CN208233205U - A kind of wheeled climbing level robot - Google Patents
A kind of wheeled climbing level robot Download PDFInfo
- Publication number
- CN208233205U CN208233205U CN201820356702.7U CN201820356702U CN208233205U CN 208233205 U CN208233205 U CN 208233205U CN 201820356702 U CN201820356702 U CN 201820356702U CN 208233205 U CN208233205 U CN 208233205U
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- climbing
- mechanical arm
- pole
- rack
- wheel
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Abstract
The utility model provides a kind of wheeled climbing level robot, including rack, lower end are equipped with travel wheel；Two fixed motors, are installed in rack, have been respectively and fixedly connected with one on the motor shaft of each fixed motor and have determined pole-climbing wheel；Two mechanical arms, the upper end for passing through the pillar that one is vertically arranged and rack respectively horizontally rotate connection；A dynamic pole-climbing wheel is separately installed on each mechanical arm, the axial direction for moving pole-climbing wheel is identical as the extending direction of mechanical arm；Each mechanical arm is furnished with a driving cylinder, and the piston rod and mechanical arm of driving cylinder are horizontally hinged, and the cylinder ends of driving cylinder are hinged by bracket and rack level.Wheeled climbing level robot described in the utility model, structure is simple, stable.Pole-climbing wheel is determined by two dynamic pole-climbing wheels and two to match, and the utility model can be enable to consolidate in pole-climbing and hold bar tightly；Meanwhile larger power can be also provided, facilitate the utility model and pole-climbing task is rapidly completed.
Description
Technical field
The utility model belongs to aerial lift device field, more particularly, to a kind of climbing level robot.
Background technique
As modern urban construction paces are getting faster, are stood in city and many integrate practicability, aesthetics
Municipal administration, business engineering, electric pole, light pole, billboard column etc., their general height are at 5--30 meters, due to long-term wind-engaging
Sand influences, and surface has accumulated a thick layer dirt sand bed, or since the acidic materials in rain drop erosion, air corrode, these
Building needs periodically cleaning.Cleaning is divided into two kinds, artificial cleaning and giant cleaning, but these modes have labor intensity
Greatly, drawback at high cost.The especially high altitude operation such as the power equipment maintaining of electric pole, maintenance, manual operation risk are high.And with
Machine man-based development, climbing level robot came into being in recent years.
Existing climbing level robot general speed is slower currently on the market, and stability is poor, and working efficiency is low.
Utility model content
In view of this, the utility model is directed to a kind of wheeled climbing level robot, and to solve in the prior art, climbing pole machine
Device people's speed is slower, and stability is poor, the low problem of working efficiency.
In order to achieve the above objectives, the technical solution of the utility model is achieved in that
A kind of wheeled climbing level robot, including rack, lower end are equipped with traveling motor, affixed on the main shaft of traveling motor
There is travel wheel；Two fixed motors, are installed in rack, and the center line relative to rack is symmetrical；Each fixed motor
It has been respectively and fixedly connected with one on motor shaft and has determined pole-climbing wheel, two axis horizontal direction angulations for determining pole-climbing wheel are acute angle；Two
Mechanical arm, the upper end for passing through the pillar that one is vertically arranged and rack respectively horizontally rotate connection；On each mechanical arm respectively
One rotating electric machine is installed, dynamic pole-climbing wheel is installed on the motor shaft of rotating electric machine, moves the axial direction and mechanical arm of pole-climbing wheel
Extending direction is identical；Each mechanical arm is furnished with a driving cylinder, and the piston rod and mechanical arm of driving cylinder are horizontally hinged, driving cylinder
Cylinder ends are hinged by bracket and rack level.
Further, the rack includes a frame, and frame is horizontally disposed isosceles trapezoidal structure；The longer sides of frame
Lateral wall it is horizontal affixed there are two hack lever, two hack levers are symmetrical along the center line of frame；The free end of each hack lever is connected with
One traveling motor, and two traveling motor coaxle lines；It is solid in the middle part of the lower end of the shorter edge parallel with longer sides in frame
It is connected to a universal wheel.
Further, the rack further includes two supporting beams；One end of two supporting beams is individually fixed in the frame
The upper end of longer sides, the other end are respectively and fixedly connected in the upper end of two hack levers；Two fixed motors are respectively and fixedly connected in two
In root supporting beam；The lower end of two pillars is respectively arranged in two supporting beams, and is located at fixed motor close to electricity of advancing
The side of machine.
Further, the mechanical arm includes a lower height of first mechanical arm and higher-height second mechanical arm, the two
Difference in height is not less than the thickness of second mechanical arm；Two rotating electric machines are individually fixed in upper end and the second machinery of first mechanical arm
The lower end of arm.
Further, each bracket includes horizontal segment, and the lateral wall of one end and a supporting beam is affixed；It is horizontal
The upper end of section is connected with vertical section, and the driving cylinder and vertical section are hinged.
Further, the driving cylinder is cylinder, is connect with gas cylinder by hose, and gas cylinder passes through the gas that is fixed in rack
Bottle rack is fixed.
Further, the gas support includes two and is fixed in the struts of frame longer sides upper end vertically, two struts
Upper end frame is equipped with upper Gu Liang；The upper center of frame shorter edge is connected with a partition rod, and the upper end of partition rod and upper Gu Liang are solid
It connects, and is located between two struts.
Further, the rack, bracket and mechanical arm are made of rectangle stainless steel tube；The travel wheel determines pole-climbing wheel
It is rubber wheel with dynamic pole-climbing wheel.
Compared with the existing technology, wheeled climbing level robot described in the utility model has the advantage that
Wheeled climbing level robot described in the utility model, structure is simple, stable.Pass through two dynamic pole-climbing wheels and two
It is a to determine pole-climbing wheel and match, the utility model can be enable to consolidate in pole-climbing and hold bar tightly；Meanwhile it can also provide larger dynamic
Power facilitates the utility model and pole-climbing task is rapidly completed.
Detailed description of the invention
The attached drawing for constituting a part of the utility model is used to provide a further understanding of the present invention, this is practical new
The illustrative embodiments and their description of type are not constituteed improper limits to the present invention for explaining the utility model.?
In attached drawing:
Fig. 1 is the axonometric drawing of wheeled climbing level robot described in the utility model embodiment；
Fig. 2 is the axonometric drawing that wheeled climbing level robot described in the utility model embodiment removes gas cylinder；
Fig. 3 is the axonometric drawing that wheeled climbing level robot described in the utility model embodiment removes the gentle bottle rack of gas cylinder；
Fig. 4 is the top view of wheeled climbing level robot travel condition described in the utility model embodiment；
Fig. 5 is the top view of wheeled climbing level robot row pole state described in the utility model embodiment.
Description of symbols:
1- rack；101- frame；102- strut；103- partition rod；The upper Gu Liang of 104-；105- hack lever；2- supporting beam；3- water
Flat section；31- vertical section；4- pillar；5- first mechanical arm；51- second mechanical arm；6- driving cylinder；7- travel wheel；71- determines pole-climbing
Wheel；72- moves pole-climbing wheel；8- traveling motor；81- fixes motor；82- rotating electric machine；9- universal wheel；10- gas cylinder.
Specific embodiment
It should be noted that in the absence of conflict, the feature in the embodiments of the present invention and embodiment can
To be combined with each other.
In the description of the present invention, it should be understood that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of describing the present invention and simplifying the description, rather than indicate
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand
For limitations of the present invention.In addition, term " first ", " second " etc. are used for description purposes only, and should not be understood as indicating
Or it implies relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " second " etc. are defined as a result,
Feature can explicitly or implicitly include one or more of the features.It is in the description of the present invention, unless another
It is described, the meaning of " plurality " is two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, on being understood by concrete condition
State the concrete meaning of term in the present invention.
The utility model will be described in detail below with reference to the accompanying drawings and embodiments.
Such as Fig. 1-3, the utility model proposes a kind of wheeled climbing level robot, including rack 1, lower end is equipped with traveling electricity
Machine 8 is connected with travel wheel 7 on the main shaft of traveling motor 8；Two fixed motors 81, are installed in rack 1, and relative to machine
The center line of frame 1 is symmetrical；It has been respectively and fixedly connected with one on the motor shaft of each fixed motor 81 and has determined pole-climbing wheel 71, two are determined pole-climbing wheel
71 axis horizontal direction angulation is acute angle；Two mechanical arms pass through the pillar being vertically arranged 4 and rack respectively
1 upper end horizontally rotates connection；A rotating electric machine 82 is separately installed on each mechanical arm, on the motor shaft of rotating electric machine 82
Dynamic pole-climbing wheel 72 is installed, the axial direction for moving pole-climbing wheel 72 is identical as the extending direction of mechanical arm；Each mechanical arm is equipped with a drive
Dynamic cylinder 6, the piston rod and mechanical arm of driving cylinder 6 are horizontally hinged, and the cylinder ends of driving cylinder 6 are cut with scissors by the way that bracket and rack 1 are horizontal
It connects.
Above-mentioned rack 1 includes a frame 101, and frame 101 is horizontally disposed isosceles trapezoidal structure；Frame 101 compared with
The lateral wall of long side is horizontal affixed there are two hack lever 105, and two hack levers 105 are symmetrical along the center line of frame 101；Each hack lever
105 free end is connected with an above-mentioned traveling motor 8, and two 8 coaxial lines of traveling motor；It is flat with longer sides in frame 101
A universal wheel 9 is connected in the middle part of the lower end of capable shorter edge.Travel wheel 7 and universal wheel 9 on two traveling motors 8 form three
Angular location layout can advance in stable situation guaranteeing the utility model, can arbitrarily rotate, also improve this reality
With novel flexibility ratio.
Above-mentioned rack 1 further includes two supporting beams 2；One end of two supporting beams 2 be individually fixed in said frame 101 compared with
The upper end of long side, the other end are respectively and fixedly connected in the upper end of two above-mentioned hack levers 105；Two above-mentioned fixed motors 81 be respectively and fixedly connected in
In two supporting beams 2；The lower end of two above-mentioned pillars 4 is respectively arranged in two supporting beams 2, and it is close to be located at fixed motor 81
The side of traveling motor 8.The structure makes to determine 71 elder generation of pole-climbing wheel and the body of rod close to completion is originally practical new on two fixed motors 81
Positioning of the type relative to the body of rod；Later, in mechanical arm obvolvent, two dynamic 72 ability of pole-climbing wheel and the lateral wall of the body of rod are adjacent to, complete
It is acted at the pole of the utility model pole.
Above-mentioned mechanical arm includes a lower height of first mechanical arm 5 and higher-height second mechanical arm 51, the two height
Difference is not less than the thickness of second mechanical arm 51；Two rotating electric machines 82 are individually fixed in upper end and the second machine of first mechanical arm 5
The lower end of tool arm 51.The structure enables first mechanical arm 5 and second mechanical arm 51 interlaced in obvolvent, keeps this practical
It is novel to be suitable for the lesser body of rod of diameter, increase versatility.
Each above-mentioned bracket includes horizontal segment 3, and the lateral wall of one end and an above-mentioned supporting beam 2 is affixed；Horizontal segment 3
Upper end is connected with vertical section 31, and above-mentioned driving cylinder 6 and vertical section 31 are hinged.
Above-mentioned driving cylinder 6 is cylinder, is connect with gas cylinder 10 by hose, and gas cylinder 10 passes through the gas that is fixed in rack 1
Bottle rack is fixed.Above-mentioned gas support includes two struts 102 for being fixed in 101 longer sides upper end of frame vertically, two struts
102 upper end frame is equipped with upper solid beam 104；The upper center of 101 shorter edge of frame is connected with a partition rod 103, partition rod 103
Upper end and upper solid beam 104 it is affixed, and be located between two struts 102.Gas cylinder 10 is supported by frame 101 as bottom, and
A gas cylinder 10 is respectively placed in the two sides of partition rod 103, for guaranteeing that the tolerance stored by gas cylinder 10 meets the utility model
Need of work.Gas cylinder 10 can be fixed with strut 102 and partition rod 103 respectively by structures such as bands.
Above-mentioned rack 1, bracket and mechanical arm are made of rectangle stainless steel tube；Above-mentioned travel wheel 7 is determined pole-climbing wheel 71 and is moved
Pole-climbing wheel 72 is rubber wheel.The weight that the utility model is on the one hand alleviated using stainless steel tube, on the other hand can also mention
The high service life of the utility model.The frictional force of itself and the body of rod lateral wall for needing to climb can be increased using rubber wheel,
Facilitate the utility model and completes pole-climbing operation.
In use, traveling motor 8 drives travel wheel 7 to rotate, the body of rod that the utility model is climbed to needs is close.It is advancing
In the process, first mechanical arm 5 and second mechanical arm 51 open (as shown in Figure 4) under the action of driving cylinder 6.
When needing the body of rod climbed while determining pole-climbing wheel 71 close to two, under the action of driving cylinder 6, first mechanical arm
5 and second mechanical arm 51 interlock obvolvent (as shown in Figure 5).At this point, two are determined pole-climbing wheel 71 and two dynamic pole-climbing wheels 72 while pasted
The lateral wall of the tight body of rod, and rotated under the driving of fixed motor 81 and rotating electric machine 82 respectively, drive the utility model along bar
Body rises, and completes pole-climbing movement.
Wheeled climbing level robot described in the utility model, structure is simple, stable.Pass through two dynamic 72 Hes of pole-climbing wheel
Determine pole-climbing wheel 71 for two to match, the utility model can be enable to consolidate in pole-climbing and hold bar tightly；Meanwhile can also provide compared with
Big power facilitates the utility model and pole-climbing task is rapidly completed.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility model
Protection scope within.
Claims (8)
1. a kind of wheeled climbing level robot characterized by comprising
Rack (1), lower end are equipped with traveling motor (8), and travel wheel (7) are connected on the main shaft of traveling motor (8)；
Two fixed motors (81), are installed on rack (1), and the center line relative to rack (1) is symmetrical；Each fixed electricity
One has been respectively and fixedly connected on the motor shaft of machine (81) to determine pole-climbing wheel (71), two axis horizontal direction institutes for determining pole-climbing wheel (71) at
Angle is acute angle；
Two mechanical arms, pass through the pillar being vertically arranged (4) respectively and horizontally rotate with the upper end of rack (1) and connect；Often
It is separately installed with a rotating electric machine (82) on a mechanical arm, dynamic pole-climbing wheel is installed on the motor shaft of rotating electric machine (82)
(72), the axial direction for moving pole-climbing wheel (72) is identical as the extending direction of mechanical arm；
Each mechanical arm is furnished with a driving cylinder (6), and the piston rod and mechanical arm of driving cylinder (6) are horizontally hinged, driving cylinder (6)
Cylinder ends are horizontally hinged by bracket and rack (1).
2. wheeled climbing level robot according to claim 1, it is characterised in that: the rack (1) includes a frame
(101), frame (101) is horizontally disposed isosceles trapezoidal structure；The lateral wall level of the longer sides of frame (101) is connected with two
A hack lever (105), two hack levers (105) are symmetrical along the center line of frame (101)；
The free end of each hack lever (105) is connected with the traveling motor (8), and two traveling motor (8) coaxial lines；Frame
In frame (101), a universal wheel (9) is connected in the middle part of the lower end of the shorter edge parallel with longer sides.
3. wheeled climbing level robot according to claim 2, it is characterised in that: the rack (1) further includes two supports
Beam (2)；One end of two supporting beams (2) is individually fixed in the upper end of the longer sides of the frame (101), and the other end is respectively and fixedly connected with
In the upper end of two hack levers (105)；
Two fixed motors (81) are respectively and fixedly connected on two supporting beams (2)；Pacify respectively the lower end of two pillars (4)
Loaded on two supporting beams (2), and it is located at fixed motor (81) close to the side of traveling motor (8).
4. wheeled climbing level robot according to claim 3, it is characterised in that: the mechanical arm includes a lower height of
One mechanical arm (5) and higher-height second mechanical arm (51), the two difference in height are not less than the thickness of second mechanical arm (51)；Two
A rotating electric machine (82) is individually fixed in the upper end of first mechanical arm (5) and the lower end of second mechanical arm (51).
5. wheeled climbing level robot according to claim 3, it is characterised in that: each bracket includes horizontal segment (3),
One end and the lateral wall of a supporting beam (2) are affixed；The upper end of horizontal segment (3) is connected with vertical section (31), the drive
Dynamic cylinder (6) and vertical section (31) are hinged.
6. wheeled climbing level robot according to claim 2, it is characterised in that: the driving cylinder (6) is cylinder, is passed through
Hose is connect with gas cylinder (10), and gas cylinder (10) is fixed by the gas support being fixed on rack (1).
7. wheeled climbing level robot according to claim 6, it is characterised in that: the gas support includes two vertical solid
It is connected to the strut (102) of frame (101) longer sides upper end, the upper end frame of two struts (102) is equipped with upper Gu Liang (104)；Frame
(101) upper center of shorter edge is connected with a partition rod (103), and the upper end and Shang Guliang (104) of partition rod (103) are solid
It connects, and is located between two struts (102).
8. wheeled climbing level robot according to claim 1, it is characterised in that: the rack (1), bracket and mechanical arm are equal
It is made of rectangle stainless steel tube；The travel wheel (7), to determine pole-climbing wheel (71) and dynamic pole-climbing wheel (72) be rubber wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820356702.7U CN208233205U (en) | 2018-03-15 | 2018-03-15 | A kind of wheeled climbing level robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820356702.7U CN208233205U (en) | 2018-03-15 | 2018-03-15 | A kind of wheeled climbing level robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208233205U true CN208233205U (en) | 2018-12-14 |
Family
ID=64588770
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820356702.7U Expired - Fee Related CN208233205U (en) | 2018-03-15 | 2018-03-15 | A kind of wheeled climbing level robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208233205U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110104085A (en) * | 2019-06-10 | 2019-08-09 | 大连民族大学 | A kind of climbing robot for pipe detection |
| CN110271619A (en) * | 2018-03-15 | 2019-09-24 | 天津工业大学 | A kind of quickly wheeled climbing level robot |
-
2018
- 2018-03-15 CN CN201820356702.7U patent/CN208233205U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110271619A (en) * | 2018-03-15 | 2019-09-24 | 天津工业大学 | A kind of quickly wheeled climbing level robot |
| CN110104085A (en) * | 2019-06-10 | 2019-08-09 | 大连民族大学 | A kind of climbing robot for pipe detection |
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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 |
Granted publication date: 20181214 Termination date: 20190315 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |