CN209852456U - Pole-climbing machine device - Google Patents
Pole-climbing machine device Download PDFInfo
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- CN209852456U CN209852456U CN201920391843.7U CN201920391843U CN209852456U CN 209852456 U CN209852456 U CN 209852456U CN 201920391843 U CN201920391843 U CN 201920391843U CN 209852456 U CN209852456 U CN 209852456U
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Abstract
The utility model discloses a pole-climbing machine device, pole-climbing machine device includes: the first clamping mechanism is used for fastening and loosening the rod; the second base body is provided with a second clamping mechanism which is used for fastening and loosening the rod and is matched with the first clamping mechanism; a transmission mechanism for controlling the fastening and loosening states of the first clamping mechanism and/or the second clamping mechanism and driving the pole-climbing robot to move up and down is arranged between the first base body and the second base body; the transmission mechanism is converted into horizontal intermittent motion through up-and-down intermittent motion to control the fastening and loosening states of the first clamping mechanism and/or the second clamping mechanism. The mechanical structure of the pole-climbing robot device is simple and compact, the design of a control system is convenient, the structure of the pole-climbing robot in the direction perpendicular to the rod piece is effectively prevented from being too bulky, and the pole-climbing stability of the pole-climbing robot is improved.
Description
Technical Field
The utility model relates to a robot field especially relates to a pole-climbing machine device.
Background
Rod-like structures of various sizes are used in a wide variety of fields, such as advertising poles, light poles, wind turbine poles, utility poles, and the like. Due to the characteristics of the rod-shaped structure, the maintenance is difficult, and the assembly and the processing of equipment on the top of the rod are limited. In recent years, the research on the pole-climbing robot at home and abroad has been advanced to a certain extent, but certain short boards and limitations also exist. At present, the pole-climbing robot mainly adopts a roller type and a clamping type. The wheel type robot is clamped by the surrounding rod piece, so that the moving speed and the position control capability of the wheel type robot are improved, but the obstacle crossing capability is poor, and the problems of difficult installation, complex mechanical structure, large size and heavy weight of the robot are easily caused by the surrounding form of the wheel type robot. Centre gripping formula pole-climbing robot, the adaptability to the member is better, but its mechanical structure is also comparatively complicated, and centre gripping formula pole-climbing robot's volume size can't be controlled, does not to miniaturize, arouses the toppling of pole-climbing robot easily, and in addition, the carrying heavy object ability is relatively poor, if will carry the heavy object, the corresponding meeting of volume of centre gripping formula pole-climbing robot increases. And the complicated mechanical structure has high requirements on the transmission mechanism, so the control on the transmission mechanism is also complicated.
SUMMERY OF THE UTILITY MODEL
The utility model provides a pole-climbing robot device to it is poor to solve current pole-climbing robot and be the ability of crossing obstacles, and mechanical structure is complicated, arouses the technical problem that pole-climbing robot topples easily.
The utility model adopts the technical scheme as follows:
a pole-climbing robot apparatus for moving on a pole body to be worked in an axial stepping manner along the pole body to be worked, the pole-climbing robot apparatus comprising: the first clamping mechanism is used for holding a rod body to be operated in a tight state and a loose state; the second base body is provided with a second clamping mechanism which is used for enabling the rod body to be operated to have a holding state and a loosening state and is matched with the first clamping mechanism, and a first driving mechanism is arranged between the first base body and the second base body; the first driving mechanism drives the second clamping mechanism of the second base body to clamp the rod body to be operated and pushes the first base body to move towards the direction far away from the second base body; or the first driving mechanism drives the second clamping mechanism of the second base body to release the rod body to be operated and pulls the second base body to move towards the direction close to the first base body; the first base body is provided with a second driving mechanism for driving the first clamping mechanism to hold the rod body to be operated tightly or driving the first clamping mechanism to release the rod body to be operated.
Further, the first drive mechanism includes a first drive body including: the first crank and the first motor are arranged in the middle of the first driving body and used for driving the first base body and the second base body to generate relative displacement through rotation, the first free body is arranged on one side of the first driving body and connected in the first base body, the first free body is connected with the second driving mechanism in a sliding mode, and the second free body is arranged on the other side of the first driving body and connected in the second base body.
Furthermore, the first free body is of a T-shaped structure, a sliding groove for slidably assembling the bidirectional sliding rail is formed in the first free body, the side face of one end of the bidirectional sliding rail is in contact with the sliding groove, and the side face of the other end of the bidirectional sliding rail is provided with a first sliding rail for the second driving mechanism to slide along the axial direction of the bidirectional sliding rail; the free end of the second free body is provided with a first sliding block, a first flange and a second flange, the first flange and the second flange extend outwards in the radial direction of the second free body, and the first flange and the second flange are respectively provided with a first sliding piece which is used for sliding in the second base body and driving the second clamping mechanism to clamp and loosen the rod body to be operated.
Further, the second driving mechanism includes a second transmission body including: the second sliding piece is positioned in the middle of the second transmission body and matched with the first sliding rail, the first limiting piece is used for pulling the second base body to move towards the direction close to the first base body and is matched with the first free body T-shaped structure to block the first driving mechanism from moving towards the second base body, the second sliding piece is positioned on two sides of the second transmission body and used for sliding in the first sliding rail and driving the first clamping mechanism to clamp and release the to-be-operated rod body.
Further, the first sliding part adopts one of bearing sliding, gear sliding or sliding block sliding; the first motor adopts a direct current speed reduction motor.
Further, the second sliding part adopts one of bearing sliding, gear sliding or sliding block sliding; the second motor adopts a direct current speed reduction motor.
Further, the first base body comprises a first mounting frame, a first clamping plate and a second clamping plate, the first mounting frame is respectively in sliding connection with the first clamping plate and the second clamping plate to realize relative movement between the first clamping plate and the second clamping plate, and a cavity for accommodating a first free body is arranged between the first clamping plate and the second clamping plate; the first clamping plate is provided with a chute which is far away from the direction of the first free body and inclines towards the direction of the second base body, a vertical straight groove which is positioned at the downstream of the chute and is mutually communicated with the chute along the direction of the second base body, and a second sliding part of the second driving mechanism slides in the chute or the straight groove; the second clamping plate and the first clamping plate form a mirror symmetry structure; a second limiting piece used for limiting the moving range of the first base body to the direction far away from the second base body is arranged on the first base body; the first clamping plate is provided with a first holding claw, the second clamping plate is provided with a second holding claw matched with the first holding claw, and the first holding claw and the second holding claw form a first clamping mechanism.
Furthermore, the second base body comprises a second mounting frame, a third clamping plate and a fourth clamping plate, the second mounting frame is respectively in sliding connection with the third clamping plate and the fourth clamping plate to realize the relative motion between the third clamping plate and the fourth clamping plate, a cavity for accommodating a second free body is arranged between the third clamping plate and the fourth clamping plate, and a second sliding rail which is matched with the first sliding block and is arranged on the second mounting frame is arranged in the cavity; a straight groove vertical to the direction of the second base body and a chute which is positioned at the downstream of the straight groove and is inclined to be communicated with the straight groove along the direction of the second free body are arranged on the third clamping plate, and a first sliding part of the first driving mechanism slides in the chute and/or the straight groove; the third clamping plate and the fourth clamping plate form a mirror symmetry structure; and a third clamping jaw is arranged on the third clamping plate, a fourth clamping jaw matched with the third clamping jaw is arranged on the fourth clamping plate, and the third clamping jaw and the fourth clamping jaw form a second clamping mechanism.
Furthermore, at least one side surface of the first holding claw is provided with an elastic adjusting piece for controlling the first holding claw to stretch and adjust along the axial direction of the rod body to be operated; at least one side surface of the second holding claw is provided with an elastic adjusting piece for controlling the second holding claw to stretch and adjust along the axial direction of the rod body to be operated; the elastic adjusting piece adopts an elastic adjusting piece or a tension adjusting piece; a protective layer is arranged on the surface of the first holding claw or the second holding claw; the protective layer is at least one of a flexible layer, an elastic layer and a grid layer, or the protective layer is at least one of a fiber layer, a rubber layer and a plastic layer.
Furthermore, at least one side surface of the third holding claw is provided with an elastic adjusting piece for controlling the third holding claw to stretch and adjust along the axial direction of the rod body to be operated; at least one side surface of the fourth holding claw is provided with an elastic adjusting piece for controlling the fourth holding claw to stretch and adjust along the axial direction of the rod body to be operated; the elastic adjusting piece adopts an elastic adjusting piece or a tension adjusting piece; a protective layer is arranged on the surface of the third holding claw or the fourth holding claw; the protective layer is at least one of a flexible layer, an elastic layer and a grid layer, or the protective layer is at least one of a fiber layer, a rubber layer and a plastic layer.
The utility model discloses following beneficial effect has:
the utility model discloses a pole-climbing machine device, including first base member, second base member and actuating mechanism, first base member is equipped with first fixture, the second base member is equipped with second fixture, first actuating mechanism and second actuating mechanism can drive pole-climbing machine device and remove along treating operation body of rod axial marching type, can control again first fixture and second fixture and treat the operation body of rod and have the state of holding tightly and lax state, its mechanical structure is simple compact, the control system's of being convenient for design, it is too bloated to avoid pole-climbing machine device structure on treating the operation body of rod effectively, the pole-climbing stability of pole-climbing machine device is increased. Climbing pole machine device has the sinusoidal speed output transmission characteristics of scotch yoke mechanism, make climbing pole machine device can realize holding tightly and lax treating the operation body of rod with comparatively stable state when higher efficiency climbing pole, reduce the inside vibrations of climbing pole machine device, second actuating mechanism carries out linear motion treating on the operation body of rod, and drive second fixture is along treating the radial intermittent motion of the operation body of rod, accomplish climbing pole machine device pole and the mutually supporting of fastening. And the radial intermittent motion of the first clamping mechanism and the second clamping mechanism can realize climbing poles with various diameters and improve the obstacle crossing capability. The pole-climbing machine device can be matched with different execution structures to complete the operations of detection, cleaning, maintenance and the like.
In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. The present invention will be described in further detail below with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification. In the drawings:
FIG. 1 is a schematic front view of a pole-climbing machine apparatus according to a preferred embodiment of the present invention;
FIG. 2 is a rear schematic view of a pole-climbing machine arrangement in accordance with a preferred embodiment of the present invention;
fig. 3 is a schematic view of a second transmission mechanism of the pole-climbing machine device according to the preferred embodiment of the present invention; and
fig. 4 is a schematic view of a first driving mechanism of the pole-climbing machine device according to the preferred embodiment of the present invention.
Description of reference numerals:
1. a first substrate; 11. a first mounting bracket; 12. a first clamping plate; 13. a second clamping plate; 14. a second limiting member; 2. a second substrate; 21. a second mounting bracket; 22. a third clamping plate; 23. a fourth clamping plate; 24. a second slide rail; 3. a first clamping mechanism; 31. a first holding claw; 32. a second holding claw; 4. a second clamping mechanism; 41. a third holding claw; 42. a fourth holding claw; 5. a first drive mechanism; 51. a first crank; 52. a first motor; 53. a first free body; 54. a second free body; 55. a bidirectional slide rail; 56. a first slide rail; 57. a first slider; 58. a first slider; 6. a second drive mechanism; 61. a second slider; 62. a first limit piece; 63. a second crank; 64. a second motor; 65. a second slide member.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
FIG. 1 is a schematic front view of a pole-climbing machine apparatus according to a preferred embodiment of the present invention; FIG. 2 is a rear schematic view of a pole-climbing machine arrangement in accordance with a preferred embodiment of the present invention; fig. 3 is a schematic view of a second transmission mechanism of the pole-climbing machine device according to the preferred embodiment of the present invention; fig. 4 is a schematic view of a first driving mechanism of the pole-climbing machine device according to the preferred embodiment of the present invention.
As shown in fig. 1 and fig. 2, the pole-climbing machine device of the present embodiment is configured to move on a pole body to be operated in an axial stepping manner along the pole body to be operated, and includes: the device comprises a first base body 1 and a second base body 2, wherein the first base body 1 is provided with a first clamping mechanism 3 which is used for enabling a rod body to be operated to have a holding state and a loose state; the second base body 2 is provided with a second clamping mechanism 4 which is used for enabling the rod body to be operated to have a holding state and a loosening state and is matched with the first clamping mechanism 3, and a first driving mechanism 5 is arranged between the first base body 1 and the second base body 2; the first driving mechanism 5 drives the second clamping mechanism 4 of the second base body 2 to clamp the rod body to be operated and pushes the first base body 1 to move in the direction away from the second base body 2; or the first driving mechanism 5 drives the second clamping mechanism 4 of the second base body 2 to release the rod body to be operated and pulls the second base body 2 to move towards the direction close to the first base body 1; the first base body 1 is provided with a second driving mechanism 6 for driving the first clamping mechanism 3 to hold the rod body to be operated tightly or driving the first clamping mechanism 3 to release the rod body to be operated. The utility model discloses a pole-climbing machine device, including the first base 1 body, second base member 2 and actuating mechanism, first base member 1 is equipped with first fixture 3, second base member 2 is equipped with second fixture 4, first actuating mechanism 5 and second actuating mechanism 6 can drive pole-climbing machine device and remove along treating operation body of rod axial marching type, can control again that first fixture 3 and second fixture 4 treat the operation body of rod and have the state of holding tightly and the state of lax, its mechanical structure is simple compact, the control system's of being convenient for design, it is too fat to avoid pole-climbing machine device structure on treating the operation body of rod effectively, the pole-climbing stability of pole-climbing machine device is increased. Climbing pole machine device has the sinusoidal speed output transmission characteristics of scotch yoke mechanism, make climbing pole machine device can realize holding tightly and lax treating the operation body of rod with comparatively stable state when higher efficiency climbing pole, reduce climbing pole machine device's inside vibrations, second actuating mechanism 6 carries out linear motion on treating the operation body of rod, and drive second fixture 4 along treating the radial intermittent motion of the operation body of rod, accomplish climbing pole machine device pole and the mutually supporting of fastening. And the radial intermittent motion of the first clamping mechanism 3 and the second clamping mechanism 4 can realize climbing poles with various diameters and improve the obstacle crossing capability. The pole-climbing machine device can be matched with different execution structures to complete the operations of detection, cleaning, maintenance and the like.
As shown in fig. 2, 3 and 4, in the present embodiment, the first drive mechanism 5 includes a first drive body including: a first crank 51 and a first motor 52 which are arranged in the middle of the first driving body and are used for driving the first base body 1 and the second base body 2 to generate relative displacement through rotation, a first free body 53 which is arranged on one side of the first driving body and is connected in the first base body 1, the first free body 53 is connected with the second driving mechanism 6 in a sliding way, and a second free body 54 which is arranged on the other side of the first driving body and is connected in the second base body 2. The first driving mechanism 5 adjusts the pole-climbing machine device to move linearly along the pole body to be operated and drives the second clamping mechanism 4 to be in a tightly holding state and a loose state. The first driving mechanism 5 is respectively connected to the first base body 1 and the second base body 2 and performs linear reciprocating motion between the first base body and the second base body, axial stepping movement along the rod body to be operated is achieved, and the grasping state and the loosening state of the second clamping mechanism 4 are synchronously controlled by intermittent motion along the radial direction of the rod body to be operated according to the structural characteristics of the first driving mechanism 5. The second driving mechanism 6 is arranged on the first free body 53 in the first base body 1 and is only used for realizing the control of the fastening and loosening state of the first clamping mechanism 3 along the radial intermittent motion of the rod body to be operated. The first crank 51 and the first motor 52 described above effect a mechanical movement of the first drive mechanism 5. The length of the first free body 53 entering the first base 1 is greater than the length of the first base 1, so that the first free body 53 penetrates from the bottom to the top of the first base 1. The length of the second free body 54 entering the second base body 2 is less than the length of the second base body 2, so that the second free body 54 can realize intermittent motion along the radial direction of the rod body to be operated.
In this embodiment, the first free body 53 is a T-shaped structure, a sliding groove for slidably assembling the bidirectional sliding rail 55 is provided in the first free body 53, a side surface of one end of the bidirectional sliding rail 55 is in contact with the sliding groove, and a side surface of the other end is provided with a first sliding rail 56 for the second driving mechanism 6 to slide along the axial direction of the bidirectional sliding rail 55; the free end of the second free body 54 is provided with a first sliding block 57 and a first flange and a second flange which extend outwards along the radial direction of the second free body 54, and the first flange and the second flange are respectively provided with a first sliding part 58 which is used for sliding in the second base body 2 and driving the second clamping mechanism 4 to realize a holding state and a loose state for the rod body to be operated. The first free body 53 is constructed in a T-shaped structure and provided with a sliding groove, and a bidirectional sliding rail 55 is arranged in the sliding groove, so that the second driving mechanism 6 realizes rolling friction relative to the first free body 53, the resistance between the first free body and the second free body is reduced, and the first free body 53 can only have the freedom degree of linear motion along the axial direction of the rod body to be operated. The first sliding part 58 on the second free body 54 enables the second free body 54 to realize a holding state and a loosening state of the second clamping mechanism 4 on the rod body to be operated when the second base body 2 moves. When the first sliding member 58 of the second free body 54 reaches the longest length of the second free body 54 entering the second base body 2, the second clamping mechanism 4 is in a relaxed state, and when the sliding member 58 of the second free body 54 reaches the shortest length of the second free body 54 entering the second base body 2, the second clamping mechanism 4 is in a grasped state.
As shown in fig. 1, 2 and 3, in the present embodiment, the second driving mechanism 6 includes a second transmission body including: the second sliding block 61 is located in the middle of the second transmission body and matched with the first sliding rail 56, the first limiting part 62 is used for pulling the second base body 2 to move towards the direction close to the first base body 1 and is matched with the T-shaped structure of the first free body 53 to block the first driving mechanism 5 from moving towards the second base body 2, the second crank 63 and the second motor 64 are used for driving the second driving mechanism 6 to slide in the first sliding rail 56, and the second sliding part 65 is located on two sides of the second transmission body and is used for sliding in the first base body 1 and driving the first clamping mechanism 3 to clamp and release the rod body to be operated. The second driving mechanism 6 slides on the first driving mechanism 5, and the first base 1 is urged by the second sliders 65 on both sides, so that the first clamping mechanism 3 is grasped or loosened. The first limiting member 62 and the first free body 53 are configured to cooperate with each other to limit the downward movement distance of the first driving mechanism 5, when the first driving mechanism 5 is driven by the first crank 51 and the first motor 52 to move toward the second base body 2, when the top end of the first free body 53 moves to the first limiting member 62, the second clamping mechanism 4 is in a loose state, the first driving mechanism 51 cannot move downward under the limitation of the first limiting member 62, however, the first crank 51 continues to drive the first driving mechanism 51 to move, and due to the limitation of the first limiting member 62, the first driving mechanism 51 receives an opposite acting force to pull the second base body 2 to move toward the first base body 1, so as to lift the first driving mechanism 5 and the second base body 2 by one stroke. Preferably, the first position-limiting member 62 is a U-shaped frame, and is engaged with the T-shaped structure of the first free body 53.
In the present embodiment, the first slider 58 adopts one of bearing sliding, gear sliding, or slider sliding; the first motor 52 is a dc geared motor. The first sliding part 58 slides in the second base body 2, and controls the second clamping mechanism 4 to clamp and release the rod body to be operated.
In the present embodiment, the second slider 65 adopts one of bearing sliding, gear sliding, and slider sliding; the second motor 64 is a dc reduction motor. The second sliding part 65 slides in the first base 1, and controls the first clamping mechanism 3 to clamp and release the rod body to be operated.
As shown in fig. 1 and fig. 2, in the present embodiment, the first base body 1 includes a first mounting frame 11, a first clamping plate 12 and a second clamping plate 13, the first mounting frame 11 is slidably connected to the first clamping plate 12 and the second clamping plate 13 respectively to realize a relative movement between the first clamping plate 12 and the second clamping plate 13, and a cavity for accommodating the first free body 53 is provided between the first clamping plate 12 and the second clamping plate 13; the first clamping plate 12 is provided with a chute which is far away from the direction of the first free body 53 and inclines towards the direction of the second base body 2, a vertical straight groove which is positioned at the downstream of the chute and is mutually communicated with the chute along the direction of the second base body 2, and a second sliding piece 65 of the second driving mechanism 6 slides in the chute or the straight groove; the second clamping plate 13 and the first clamping plate 12 form a mirror symmetry structure; a second limiting piece 14 for limiting the moving range of the first base body 1 in the direction away from the second base body 2 is arranged on the first base body 1; the first clamping plate 12 is provided with a first holding claw 31, the second clamping plate 13 is provided with a second holding claw 32 matched with the first holding claw 31, and the first holding claw 31 and the second holding claw 32 form a first clamping mechanism 3. The first clamping plate 12 and the second clamping plate 13 drive the first clamping claw 31 and the second clamping claw 32 to open and close through relative movement, and the second clamping mechanism 4 is used for clamping and releasing the rod body to be operated. When the two second sliding members 65 of the second driving mechanism 6 slide on the inclined grooves in the first clamping plate 12 and the inclined grooves in the second clamping plate 13, respectively, the distance between the symmetrical points in the two inclined grooves is smaller than the distance between the two second sliding members 65, so that the first clamping plate 12 and the second clamping plate 13 are subjected to opposite forces and slide in opposite directions in the first mounting frame 11, and the first holding claw 31 and the second holding claw 32 are opened. When the two second sliding members 65 of the second driving mechanism 6 slide in the straight grooves in the first clamping plate 12 and the straight grooves in the second clamping plate 13, respectively, the distance between the symmetrical points in the two straight grooves is equal to the distance between the two sliding members 58, the first clamping plate 12 and the second clamping plate 13 do not slide, and at this time, the first holding claw 31 and the second holding claw 32 are closed to hold the rod body to be operated.
The second limiting member 14 is used for limiting the distance that the first base 1 moves in the direction away from the second base 2, the first crank 51 and the first motor 52 drive the first driving mechanism 5 to move in the direction of the first base 1, and the first driving mechanism 5 cannot move in the direction of the first base 1 when the first driving mechanism moves to the second limiting member 14, however, the first crank 51 continues to drive the first driving mechanism 5 to move, so that the first base 1 and the second driving mechanism 6 are lifted by one process. The first base body 1 and the second base body 6 are lifted for one process by lifting the first driving mechanism 5 and the second base body 2 for one process, and the pole climbing work of one unit is completed.
As shown in fig. 1 and fig. 2, in the present embodiment, the second base body 2 includes a second mounting frame 21, a third clamping plate 22, and a fourth clamping plate 23, the second mounting frame 21 is slidably connected to the third clamping plate 22 and the fourth clamping plate 23 respectively to realize a relative movement between the third clamping plate 22 and the fourth clamping plate 23, a cavity for accommodating the second free body 54 is disposed between the third clamping plate 22 and the fourth clamping plate 23, and a second slide rail 24 is disposed in the cavity and is engaged with the first slide block 57 and mounted on the second mounting frame 21; the third clamping plate 22 is provided with a straight groove which is vertical along the direction of the second base body 2, a chute which is positioned at the downstream of the straight groove and is inclined along the direction of the second free body 54 and communicated with the straight groove, and a first sliding part 58 of the first driving mechanism 5 slides in the chute and/or the straight groove; the third clamping plate 22 and the fourth clamping plate 23 form a mirror symmetry structure; the third clamping plate 22 is provided with a third holding claw 41, the fourth clamping plate 23 is provided with a fourth holding claw 42 matched with the third holding claw 41, and the third holding claw 41 and the fourth holding claw 42 form a second clamping mechanism 4.
In this embodiment, at least one side surface of the first holding claw 31 is provided with an elastic adjusting member for controlling the first holding claw 31 to extend and contract along the axial direction of the rod body to be operated; at least one side surface of the second holding claw 32 is provided with an elastic adjusting piece for controlling the second holding claw 32 to stretch and adjust along the axial direction of the rod body to be operated; the elastic adjusting piece adopts an elastic adjusting piece or a tension adjusting piece; a protective layer is arranged on the surface of the first holding claw 31 or the second holding claw 32; the protective layer is at least one of a flexible layer, an elastic layer and a grid layer, or the protective layer is at least one of a fiber layer, a rubber layer and a plastic layer. The elastic adjusting piece enables the diameter of the holding claw clamping rod to be adjustable, climbing of various rod pieces is achieved, and the holding claw does not need to be replaced.
In this embodiment, at least one side surface of the third holding claw 41 is provided with an elastic adjusting member for controlling the third holding claw 41 to stretch and adjust along the axial direction of the rod body to be operated; at least one side surface of the fourth holding claw 42 is provided with an elastic adjusting piece for controlling the fourth holding claw 42 to stretch and adjust along the axial direction of the rod body to be operated; the elastic adjusting piece adopts an elastic adjusting piece or a tension adjusting piece; a protective layer is arranged on the surface of the third holding claw 41 or the fourth holding claw 42; the protective layer is at least one of a flexible layer, an elastic layer and a grid layer, or the protective layer is at least one of a fiber layer, a rubber layer and a plastic layer. The protective layer can protect the contact surface of the holding claw and the rod and avoid the damage to the rod due to acting force. The friction between the holding claw and the rod is further increased, and the stability of the pole-climbing robot in pole climbing is improved.
The concrete operation steps of the pole-climbing machine device are as follows:
the pole climbing machine device is installed on a vertical pole body to be operated, a first holding claw 31 on a first clamping plate 12 and a second holding claw 32 on a second clamping plate 13 are opened, the pole body to be operated is released, a third holding claw 41 on a third clamping plate 22 and a fourth holding claw 42 on a fourth clamping plate 23 are closed, and the pole body to be operated is held tightly; the first crank 51 and the first motor 52 on the first driving mechanism 5 drive the first driving mechanism 5 to climb up along the vertical rod body to be operated, move to the second limiting piece 14 in the first base body 1, and be limited by the second limiting piece 14, the first driving mechanism 5 cannot move up any more, however, the first crank 51 continues to drive the first driving mechanism 5 to move, so that the first base body 1 is pushed to move away from the second base body 2, so that the first base body 1 and the second driving mechanism 6 are lifted for one process, and the second base body 2 is maintained to be still; controlling a second crank 63 and a second motor 64 on the second driving mechanism 6 to drive the second driving mechanism 6 to move downwards along the vertical climbing rod, wherein second sliding parts 65 at two ends on the second driving mechanism 6 respectively slide towards straight grooves in a first clamping plate 12 and a second clamping plate 13, and the first clamping plate 12 and the second clamping plate 13 in the first mounting frame 11 slide in opposite directions, so that a first holding claw 31 on the first clamping plate 12 and a second holding claw 32 on the second clamping plate 13 are closed, and a holding state of a rod body to be operated is realized, and at the moment, the first clamping mechanism 3 and the second clamping mechanism 4 are both in a holding state;
the first driving mechanism 5 is driven by the first crank 51 and the first motor 52 to move towards the second base body 2, the two first sliding parts 58 on the second free body 54 respectively slide towards the inclined slots in the third clamping plate 22 and the fourth clamping plate 23 in the straight slots, and the third clamping plate 22 and the fourth clamping plate 23 in the second mounting frame 21 slide oppositely, so that the third holding claw 41 on the third clamping plate 22 and the fourth holding claw 42 on the fourth clamping plate 23 are opened, and a loose state of a rod body to be operated is realized; the first crank 51 mechanically drives the first driving mechanism 5 to move downwards, when the top end of the first free body 53 moves to the first limiting member 62 on the second driving mechanism 6, the first driving mechanism 5 cannot move downwards under the inhibition of the first limiting member 62, however, the first crank 51 continues to drive the first driving mechanism 5 to move, the first driving mechanism 5 is subjected to an opposite acting force due to the inhibition of the first limiting member 62, the second base body 2 is pulled to move towards the direction close to the first base body 1, the first driving mechanism 5 and the second base body 2 are lifted to a process, at this time, the first clamping mechanism 3 is in a gripping state and the second clamping mechanism 4 is in a loosening state, the first crank 51 and the first motor 52 drive the first driving mechanism 5 to move towards the first base body 1 along the vertical rod body to be operated, the two first sliding members 58 on the second free body 54 slide towards the straight slots in the inclined slots in the third clamping plate 22 and the fourth clamping plate 23 respectively, the third holding claw 41 on the third clamping plate 22 and the fourth holding claw 42 on the fourth clamping plate 23 are closed, and the rod body to be operated is in a grasping state; then, a second crank 63 and a second motor 64 on the second driving mechanism 6 are controlled to drive the second driving mechanism 6 to move upwards along the vertical rod body to be operated, and sliding pieces 58 at two ends of the second driving mechanism 6 respectively slide towards the inclined slots in the first clamping plate 12 and the second clamping plate 13, so that a first holding claw 31 on the first clamping plate 12 and a second holding claw 32 on the second clamping plate 13 are opened, and the rod body to be operated is in a loose state; the climbing rod machine device finishes climbing a period for waiting the upward operation rod body. The reverse movement is a period of climbing the rod body to be operated downwards.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A pole-climbing machine device, which is used for moving on a pole body to be operated in an axial stepping manner along the pole body to be operated,
the pole-climbing machine device comprises: a first base body (1) and a second base body (2),
the first base body (1) is provided with a first clamping mechanism (3) which is used for holding the rod body to be operated tightly and loosening the rod body to be operated loosely;
the second base body (2) is provided with a second clamping mechanism (4) which is used for holding the rod body to be operated in a tight state and a loose state and is matched with the first clamping mechanism (3),
it is characterized in that the preparation method is characterized in that,
a first driving mechanism (5) is arranged between the first base body (1) and the second base body (2); the first driving mechanism (5) drives a second clamping mechanism (4) of the second base body (2) to clamp the rod body to be operated and pushes the first base body (1) to move in the direction away from the second base body (2); or the first driving mechanism (5) drives the second clamping mechanism (4) of the second base body (2) to release the rod body to be operated, and pulls the second base body (2) to move towards the direction close to the first base body (1);
the first base body (1) is provided with a second driving mechanism (6) which is used for driving the first clamping mechanism (3) to hold tightly the rod body to be operated or driving the first clamping mechanism (3) to release the rod body to be operated.
2. The pole-climbing machine device of claim 1,
the first drive mechanism (5) comprises a first drive body,
the first drive body includes:
a first crank (51) and a first motor (52) which are arranged in the middle of the first driving body and are used for driving the first base body (1) and the second base body (2) to generate relative displacement through rotation,
a first free body (53) arranged at one side of the first driving body and connected in the first base body (1), wherein the first free body (53) is connected with the second driving mechanism (6) in a sliding way,
a second free body (54) on the other side of the first drive body and connected in the second base body (2).
3. The pole-climbing machine device of claim 2,
the first free body (53) is of a T-shaped structure, a sliding groove for slidably assembling a bidirectional sliding rail (55) is formed in the first free body (53), the side face of one end of the bidirectional sliding rail (55) is in contact with the sliding groove, and a first sliding rail (56) for the second driving mechanism (6) to axially slide along the bidirectional sliding rail (55) is arranged on the side face of the other end of the bidirectional sliding rail (55);
the free end of the second free body (54) is provided with a first sliding block (57) and a first flange and a second flange which extend outwards along the radial direction of the second free body (54), and the first flange and the second flange are respectively provided with a first sliding part (58) which is used for sliding in the second base body (2) and driving the second clamping mechanism (4) to realize a holding state and a loose state on the rod body to be operated.
4. The pole-climbing machine device of claim 3,
the second drive mechanism (6) comprises a second transmission body,
the second transmission body includes:
a second sliding block (61) which is arranged in the middle of the second transmission body and matched with the first sliding rail (56),
a first limiting part (62) which is used for pulling the second base body (2) to move towards the direction close to the first base body (1) and is matched with the T-shaped structure of the first free body (53) to block the first driving mechanism (5) from moving towards the direction of the second base body (2),
a second crank (63) and a second motor (64) for driving the second driving mechanism (6) to slide in the first slide rail (56),
and the second sliding parts (65) are positioned on two sides of the second transmission body and used for sliding in the first base body (1) and driving the first clamping mechanisms (3) to clamp and release the rod body to be operated.
5. The pole-climbing machine device of claim 3,
the first sliding part (58) adopts one of bearing sliding, gear sliding or sliding block sliding;
the first motor (52) adopts a direct current speed reducing motor.
6. The pole-climbing machine device of claim 4,
the second sliding part (65) adopts one of bearing sliding, gear sliding or sliding block sliding;
the second motor (64) adopts a direct current speed reduction motor.
7. The pole-climbing machine device of claim 4,
the first base body (1) comprises a first mounting frame (11), a first clamping plate (12) and a second clamping plate (13), the first mounting frame (11) is respectively in sliding connection with the first clamping plate (12) and the second clamping plate (13) to realize relative movement between the first clamping plate (12) and the second clamping plate (13), and a cavity for accommodating the first free body (53) is arranged between the first clamping plate (12) and the second clamping plate (13);
the first clamping plate (12) is provided with a chute which is far away from the direction of the first free body (53) and inclines towards the direction of the second base body (2), a vertical straight groove which is positioned at the downstream of the chute and is mutually communicated with the chute along the direction of the second base body (2), and a second sliding piece (65) of the second driving mechanism (6) slides in the chute or the straight groove;
the second clamping plate (13) and the first clamping plate (12) form a mirror symmetry structure;
a second limiting piece (14) used for limiting the moving range of the first base body (1) to the direction far away from the second base body (2) is arranged on the first base body (1);
be equipped with on first pinch-off blades (12) first embrace claw (31), be equipped with on second pinch-off blades (13) with first embrace claw (31) assorted second embrace claw (32), first embrace claw (31) with second embrace claw (32) and constitute first fixture (3).
8. The pole-climbing machine device of claim 4,
the second base body (2) comprises a second mounting frame (21), a third clamping plate (22) and a fourth clamping plate (23), the second mounting frame (21) is respectively in sliding connection with the third clamping plate (22) and the fourth clamping plate (23) to realize the relative movement between the third clamping plate (22) and the fourth clamping plate (23), a cavity for accommodating the second free body (54) is arranged between the third clamping plate (22) and the fourth clamping plate (23), and a second sliding rail (24) which is matched with the first sliding block (57) and is mounted on the second mounting frame (21) is arranged in the cavity;
a straight groove which is vertical along the direction of the second base body (2) and a chute which is positioned at the downstream of the straight groove and is obliquely communicated with the straight groove along the direction of the second free body (54) are arranged on the third clamping plate (22), and a first sliding part (58) of the first driving mechanism (5) slides in the chute and/or the straight groove;
the third clamping plate (22) and the fourth clamping plate (23) form a mirror symmetry structure;
the clamping device is characterized in that a third clamping plate (22) is provided with a third clamping claw (41), a fourth clamping plate (23) is provided with a fourth clamping claw (42) matched with the third clamping claw (41), and the third clamping claw (41) and the fourth clamping claw (42) form a second clamping mechanism (4).
9. The pole-climbing machine device of claim 7,
at least one side surface of the first holding claw (31) is provided with an elastic adjusting piece for controlling the first holding claw (31) to stretch and adjust along the axial direction of the rod body to be operated;
at least one side surface of the second holding claw (32) is provided with an elastic adjusting piece for controlling the second holding claw (32) to stretch and adjust along the axial direction of the rod body to be operated;
the elastic adjusting piece adopts an elastic adjusting piece or a tension adjusting piece;
a protective layer is arranged on the surface of the first holding claw (31) or the second holding claw (32);
the protective layer is at least one of a flexible layer, an elastic layer and a grid layer, or
The protective layer is at least one of a fiber layer, a rubber layer and a plastic layer.
10. The pole-climbing machine device of claim 8,
at least one side surface of the third holding claw (41) is provided with an elastic adjusting piece for controlling the third holding claw (41) to stretch and adjust along the axial direction of the rod body to be operated;
at least one side surface of the fourth holding claw (42) is provided with an elastic adjusting piece for controlling the fourth holding claw (42) to stretch and adjust along the axial direction of the rod body to be operated;
the elastic adjusting piece adopts an elastic adjusting piece or a tension adjusting piece;
a protective layer is arranged on the surface of the third holding claw (41) or the fourth holding claw (42);
the protective layer is at least one of a flexible layer, an elastic layer and a grid layer, or
The protective layer is at least one of a fiber layer, a rubber layer and a plastic layer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920391843.7U CN209852456U (en) | 2019-03-26 | 2019-03-26 | Pole-climbing machine device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920391843.7U CN209852456U (en) | 2019-03-26 | 2019-03-26 | Pole-climbing machine device |
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| Publication Number | Publication Date |
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| CN209852456U true CN209852456U (en) | 2019-12-27 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112023368A (en) * | 2020-08-29 | 2020-12-04 | 杨培才 | But diversion hinders fast pole machine of climbing of friction wheel formula more |
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2019
- 2019-03-26 CN CN201920391843.7U patent/CN209852456U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112023368A (en) * | 2020-08-29 | 2020-12-04 | 杨培才 | But diversion hinders fast pole machine of climbing of friction wheel formula more |
| CN112023368B (en) * | 2020-08-29 | 2021-10-08 | 洪夏群 | But diversion hinders fast pole machine of climbing of friction wheel formula more |
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