effect of gravity, there is danger, the one of each cylinder
Left side is added on side activity paw respectively and holds small cylinder and the small cylinder of right side holding tightly, normally during climbing, left side is held tightly stingy
The piston rod that small cylinder is held on cylinder and right side tightly stretches out, and embraces upright bar；When running into obstacle, position sensor sends signal, holds tightly
Small cylinder piston bar is retracted, and is smoothly realized rotation mounted on the movable paw clamped in pneumatic clamper, is being resetted after breaking the barriers
Movable paw resets under the action of spring force, and PLC sends instruction, holds small cylinder piston bar tightly and stretches out again, continuation is normally climbed upwards
It climbs.
In addition, in order to ensure leaping over obstacles when is not turned over afterwards, using two hand clamping cylinders and Liang Ge foots clamping cylinder,
In two hand clamping cylinders or foot's clamping cylinder, when small cylinder piston bar retraction leaping over obstacles is held on right side tightly, another is left
Side holds small cylinder tightly and holds upright bar tightly, and when small cylinder piston bar retraction leaping over obstacles is held in left side tightly, small cylinder is held on another right side tightly
It holds upright bar tightly, is turned over after efficiently avoiding robot under any circumstance.
The beneficial effects of the utility model are：
The pneumatic pole-climbing robot of the utility model, one be across obstacle method it is simply handy；Second is that robot uses
Pneumatic Transmission, it is environment friendly and pollution-free；It third, robot encircles upright bar in pole-climbing, does not turn over after the meeting, securely and reliably.
Description of the drawings
It in order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is pneumatic pole-climbing robotic asssembly figure；
Fig. 2 is hand clamping part Local map；
Fig. 3 is robot pole-climbing schematic diagram；
Fig. 4 crosses over schematic diagram for robot barrier；In figure, 1- hand clamping cylinders；2- waist cylinders；3- resetting springs；
4- junction steel plates；5- legs clamping cylinder；Hold small cylinder on the right side of 6- tightly；Hold small cylinder on the left of 7- tightly；8- climbing level robots；9- is stood
Bar；10- obstacles；11- activity paws.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, with reference to embodiments, to this
Utility model is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain this practicality
It is new, it is not used to limit the utility model.
Below in conjunction with the accompanying drawings and specific embodiment is further described the application principle of the utility model.
Embodiment 1, such as Fig. 1, pneumatic pole-climbing robot, including hand clamping cylinder 1 and leg clamping cylinder 5, the hand
Portion's clamping cylinder 1 and leg clamping cylinder 5 are connected by waist cylinder 2, and the hand clamping cylinder 1 includes clamping gas on hand
Clamping cylinder, junction steel plate 4, movable paw 11, right side hold small cylinder 6 and the small cylinder 7 of left side holding tightly under cylinder, hand, described
The piston rod end of clamping cylinder and waist cylinder 2 is connected by junction steel plate 4 under clamping cylinder, hand on hand, in hand
Movable paw 11 is equipped under upper clamping cylinder and hand in the clamping pneumatic clamper of clamping cylinder, on hand on the left of clamping cylinder
Movable paw 11 is equipped with left side and holds small cylinder 7 tightly；It is embraced on movable paw 11 under hand on the right side of clamping cylinder equipped with right side
Tight small cylinder 6；The leg clamping cylinder 5 is embraced including clamping cylinder, junction steel plate 4, right side under clamping cylinder, foot in foot
Small cylinder 7 is held in tight small cylinder 6 and left side tightly, the piston of clamping cylinder and waist cylinder 2 under clamping cylinder, foot in the foot
Cylinder cylinder body is connected by junction steel plate 4, and work is equipped in the clamping pneumatic clamper of clamping cylinder under clamping cylinder and foot in foot
It starts pawl 11, left side is equipped on the movable paw 11 in foot on the left of clamping cylinder and holds small cylinder 7 tightly；Gas is clamped under the foot
Movable paw 11 on the right side of cylinder is equipped with right side and holds small cylinder 6 tightly.
Resetting spring 3 is additionally provided on clamping cylinder under clamping cylinder and hand on hand, the movable hand grabs 11 difference
It is connected with being arranged on the resetting spring 3 on hand under clamping cylinder and hand on clamping cylinder.
Resetting spring 3 is additionally provided on clamping cylinder under clamping cylinder and foot in foot, the movable hand grabs 11 difference
It is connected with being arranged on the resetting spring 3 in foot under clamping cylinder and foot on clamping cylinder.
The pole-climbing robot of the utility model, which uses, applies wider pneumatic type, and using bionics principle, leg clamps gas
When cylinder clamps, hand clamping cylinder unclamps, and waist cylinder piston rod stretches out, and then hand clamping cylinder clamps, and leg clamps gas
Cylinder unclamps, and waist cylinder block follows up upwards, completes a climbing motion.So repeatedly, robot can realize continuously to
On creep.
Such as Fig. 2, shown in Fig. 3, in order to avoid robot is when climbing vertical rod, because being turned over after the effect of gravity, there is danger,
It adds left side respectively on the one side activity paw of each cylinder and holds small cylinder and the small cylinder of right side holding tightly, it is normal to climb
When, small cylinder is held in left side tightly and the piston rod stretching of small cylinder is held on right side tightly, embraces upright bar；When running into obstacle, position sensing
Device sends signal, holds small cylinder piston bar tightly and retracts, and smoothly realizes rotation mounted on the movable paw clamped in pneumatic clamper, passes through barrier
Hindering object, movable paw resets under the action of return spring force afterwards, and PLC sends instruction, holds small cylinder piston bar tightly and stretches out again,
Continue normal climbing upwards.
In addition, as shown in figure 4, in order to ensure leaping over obstacles when is not turned over afterwards, two hand clamping cylinders and two feet are used
Portion's clamping cylinder, in two hand clamping cylinders or foot's clamping cylinder, small cylinder piston bar retraction leaping over obstacles is held on right side tightly
When, another left side holds small cylinder tightly and holds upright bar tightly, when small cylinder piston bar retraction leaping over obstacles is held in left side tightly, another right side
It holds small cylinder tightly and holds upright bar tightly, turned over after efficiently avoiding robot under any circumstance.
Certainly, above description is also not limited to the example above, and technical characteristic of the utility model without description can lead to
It crosses or realizes that details are not described herein using the prior art；Above example and attached drawing are merely to illustrate the technology of the utility model
Scheme is not the limitation to the utility model, and the utility model is described in detail with reference to preferred embodiment, this
Field it is to be appreciated by one skilled in the art that those skilled in the art institute in the essential scope of the utility model
For the variations, modifications, additions or substitutions made without departure from the objective of the utility model, the right that should also belong to the utility model will
Seek protection domain.
Claims (3)
1. pneumatic pole-climbing robot, it is characterised in that：Including hand clamping cylinder（1）With leg clamping cylinder（5）, the hand
Clamping cylinder（1）With leg clamping cylinder（5）Pass through waist cylinder（2）Connection, the hand clamping cylinder（1）Including on hand
Clamping cylinder, junction steel plate under clamping cylinder, hand（4）, movable paw（11）, right side hold small cylinder tightly（6）It is held tightly with left side
Small cylinder（7）, clamping cylinder and waist cylinder under clamping cylinder, hand on the hand（2）Piston rod end pass through connection
Steel plate（4）Connection is equipped with movable paw under clamping cylinder and hand on hand in the clamping pneumatic clamper of clamping cylinder（11）,
Movable paw on hand on the left of clamping cylinder（11）It is equipped with left side and holds small cylinder tightly（7）；Under hand on the right side of clamping cylinder
Movable paw（11）It is equipped with right side and holds small cylinder tightly（6）；The leg clamping cylinder（5）Including clamping cylinder in foot,
Clamping cylinder, junction steel plate under foot（4）, right side hold small cylinder tightly（6）Small cylinder is held tightly with left side（7）, press from both sides in the foot
Clamping cylinder and waist cylinder under tight cylinder, foot（2）Piston cylinder body pass through junction steel plate（4）Connection, is pressed from both sides in foot
Under tight cylinder and foot movable paw is equipped in the clamping pneumatic clamper of clamping cylinder（11）, the work in foot on the left of clamping cylinder
It starts pawl（11）It is equipped with left side and holds small cylinder tightly（7）；Movable paw on the right side of clamping cylinder under the foot（11）It is equipped with the right side
Hold small cylinder tightly in side（6）.
2. pneumatic pole-climbing robot according to claim 1, it is characterised in that：It is pressed from both sides on hand under clamping cylinder and hand
Resetting spring is additionally provided on tight cylinder（3）, the activity paw（11）Respectively with being arranged on hand under clamping cylinder and hand
Resetting spring on clamping cylinder（3）Connection.
3. pneumatic pole-climbing robot according to claim 1, it is characterised in that：It is pressed from both sides in foot under clamping cylinder and foot
Resetting spring is additionally provided on tight cylinder（3）, the activity paw（11）Respectively with being arranged in foot under clamping cylinder and foot
Resetting spring on clamping cylinder（3）Connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720960934.9U CN207402789U (en) | 2017-08-03 | 2017-08-03 | Pneumatic pole-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720960934.9U CN207402789U (en) | 2017-08-03 | 2017-08-03 | Pneumatic pole-climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207402789U true CN207402789U (en) | 2018-05-25 |
Family
ID=62322782
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720960934.9U Expired - Fee Related CN207402789U (en) | 2017-08-03 | 2017-08-03 | Pneumatic pole-climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207402789U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112050027A (en) * | 2020-08-26 | 2020-12-08 | 安徽乾方检测技术有限公司 | Drainage pipeline detection device capable of automatically crossing over obstacle |
| CN115350988A (en) * | 2022-09-05 | 2022-11-18 | 长沙中联重科环境产业有限公司 | Upright rod cleaning device, upright rod cleaning method and cleaning vehicle |
-
2017
- 2017-08-03 CN CN201720960934.9U patent/CN207402789U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112050027A (en) * | 2020-08-26 | 2020-12-08 | 安徽乾方检测技术有限公司 | Drainage pipeline detection device capable of automatically crossing over obstacle |
| CN115350988A (en) * | 2022-09-05 | 2022-11-18 | 长沙中联重科环境产业有限公司 | Upright rod cleaning device, upright rod cleaning method and cleaning vehicle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20180525 Termination date: 20190803 |