CN207617839U - A kind of multifunctional pole-climbing robot - Google Patents
A kind of multifunctional pole-climbing robot Download PDFInfo
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- CN207617839U CN207617839U CN201721447601.2U CN201721447601U CN207617839U CN 207617839 U CN207617839 U CN 207617839U CN 201721447601 U CN201721447601 U CN 201721447601U CN 207617839 U CN207617839 U CN 207617839U
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Abstract
The utility model is related to a kind of pole-climbing mechanisms, and in particular to a kind of multifunctional pole-climbing robot.A kind of multifunctional pole-climbing robot includes turn device, inner ring crawling device, outer ring crawling device, microprocessor, for electric installation and holder, it is characterized in that, turn device includes fixed plate, indexable plate and position rotaring motor, there are the arc inner tooth item and sliding groove of arranged concentric in the middle part of fixed plate, sliding groove is on the inside of arc inner tooth item, fixed plate is fixedly connected with outer ring crawling device, it is fixed with position rotaring motor on the outside of indexable plate, position rotaring motor output end fixes one and arc inner tooth meshed gears, indexable plate is clamped with fixed plate by sliding groove, indexable plate is fixedly connected with inner ring crawling device, position rotaring motor is controlled by the microprocessor.The utility model has the beneficial effects that：Turn device is increased in pole-climbing mechanism, solves the problems, such as that pole-climbing mechanism cannot indexing during pole-climbing.
Description
Technical field
The utility model is related to a kind of pole-climbing mechanism more particularly to a kind of multifunctional pole-climbing robots.
Background technology
With the fast development of urbanization process, occur more and business or city's political and ideological work in urban infrastructure and building
The related high bar facility of journey, such as street lamp, billboard column, the pillar in building hall, road monitoring column and electric pole.This
A little facilities needs are periodically cleaned and are safeguarded, mostly manpower completes work now, and efficiency is low, of high cost and with high-risk
Property.Therefore, people invent pole-climbing mechanism, are climbed instead of manpower using machinery, the relatively hazardous work such as high point is repaired.Its
Have the advantages that high efficiency and safe, thus receive extensive attention and study, the application of every profession and trade is also more and more extensive.
But existing pole-climbing mechanism can not climbing during indexing, i.e., can only move along a straight line along pole for climbing, cause its application field by
Limitation.It, can be because cannot spray painting that is indexable and leading to not completion whole or cleaning task when such as spray painting or cleaning；Or meeting with
It can not pass through indexable avoiding obstacles when meeting raised barrier.So needs develop climbing pole machine that can be indexable in climbing
Structure.
105128969 A of China Patent No. CN, publication date on December 9th, 2015, a kind of climbing level robot use bullet
Property jack catchs type design, using cam and toggle driving claw complete promptly and release act, two pawl alternating movements, band
Motivation structure is creeped along bar.Its design structure is ingenious, and the action of clamping, release and promotion is just completed using only a power source,
And it is adapted to a certain range of variable diameters pole for climbing.But the pole-climbing mechanism fails to solve pole-climbing mechanism in pole-climbing process
The problem of middle indexing.
Utility model content
The purpose of this utility model is to solve the problems, such as that pole-climbing mechanism cannot be indexable during pole-climbing, provides a kind of more work(
Energy climbing level robot solves the problems, such as that pole-climbing mechanism cannot indexing during pole-climbing by the transposition action of turn device.
Used technical solution is the utility model in order to solve the above problem：A kind of multifunctional pole-climbing robot, including
Turn device, inner ring crawling device, outer ring crawling device, microprocessor, for electric installation and holder, the turn device includes solid
There are the arc inner tooth item and sliding groove of arranged concentric, the sliding groove in fixed board, indexable plate and position rotaring motor, the fixed plate middle part
On the inside of the arc inner tooth item, the fixed plate is fixedly connected with the outer ring crawling device；It is fixed on the outside of the indexable plate
Have a position rotaring motor, the position rotaring motor output end fixes one and the arc inner tooth meshed gears, the indexable plate with
The fixed plate is clamped by the sliding groove, and the indexable plate is fixedly connected with the inner ring crawling device, the indexing electricity
Machine is controlled by the microprocessor.
The indexable plate and the fixed plate being clamped by sliding groove can relatively rotate, and rotor plate and fixed plate are each
It is fixedly connected from a crawling device, specially：Rotor plate is fixedly connected with the inner ring crawling device, fixed plate with it is described
Outer ring crawling device is fixedly connected.When the outer ring crawling device clamps pole for climbing and inner ring crawling device release pole for climbing
When, inner ring crawling device and rotor plate are in no-load condition, under the drive of the position rotaring motor, inner ring crawling device and turn
Movable plate will have certain angle offset relative to outer ring crawling device and fixed plate, then clamp pole for climbing by inner ring crawling device,
Outer ring crawling device unclamps pole for climbing, and outer ring crawling device and fixed plate are in no-load condition at this time, then the indexing electricity
Machine rotates backward same angle, inner ring crawling device and rotor plate by the angle offset relative to outer ring crawling device and fixed plate
To gradually it restore, pole-climbing mechanism completes indexing work therewith.
Preferably, the inner ring crawling device includes inner ring upper clipping claw, inner ring lower claw, inner ring servo electric cylinders and inner ring
Slide bar, the inner ring upper clipping claw and the inner ring lower claw are individually fixed in the both ends of the inner ring servo electric cylinders, the inner ring
Slide bar one end is fixedly connected with the inner ring lower claw, and the inner ring slide bar other end passes through the sliding rod hole of the inner ring upper clipping claw
And form sliding pair；The outer ring crawling device includes that outer ring upper clipping claw, outer ring lower claw, outer ring servo electric cylinders and outer ring are slided
Bar, the outer ring upper clipping claw and the outer ring lower claw are individually fixed in the both ends of the outer ring servo electric cylinders, and the outer ring is slided
Bar one end is fixedly connected with the outer ring lower claw, and the outer ring slide bar other end passes through the sliding rod hole of the outer ring upper clipping claw simultaneously
Sliding pair is formed, inner ring crawling device is similar to outer ring crawling device structure, makes pole-climbing mechanism more using two claw structures
Pole for climbing is firmly clamped, and more multi-load can be carried.
Preferably, the inner ring upper clipping claw, inner ring lower claw, outer ring upper clipping claw and outer ring lower claw include machinery card
Pawl, mechanical claw holder, drive link and driving electric pushrod, the mechanical claw holder front center are fixed with hinge bar,
Mechanical claw holder front end both sides are machined with the sliding rod hole coordinated with the inside/outside circle slide bar, and the mechanical claw has two
Side and in obtuse angle, the mechanical claw shorter edge is hinged with the drive link front end, the mechanical claw turning point processing
There is hinge hole, the hinge hole is hinged with the mechanical claw holder front center hinge bar, and the mechanical claw longer sides are in
Arc, inside stud with rubber layer, and the drive link tail end is articulated on the driving electric pushrod, and claw structure allows to climb
Bar in a certain range remove and place from pole for climbing by variable diameters, convenience, and pole for climbing section is allowed to be that similar round is such as oval.
Preferably, the mechanical claw inward facing surface is embedded with pressure sensor, described in pressure sensor detection
Stress value on the inside of mechanical claw, the pressure sensor are connect with the microprocessor, and the microprocessor can be by institute
Whether the analytical judgment pole-climbing mechanism for stating pressure sensor signal has clamped, unclamped or has had occurred failure.
Preferably, the driving electric pushrod is the electric pushrod with self-locking function so that pole-climbing mechanism is unexpected
Electric energy is not consumed when not falling, and rested on pole for climbing when power-off because clamping.
Preferably, microprocessor connection is there are one elastic feeler pressure sensor and alarm, when encountering smallpox
When plate, ground or barrier, elastic feeler pressure sensor will send out electric signal, alarm equipment alarm.
Preferably, the position rotaring motor is decelerating motor, the sliding groove both ends in the fixed plate are fixed with limit and open
It closes, decelerating motor is cheap and easy to get, by that can complete transposition action with limit switch collaborative work.
Preferably, the microprocessor by being wirelessly connected there are one remote controler, can be expanded with field control pole-climbing mechanism
The application field of big pole-climbing mechanism.
Preferably, there are one cameras for the microprocessor connection, the remote controler carries display screen, in pole-climbing mechanism
When climbing is higher, pole-climbing mechanism working condition can be watched by display screen, facilitates the operation of pole-climbing mechanism.
The beneficial effects of the utility model are：By the transposition action of turn device, realize pole-climbing mechanism in climbing process
In transposition action, so as to complete to entire pole for climbing, such as the cleaning of pillar；And it can be avoided by indexing convex
Play barrier.
Description of the drawings
Fig. 1 is multifunctional pole-climbing robot structure chart.
Fig. 2 is the oblique face upwarding assumption diagram of multifunctional pole-climbing robot.
Fig. 3 is inner ring upper clipping claw structure chart.
Fig. 4 is second example structure figure of turn device.
Fig. 5 is the third example structure figure of multifunctional pole-climbing robot.
Fig. 6 is the oblique face upwarding assumption diagram of third embodiment of multifunctional pole-climbing robot.
Wherein：1, outer ring upper clipping claw, 2, inner ring upper clipping claw, 3, inner ring slide bar, 4, inner ring servo electric cylinders, 5, block under inner ring
Pawl, 6, outer ring lower claw, 7, outer ring upper clipping claw drive electric pushrod, 8, inner ring upper clipping claw drive electric pushrod, 9, outer ring slide bar,
10, outer ring servo electric cylinders, 11, indexable servo motor, 12, turn device indexable plate, 13, turn device fixed plate, 14, under inner ring
Claw drives electric pushrod, and 15, indexable gear, 16, arc inner tooth item, 17, pressure sensor, 18, mechanical claw, 19, small straight
Diameter hinge bar, 20, major diameter hinge bar, 21, drive link, 22, mechanical claw holder, 23, driving electric pushrod, 24, fixed
Plate, 25, indexable plate, 26, decelerating motor, 27, limit switch, 28, outer ring upper clipping claw, 29, inner ring upper clipping claw, 30, inner ring support
Bar, 31, inner ring lower claw, 32, outer ring lower claw, 33, outer ring supporting rod, 34, position rotaring motor, 35, indexable plate, 36, fixed plate,
37, servo electric cylinders, 38, indexable gear, 39, arc inner tooth item.
Specific implementation mode
Below by specific embodiment, and in conjunction with attached drawing, specific embodiment of the present utility model is made further specific
Explanation.
As shown in Figs. 1-2, inner ring upper clipping claw 2 and inner ring lower claw 5 are separately fixed at the both ends of inner ring servo electric cylinders 4, interior
Circle lower claw driving electric pushrod 14 and 5 rear end of inner ring lower claw are hinged, and drive the work of inner ring lower claw 5 release and filing appliance
Tightly, inner ring lower claw 5 is fixedly linked with 3 bottom end of inner ring slide bar, after inner ring upper clipping claw drives electric pushrod 8 and inner ring upper clipping claw 2
End is hinged, and drives the work of inner ring upper clipping claw 2 to unclamp and work and clamp, and inner ring upper clipping claw 2 is worn by inner ring slide bar 3 by hinge hole
It crosses, sliding pair is formed, to make inner ring upper clipping claw 2 that can be slided up and down along inner ring slide bar 3 under the drive of inner ring servo electric cylinders 4.
Inner ring crawling device is formed by inner ring upper clipping claw 2, inner ring slide bar 3, inner ring servo electric cylinders 4 and inner ring lower claw 5.Inner ring lower claw
5 are fixed in turn device indexable plate 12 again simultaneously, are fixed to make inner ring crawling device be formed with turn device indexable plate 12
Connection.Outer ring upper clipping claw driving electric pushrod 7 and 1 rear end of outer ring upper clipping claw are hinged, and drive the work of outer ring upper clipping claw 1 unclamp and
Work clamps, and outer ring upper clipping claw 1 and outer ring lower claw 6 are separately fixed at the both ends of outer ring servo electric cylinders 10, outer ring lower claw 6 with
The bottom end of outer ring slide bar 9 is fixedly connected, and outer ring upper clipping claw 1 is passed through by outer ring slide bar 9 by hinge hole, forms sliding pair, to
Allow outer ring upper clipping claw 1 under the drive of outer ring servo electric cylinders 10, is slided up and down along outer ring slide bar 9.By outer ring upper clipping claw 1,
Outer ring lower claw 6, outer ring slide bar 9 and outer ring servo electric cylinders 10 form outer ring crawling device.Outer ring lower claw 6 is fixed on again simultaneously
In turn device fixed plate 13, to make outer ring crawling device form a fixed connection with turn device fixed plate 13.Turn device
Indexable servo motor 11, the indexable gear 15 of output end connection of indexable servo motor 11, turn device are fixed in indexable plate 12
Arc inner tooth item 16 is fixed in fixed plate 13, arc inner tooth item 16 is engaged with indexable gear 15.12 He of turn device indexable plate
Turn device fixed plate 13 is clamped by sliding groove, can be relatively rotated, for realizing the indexing work of pole-climbing mechanism.Climbing pole machine
The workbench of structure or load are fixed in turn device fixed plate 13.
Fig. 3 is inner ring upper clipping claw structure chart, in figure 21 both ends of drive link respectively with mechanical claw 18 and drive electronic push away
Bar 23 is hinged, and two groups of hinge bars are fixed on mechanical claw holder 22, are minor diameter hinge bar 19 and major diameter hinge bar respectively
20, the middle part of mechanical claw 18 can be hinged with minor diameter hinge bar 19, is suitble to the pole for climbing of climbing small diameter, can also with it is big
Diameter hinge bar 20 is hinged, is suitble to the larger-diameter pole for climbing of climbing at this time.Drive electric pushrod 23 in the control of microprocessor
When lower work is stretched out and work is shunk, mechanical claw 18 will be pushed to clamp and unclamp.Pressure sensor 17 is wrapped in rubber antiskid
In item and it is embedded in the inside of mechanical claw 18, the stress value of 18 inside of detection mechanical claw.Pressure sensor 17 is connected to micro-
Mechanical claw clamping force data is input to microprocessor, to whether allow the microprocessor to judge pole-climbing mechanism by processor
Pole for climbing has been clamped, has prevented pole-climbing mechanism from falling because not clamping pole for climbing, and can break down and can not clamp in pole-climbing mechanism
When pole for climbing and alarm.Inner ring lower claw, outer ring upper clipping claw and outer ring lower claw structure are identical as inner ring upper clipping claw structure,
This is not repeated description.
A kind of microprocessor of multifunctional pole-climbing robot is connected and installed with alarm, elastic feeler pressure sensor and distant
Control device.Elastic feeler pressure sensor is for incuding barrier, ground or ceiling, and alarm is for alarming.Remote controler passes through
Wirelessly and microprocessor communication, so as to carrying out floor manager operation to pole-climbing mechanism.Control of the pole-climbing mechanism in microprocessor
Carried out under system climbing work flow be：1) outer ring upper clipping claw 1, outer ring lower claw 6, inner ring upper clipping claw 2 and inner ring lower claw 5
It clamps, pole-climbing mechanism is attached on pole for climbing；2) outer ring upper clipping claw 1 and inner ring upper clipping claw 2 unclamp, 4 He of inner ring servo electric cylinders
The work elongation of outer ring servo electric cylinders 10, after pushing outer ring upper clipping claw 1 and inner ring upper clipping claw 2 to move up certain distance, inner ring is watched
It takes electric cylinders 4 and outer ring servo electric cylinders 10 stops elongation；3) outer ring upper clipping claw 1 and inner ring upper clipping claw 2 clamp, and microprocessor receives
The signal of pressure sensor 17 judges whether to have clamped, and if do not clamped, waits for, and the event of pole-climbing mechanism is judged if waiting for time-out
Barrier, alarm for opening is alarmed at this time, and corresponds to failure code in malfunction coefficient Display panel, as judged to have clamped, is entered step
4；4) outer ring lower claw 6 and inner ring lower claw 5 unclamp, and inner ring servo electric cylinders 4 and the work of outer ring servo electric cylinders 10 are shunk, and are pulled
Pole-climbing mechanism is soaring with after step 3 equidistance upwards, and inner ring servo electric cylinders 4 and outer ring servo electric cylinders 10 stop shrinking；5) outside
It encloses lower claw 6 and inner ring lower claw 5 clamps, the signal that microprocessor receives pressure sensor 17 judges whether to have clamped, such as
It has clamped and has then repeated step 1-5, constantly climbed, as judged can not to clamp, then judged pole-climbing mechanism-trouble, at this time alarm for opening
Alarm, and correspond to failure code in malfunction coefficient Display panel.
The flow that pole-climbing mechanism carries out indexable work under control of the microprocessor is：1) under outer ring upper clipping claw 1, outer ring
Claw 6, inner ring upper clipping claw 2 and inner ring lower claw 5 clamp, and pole-climbing mechanism is attached on pole for climbing；2) 2 He of inner ring upper clipping claw
Inner ring lower claw 5 unclamps, and microprocessor control indexing servo motor 11 turns an angle, and the inner ring of the mechanism of pole-climbing at this time is creeped
There is certain angle between device and outer ring crawling device；3) inner ring upper clipping claw 2 and inner ring lower claw 5 clamp, and microprocessor receives
Signal to pressure sensor 17 judges whether to have clamped, and if do not clamped, waits for, the alarm for opening report if waiting for time-out
It is alert, as judged to have clamped, enter step 4；4) outer ring upper clipping claw 1 and outer ring lower claw 6 unclamp, and microprocessor control indexing is watched
It takes motor 11 and rotates backward angle identical with step 2, the angle between inner ring crawling device and outer ring crawling device is restored,
Pole-climbing mechanism load and workbench complete transposition action with turn device fixed plate 13 at this time；5) 1 He of outer ring upper clipping claw
Outer ring lower claw 6 clamps, and the signal that microprocessor receives pressure sensor 17 judges whether to have clamped, if not clamping etc.
It waits for, alarm for opening is alarmed if waiting for time-out, and corresponds to failure code in malfunction coefficient Display panel, such as judges to have clamped
Then judge whether that indexing to target location, does not such as reach target location, then repeatedly step 1-5 constantly carries out indexing, has such as arrived
Indexable workflow is then exited up to target location.
In another embodiment of turn device as shown in Figure 4, fixed plate 24 is clamped with indexable plate 25 by sliding groove, can
To relatively rotate.Indexable plate 25 is fixed with decelerating motor 26, and 26 end of decelerating motor is equipped with indexable gear 15, and in fixed plate 24
Arc inner tooth item 16 be meshed, indexable gear 15 generates opposite fortune with arc inner tooth item 16 under the drive of decelerating motor 26
It is dynamic, to drive indexable plate 25 to produce relative rotation with fixed plate 24.Decelerating motor 26 is controlled by microprocessor, and microprocessor
By being wirelessly connected a remote controler, so as to directly control the start and stop and positive and negative rotation of decelerating motor 26 by remote controler.
Limit switches 27 are installed in fixed plate 24, prevent the rotation excess of stroke from colliding.In this embodiment, microprocessor can control
The climbing work of pole-climbing mechanism, but the indexing work of manual control pole-climbing mechanism is needed, workflow is：1) block on outer ring
Pawl 1, outer ring lower claw 6, inner ring upper clipping claw 2 and inner ring lower claw 5 clamp, and pole-climbing mechanism is attached on pole for climbing, by distant
Pole-climbing mechanism is switched to manual control state by control device；2) pass through 5 pine of remote command inner ring upper clipping claw 2 and inner ring lower claw
It opens, is rotated by remote command decelerating motor 26, between the inner ring crawling device and outer ring crawling device of the mechanism of pole-climbing at this time
Gradually it is angularly offset；3) it is stopped operating by remote command decelerating motor 26；4) by remote command inner ring
Claw 2 and inner ring lower claw 5 clamp, and artificial observation judges to have clamped, and enters step 5；5) by remote command outer ring
Claw 1 and outer ring lower claw 6 unclamp, and are rotated backward by remote command decelerating motor 26, and the inner ring of pole-climbing mechanism is creeped dress
It sets the deviation angle between the crawling device of outer ring gradually to restore, pole-climbing mechanism load and workbench are complete with fixed plate 24 at this time
At transposition action；6) it is clamped by remote command outer ring upper clipping claw 1 and outer ring lower claw 6, artificial observation judges to have clamped
After judge whether that target location is arrived in indexing, such as do not reach target location, then repeatedly step 1-6 constantly carries out indexing, as arrived
Manual control is then exited by remote command up to target location.If indexable plate 25 is triggered mounted on solid during indexing
Limit switch 27 on fixed board 24, then the instruction that pole-climbing mechanism is rotated only in response to negative direction, while starting alarm operation
People has been transfinited turned position.
In another embodiment as seen in figs. 5-6, inner ring crawling device is by inner ring upper clipping claw 29,30 and of inner ring supporting rod
Inner ring lower claw 31 forms, and inner ring upper clipping claw 29 is fixed on 30 upper end of inner ring supporting rod, and inner ring lower claw 31 is fixed on inner ring branch
30 lower end of strut, inner ring lower claw 31 are fixedly connected with indexable plate 35, and inner ring crawling device is made to be fixed in indexable plate 35.It is fixed
Plate 36 is clamped with indexable plate 35 by middle part sliding groove, can mutually be rotated, and arc is fixed on the outside of 36 middle part sliding groove of fixed plate
Shape inner rack 39, position rotaring motor 34 are fixed on the outside of indexable plate 35, the indexable gear 38 of end connection, in indexable gear 38 and arc
Rack 39 engages.36 exterior bottom of fixed plate is fixedly connected with 37 upper end of servo electric cylinders, is blocked under 37 lower end of servo electric cylinders and outer ring
Pawl 32 is fixedly connected, and supporting rod 33 lower end in outer ring is fixed on outer ring lower claw 32, and across the hinge hole in 36 outside of fixed plate
It is fixed on outer ring upper clipping claw 28 afterwards, outer ring supporting rod 33 and the hinge hole in 36 outside of fixed plate are hinged, and can be relatively fixed
Plate 36 slides up and down.Outer ring upper clipping claw 28, outer ring supporting rod 33 and outer ring lower claw 32 form outer ring crawling device.Pole-climbing mechanism
Load or workbench are fixed in fixed plate 36.In this embodiment, the flow that pole-climbing mechanism carries out climbing work is：1) inner ring
Upper clipping claw 29, inner ring lower claw 31, outer ring upper clipping claw 28 and outer ring lower claw 32 clamp, and pole-climbing mechanism is attached to pole for climbing
On；2) outer ring upper clipping claw 28 and outer ring lower claw 32 unclamp, and the work of servo electric cylinders 37 is shunk, and drives outer ring crawling device upward
After moving a certain distance, servo electric cylinders 37 stop shrinking；3) outer ring upper clipping claw 28 and outer ring lower claw 32 clamp, and wait for micro- place
After reason device judgement has clamped, inner ring upper clipping claw 29 and inner ring lower claw 31 unclamp, and the work elongation of servo electric cylinders 37 drives inner ring to climb
Luggage is set and is loaded move up at a distance from equal with step 2 after, servo electric cylinders 37 stop elongation；4) 29 He of inner ring upper clipping claw
Inner ring lower claw 31 clamps, and after waiting for microprocessor judgement to clamp, judges whether to reach target location, does not such as reach target position
It sets, then repeatedly step 1-4 is constantly climbed, and climbing workflow is exited if reaching target location.In this embodiment, climbing pole machine
The flow that structure carries out indexable work is：1) inner ring upper clipping claw 29, inner ring lower claw 31, outer ring upper clipping claw 28 and outer ring lower claw
32 clamp, and pole-climbing mechanism is attached on pole for climbing；2) inner ring upper clipping claw 29 and inner ring lower claw 31 unclamp, position rotaring motor 34
Start, after driving 35 opposing fixed plate 36 of rotor plate to turn an angle, position rotaring motor 34 is closed；3) 29 He of inner ring upper clipping claw
Inner ring lower claw 31 clamps, and after waiting for microprocessor judgement to clamp, outer ring upper clipping claw 28 and outer ring lower claw 32 unclamp, indexing
Motor 34 rotates backward, and after the gradual recovery of angle of 35 opposing fixed plate 36 of rotor plate, position rotaring motor 34 is closed；4) on outer ring
Claw 28 and outer ring lower claw 32 clamp, and after waiting for microprocessor judgement to clamp, judge whether to arrived target location, if
Target location is not reached, then repeatedly step 1-4, continuous indexing if having arrived at target location, exit indexable workflow
Journey.
Embodiment described above is the preferable embodiment of the utility model, not makees any shape to the utility model
Limitation in formula, on the premise of not exceeding the technical scheme recorded in the claims also other variations and modifications.
Claims (9)
1. a kind of multifunctional pole-climbing robot, including turn device, inner ring crawling device, outer ring crawling device, microprocessor, confession
Electric installation and holder, which is characterized in that
The turn device includes fixed plate, indexable plate and position rotaring motor, is had in the arc of arranged concentric in the middle part of the fixed plate
Rack and sliding groove, the sliding groove on the inside of the arc inner tooth item, with the outer ring crawling device fix by the fixed plate
Connection；
It is fixed with position rotaring motor on the outside of the indexable plate, the position rotaring motor output end is fixed one and nibbled with the arc inner tooth item
The gear of conjunction, the indexable plate are clamped with the fixed plate by the sliding groove, and the indexable plate and the inner ring are creeped dress
It sets and is fixedly connected, the position rotaring motor is controlled by the microprocessor.
2. a kind of multifunctional pole-climbing robot according to claim 1, which is characterized in that the inner ring crawling device includes
Inner ring upper clipping claw, inner ring lower claw, inner ring servo electric cylinders and inner ring slide bar, the inner ring upper clipping claw and the inner ring lower claw point
It is not fixed on the both ends of the inner ring servo electric cylinders, inner ring slide bar one end is fixedly connected with the inner ring lower claw, described
The inner ring slide bar other end passes through the sliding rod hole of the inner ring upper clipping claw and forms sliding pair；
The outer ring crawling device includes outer ring upper clipping claw, outer ring lower claw, outer ring servo electric cylinders and outer ring slide bar, the outer ring
Upper clipping claw and the outer ring lower claw are individually fixed in the both ends of the outer ring servo electric cylinders, outer ring slide bar one end with it is described
Outer ring lower claw is fixedly connected, and the outer ring slide bar other end passes through the sliding rod hole of the outer ring upper clipping claw and forms sliding pair.
3. a kind of multifunctional pole-climbing robot according to claim 2, which is characterized in that the inner ring upper clipping claw, inner ring
Lower claw, outer ring upper clipping claw and outer ring lower claw include mechanical claw, mechanical claw holder, drive link and drive electronic push away
Bar, the mechanical claw holder front center are fixed with hinge bar, mechanical claw holder front end both sides be machined with it is described
The sliding rod hole of inside/outside circle slide bar cooperation, the mechanical claw have two sides in obtuse angle, the mechanical claw shorter edge with it is described
Drive link front end is hinged, and the mechanical claw turning point is machined with hinge hole, the hinge hole and the mechanical claw holder
Front center hinge bar is hinged, and the mechanical claw longer sides are arc-shaped, and inside studs with rubber layer, the drive link tail end hinge
It is connected on the driving electric pushrod.
4. a kind of multifunctional pole-climbing robot according to claim 3, which is characterized in that work on the inside of the mechanical claw
Face is embedded with pressure sensor, and the pressure sensor detects stress value on the inside of the mechanical claw, the pressure sensor and institute
State microprocessor connection.
5. a kind of multifunctional pole-climbing robot according to claim 3, which is characterized in that the driving electric pushrod is band
There is the electric pushrod of self-locking function.
6. a kind of multifunctional pole-climbing robot according to claim 1, which is characterized in that the microprocessor is connected with one
A elasticity feeler pressure sensor and alarm.
7. a kind of multifunctional pole-climbing robot according to claim 1, which is characterized in that the position rotaring motor is the electricity that slows down
Limit switches are fixed at machine, the sliding groove both ends in the fixed plate.
8. a kind of multifunctional pole-climbing robot according to claim 1, which is characterized in that the microprocessor passes through wireless
There are one remote controlers for connection.
9. a kind of multifunctional pole-climbing robot according to claim 8, which is characterized in that the microprocessor is connected with one
A camera, the remote controler carry display screen.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721447601.2U CN207617839U (en) | 2017-11-02 | 2017-11-02 | A kind of multifunctional pole-climbing robot |
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| CN201721447601.2U CN207617839U (en) | 2017-11-02 | 2017-11-02 | A kind of multifunctional pole-climbing robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108016523A (en) * | 2017-11-02 | 2018-05-11 | 国网浙江省电力公司嘉兴供电公司 | A kind of multifunctional pole-climbing robot and its control method |
| CN108749945A (en) * | 2018-07-27 | 2018-11-06 | 贵州电网有限责任公司 | A kind of multi-functional electric pole climbing level robot |
| CN109093629A (en) * | 2018-08-31 | 2018-12-28 | 国家电网有限公司 | Arrester is from climbing device |
| CN109455241A (en) * | 2018-04-09 | 2019-03-12 | 国家电网公司 | A kind of indexing pole-climbing mechanism |
-
2017
- 2017-11-02 CN CN201721447601.2U patent/CN207617839U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108016523A (en) * | 2017-11-02 | 2018-05-11 | 国网浙江省电力公司嘉兴供电公司 | A kind of multifunctional pole-climbing robot and its control method |
| CN109455241A (en) * | 2018-04-09 | 2019-03-12 | 国家电网公司 | A kind of indexing pole-climbing mechanism |
| CN108749945A (en) * | 2018-07-27 | 2018-11-06 | 贵州电网有限责任公司 | A kind of multi-functional electric pole climbing level robot |
| CN108749945B (en) * | 2018-07-27 | 2023-10-20 | 贵州电网有限责任公司 | Multifunctional pole climbing robot |
| CN109093629A (en) * | 2018-08-31 | 2018-12-28 | 国家电网有限公司 | Arrester is from climbing device |
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