CN211592755U - Tower column climbing robot - Google Patents
Tower column climbing robot Download PDFInfo
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- CN211592755U CN211592755U CN201922025435.2U CN201922025435U CN211592755U CN 211592755 U CN211592755 U CN 211592755U CN 201922025435 U CN201922025435 U CN 201922025435U CN 211592755 U CN211592755 U CN 211592755U
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Abstract
The utility model discloses a pylon climbing robot, include: the climbing mechanism is used for climbing along the tower column to a preset working position and is firmly attached to the tower column; the climbing mechanism comprises: the embracing arm assembly is arranged on the periphery of the tower column and is used for adapting to the range change of the diameter of the tower column; the active wheel assemblies are fixedly connected with the arm-embracing assembly, the active wheel assemblies are used for driving the climbing mechanism to climb along the outer wall of the tower column, and the arm-embracing assembly is used for providing pressing force capable of generating friction force required by climbing motion for the active wheel assemblies; and the clamping assemblies are fixedly connected with the arm embracing assembly and are used for clamping the outer wall of the tower column when the climbing mechanism is at a preset working position. The utility model discloses the equipment size is less, and weight is lighter, and the good reliability installs and removes the convenience, and the transition is quick, and is efficient.
Description
Technical Field
The utility model relates to a technical field of column robot especially relates to a column climbing robot.
Background
When the high altitude of cylindrical or square cross section column objects such as tall and big fan tower column, street lamp, bill-board stand column, chimney need be maintained, it is difficult to reach, often need use large-scale hoisting equipment, and the cost is higher.
In view of the above circumstances, some climbing robots appear in the art, which move along the axis of the tower column by alternately holding the tower column tightly or are adsorbed on the wall surface of the tower column with ferromagnetic magnetic force by magnetic force, have a complex structure, have low climbing efficiency or have a small effective load, and cannot meet the requirement of maintenance and hoisting of large-scale tower columns.
Disclosure of Invention
The climbing robot aims at providing the tower climbing robot, the equipment size is small, the weight is light, the reliability is good, the assembly and disassembly are convenient, the transition is quick, the efficiency is high, the lifting or maintenance operation is carried out by using maintenance equipment such as lifting equipment, detection, cleaning and spraying which are carried by the climbing robot, the efficiency is high, and the cost is low.
The specific technical scheme is as follows:
a tower climbing robot, comprising: the climbing mechanism is used for climbing along a tower column to a preset working position and is firmly attached to the tower column;
the climbing mechanism comprises:
the embracing arm assembly is arranged on the periphery of the tower column and is used for adapting to the range change of the diameter of the tower column;
the active wheel assemblies are fixedly connected with the arm embracing assembly, the active wheel assemblies are used for driving the climbing mechanism to climb along the outer wall of the tower column, and the arm embracing assembly is used for providing pressing force capable of generating friction force required by climbing motion for the active wheel assemblies;
the clamping assemblies are fixedly connected with the arm embracing assembly and used for clamping the outer wall of the tower column when the climbing mechanism is at the preset working position.
The tower climbing robot further comprises: the hydraulic winches are arranged on the climbing mechanism and used for drawing the hoisting device to ascend and descend along the tower column.
The tower climbing robot comprises: the telescopic arm and the corner boxes are arranged at intervals and are sequentially connected to form an annular frame.
Foretell pylon climbing robot, wherein, each flexible arm all includes:
one end of each of the two first arms is detachably connected with the two adjacent corner boxes respectively;
one ends of the two second arms are respectively movably connected with the other ends of the two first arms, and the other ends of the two second arms are fixedly connected;
the two telescopic oil cylinders are respectively arranged in the two second arms, one ends of the two telescopic oil cylinders are respectively fixedly connected with the other ends of the two second arms, and the other ends of the two telescopic oil cylinders respectively extend into the other ends of the two first arms and are respectively fixedly connected with the two first arms.
Foretell pylon climbing robot, wherein, each telescopic arm still includes: and the two mechanical locking devices are respectively used for locking the two second arms and the two first arms.
Foretell pylon climbing robot, wherein, each telescopic arm still includes: the two hydraulic locking devices are respectively arranged in oil paths of the two telescopic oil cylinders and are respectively used for hydraulically locking the two telescopic oil cylinders.
The tower climbing robot as described above, wherein each of the driving wheel assemblies comprises:
the frame is fixedly connected with the arm-embracing component;
the two driving mechanisms are arranged on the frame;
and the two wheels are in transmission connection with the two driving mechanisms respectively.
Foretell pylon climbing robot, wherein, each the centre gripping subassembly all includes:
the support is fixedly connected with the arm-holding assembly;
the middle part of the balance beam is rotationally connected with the support;
one ends of the two clamping oil cylinders are respectively and fixedly connected with two ends of the balance beam;
and the two clamping blocks are respectively and fixedly connected with the other ends of the two clamping oil cylinders.
The tower climbing robot comprises: the four telescopic arms and the four corner boxes are arranged at intervals and are sequentially connected to form a square frame; the driving wheel assemblies and the clamping assemblies are fixedly connected with the four corner boxes or the four telescopic arms respectively; the driving wheel assemblies are four, and the four driving wheel assemblies are respectively and fixedly connected with the four corner boxes or the four telescopic arms; the clamping assemblies are eight clamping assemblies which are fixedly connected with the four corner boxes or the four telescopic arms respectively, and every two clamping assemblies are located on two sides of one driving wheel assembly respectively.
The tower climbing robot comprises:
the guide rollers are arranged on the outer wall of the arm-holding component at equal intervals along the periphery of the arm-holding component;
the two hydraulic winding wheels are arranged on the outer wall of the arm-embracing component and are positioned between any two adjacent guide rollers;
and each rope is in transmission connection with the four guide rollers and the two hydraulic winding wheels.
Compared with the prior art, the technical scheme has the positive effects that:
the utility model discloses a wheeled roll, the climbing is steady high-efficient, and scalable armful arm subassembly of square frame shape adopts dual fail-safe locking, and the good reliability, the equipment size is less, and weight is lighter, installs and removes the convenience, and the transition is quick, and is efficient, hoists or maintains the operation with maintenance equipment such as lifting device, detection, washing, spraying that it carried, and is efficient, and the cost is lower, the utility model discloses can set up lifting device or detection maintenance equipment from climbing the circular or square variable cross section's of big top at the bottom of the climbing pylon.
Drawings
Fig. 1 is a schematic view of the overall structure of a tower climbing robot of the present invention;
fig. 2 is a schematic structural diagram of a first embodiment of an arm embracing assembly in a tower climbing robot according to the present invention;
fig. 3 is a schematic structural diagram of an active wheel assembly in a tower climbing robot according to the present invention;
fig. 4 is a schematic structural view of a clamping assembly in the tower climbing robot of the present invention;
fig. 5 is a schematic structural diagram of a second embodiment of an arm embracing assembly in a tower climbing robot according to the present invention;
in the drawings: 1. a climbing mechanism; 2. a hydraulic winch; 11. an arm embracing component; 111. a telescopic arm; 112. a corner box; 12. an active wheel assembly; 121. a frame; 122. a drive mechanism; 123. a wheel; 13. a clamping assembly; 131. a support; 132. a balance beam; 133. clamping the oil cylinder; 134. a clamping block; 51. a first arm; 52. a second arm; 53. a telescopic oil cylinder; 17. a guide roller; 18. a hydraulic reel; 19. a rope.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific embodiments, but the present invention is not limited thereto.
The first embodiment:
fig. 1 is the utility model relates to an overall structure schematic diagram of column climbing robot, fig. 2 is the utility model relates to a structural schematic diagram of the first embodiment of armful arm subassembly in column climbing robot, fig. 3 is the utility model relates to a structural schematic diagram of initiative wheel subassembly in column climbing robot, fig. 4 is the utility model relates to a structural schematic diagram of centre gripping subassembly in column climbing robot, as shown in fig. 1 to fig. 4, shown a column climbing robot of preferred embodiment, include: climbing mechanism 1, climbing mechanism 1 is used for climbing along the pylon to the predetermined work position, and the firm attached on the pylon.
Further, as a preferred embodiment, climbing mechanism 1 comprises: one hold arm assembly 11, a plurality of initiative wheel subassembly 12 and a plurality of centre gripping subassembly 13, hold arm assembly 11 and locate the periphery of pylon, hold arm assembly 11 and be used for adapting to the range change of the diameter of pylon, a plurality of initiative wheel subassembly 12 all with the inner wall fixed connection who holds arm assembly 11, a plurality of initiative wheel subassemblies 12 are used for driving climbing mechanism and climb along the outer wall of pylon, and hold arm assembly 11 and be used for providing the packing force that can produce the required frictional force of climbing motion for initiative wheel subassembly, a plurality of centre gripping subassemblies 13 all with the inner wall fixed connection who holds arm assembly 11, a plurality of centre gripping subassemblies 13 are used for climbing mechanism 1 to press from both sides the outer wall of pylon when predetermined operating position.
Further, as a preferred embodiment, the tower climbing robot further includes: a plurality of hydraulic winch 2, on climbing mechanism 1 was all located to a plurality of hydraulic winch 2, a plurality of hydraulic winch 2 were used for drawing hoisting apparatus along the pylon lift.
Further, as a preferred embodiment, the tower climbing robot further includes: the operation platform is arranged on the climbing mechanism 1 and used for providing a working platform for the maintenance of the tower climbing robot or the tower.
Further, as a preferred embodiment, the arm embracing assembly comprises: a plurality of flexible arms 111 and a plurality of corner case 112, a plurality of flexible arms 111 and a plurality of corner case 112 interval set up, and connect gradually and form annular frame.
Further, as a preferred embodiment, the arm embracing assembly comprises: four telescopic boom 111 and four corner box 112, four telescopic boom 111 and four corner box 112 interval set up, and connect gradually and form square frame.
Further, as a preferred embodiment, each telescopic arm 111 comprises: two first arms 51, two second arms 52 and two flexible hydro-cylinders 53, the one end of two first arms 51 can be dismantled with two adjacent corner casees 112 respectively and be connected, the one end of two second arms 52 respectively with the other end swing joint of two first arms 51, the other end fixed connection of two second arms 52, two flexible hydro-cylinders 53 are located respectively in two second arms 52, the one end of two flexible hydro-cylinders 53 respectively with the other end fixed connection of two second arms 52, the other end of two flexible hydro-cylinders 3 stretches into the other end of two first arms 51 respectively, and respectively with two first arms 51 fixed connection.
The above is merely an example of the preferred embodiments of the present invention, and the embodiments and the protection scope of the present invention are not limited thereby.
The utility model discloses still have following embodiment on above-mentioned basis:
in a further embodiment of the present invention, please continue to refer to fig. 1 to 4, each telescopic arm 111 further includes: two mechanical locking devices for locking the two second arms 52 and the two first arms 51, respectively.
The utility model discloses a in the further embodiment, two hydraulic locking device locates two respectively in telescopic cylinder 53's the oil circuit, two hydraulic locking device is used for hydraulic locking two respectively telescopic cylinder 53.
Preferably, the hydraulic locking device is a balanced valve or a hydraulic lock with a hydraulic locking function.
Preferably, the mechanical locking device can be a mechanical locking device built in the hydraulic cylinder, and can also be a wedge block mechanism or a locking mechanism such as a gear rack acting between the first arm and the second arm.
Preferably, the arm embracing component 11 is provided with a pressure sensor, a displacement sensor and an inclination angle sensor.
In a further embodiment of the present invention, each active wheel assembly 12 includes: the frame 121 is fixedly connected with the inner wall of the arm embracing component 11, the two driving mechanisms 122 are arranged on the frame 121, and the two wheels 123 are respectively in transmission connection with the two driving mechanisms 122.
Preferably, the wheels 123 are solid tires, and the driving mechanism 122 is a hydraulic motor or a reduction motor with a brake and a speed sensor.
In a further embodiment of the present invention, each clamping assembly 13 comprises: the arm component comprises a support 131, a balance beam 132, two clamping oil cylinders 133 and two clamping blocks 134, wherein the support 131 is fixedly connected with the inner wall of the arm component 11, the middle part of the balance beam 132 is rotatably connected with the support 131, one ends of the two clamping oil cylinders 133 are respectively fixedly connected with two ends of the balance beam 132, and the two clamping blocks 134 are respectively fixedly connected with the other ends of the two clamping oil cylinders 133.
Preferably, a front end flange of the clamping cylinder 133 is connected to the balance beam 132, and a piston rod of the clamping cylinder 133 is connected to the clamping block 134.
In a further embodiment of the present invention, the driving wheel assemblies 12 and the clamping assemblies 13 are respectively fixedly connected to the rectangular box 112 or the four telescopic arms 111.
In a further embodiment of the present invention, the driving wheel assemblies 12 are four driving wheel assemblies 12, and the four driving wheel assemblies 12 are respectively fixedly connected to the four corner boxes 112 or the four telescopic arms 111.
The utility model discloses a further embodiment, a plurality of centre gripping subassemblies 13 are eight centre gripping subassemblies 13, and eight centre gripping subassemblies 13 respectively with four corner case 112 or four telescopic arm 111 fixed connection, and per two centre gripping subassemblies 13 are located the both sides of an initiative wheel subassembly 12 respectively.
Second embodiment:
fig. 5 is a schematic structural diagram of a second embodiment of an arm embracing assembly in a tower climbing robot, as shown in fig. 5, the second embodiment is the same as the main structure of the first embodiment, and the difference is that: the arm embracing assembly 11 further comprises: a plurality of guide idler wheels 17, two hydraulic pressure winding wheels 18 and two at least ropes 19, a plurality of guide idler wheels 17 all locate and embrace the outer wall of arm subassembly 1, and a plurality of guide idler wheels 17 are equidistant along embracing the periphery of arm subassembly 11 and set up, and two hydraulic pressure winding wheels 18 all locate and embrace the outer wall of arm subassembly 11, and two hydraulic pressure winding wheels 18 all are located between arbitrary two adjacent guide idler wheels 17, and each rope 19 is connected with four guide idler wheels 17, two hydraulic pressure winding wheels 18 transmission respectively. Preferably, the hydraulic reel 18 is provided with a brake.
Preferably, the cord 19 is a flexible cord.
Preferably, the four guide rollers 17 are arranged at equal intervals along the outer circumference of the arm embracing assembly 11.
The utility model discloses tighten up the rope 19 that winds on four leading wheel 17 of the periphery of embracing arm subassembly 11 with hydraulic pressure reel 18 and bring and realize the shrink action.
Preferably, the service life of the arm-embracing component can be prolonged by two or more ropes, and the two or more ropes are arranged in parallel.
When climbing a tower column with a circular cross section, the driving wheel assembly 12 and the clamping assembly 13 are respectively connected with the corner box 112; when climbing a tower with a square cross section, the driving wheel assembly 12 and the clamping assembly 13 are respectively connected with the telescopic arm 111.
The utility model discloses when using, embrace arm subassembly shrink and make initiative wheel subassembly 12 compressed tightly on the outer wall of king-post, initiative wheel subassembly 12 rolls in succession along the king-post and climbs to the top of king-post, and the outer wall of the tight king-post in centre gripping subassembly 13 action top recycles the hydraulic winch hoist and mount operation of setting on climbing mechanism 1.
The utility model discloses a wheeled continuous roll, the steady high efficiency of climbing motion, hydraulic winch 2 play to rise efficiency also higher.
The utility model discloses embrace arm subassembly and adopt hydraulic pressure locking and mechanical locking dual fail-safe, the reliability is high, and but adaptive tower column diameter variation range is big, strong adaptability.
The utility model discloses the dead weight is lighter, and the equipment size is less, and the dismouting is changed a yard conveniently, and work efficiency is high, can be used to scramble cylindrical or square cross section's column form such as tall and big fan tower section of thick bamboo, street lamp, bill-board stand, chimney, then hoists or maintains the operation with its lifting equipment or the detection maintenance equipment that carries.
The above description is only an example of the preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and those skilled in the art should be able to realize the equivalent alternatives and obvious variations of the present invention.
Claims (10)
1. A tower climbing robot, comprising: the climbing mechanism is used for climbing along a tower column to a preset working position and is firmly attached to the tower column;
the climbing mechanism comprises:
the embracing arm assembly is arranged on the periphery of the tower column and is used for adapting to the range change of the diameter of the tower column;
the active wheel assemblies are fixedly connected with the arm embracing assembly, the active wheel assemblies are used for driving the climbing mechanism to climb along the outer wall of the tower column, and the arm embracing assembly is used for providing pressing force capable of generating friction force required by climbing motion for the active wheel assemblies;
the clamping assemblies are fixedly connected with the arm embracing assembly and used for clamping the outer wall of the tower column when the climbing mechanism is at the preset working position.
2. The tower climbing robot of claim 1, further comprising: the hydraulic winches are arranged on the climbing mechanism and used for drawing the hoisting device to ascend and descend along the tower column.
3. The tower climbing robot of claim 1, wherein the arm assembly comprises: the telescopic arm and the corner boxes are arranged at intervals and are sequentially connected to form an annular frame.
4. The tower climbing robot of claim 3, wherein each of the telescoping arms comprises:
one end of each of the two first arms is detachably connected with the two adjacent corner boxes respectively;
one ends of the two second arms are respectively movably connected with the other ends of the two first arms, and the other ends of the two second arms are fixedly connected;
the two telescopic oil cylinders are respectively arranged in the two second arms, one ends of the two telescopic oil cylinders are respectively fixedly connected with the other ends of the two second arms, and the other ends of the two telescopic oil cylinders respectively extend into the other ends of the two first arms and are respectively fixedly connected with the two first arms.
5. The tower climbing robot of claim 4, wherein each of the telescoping arms further comprises: and the two mechanical locking devices are respectively used for locking the two second arms and the two first arms.
6. The tower climbing robot of claim 4, wherein each of the telescoping arms further comprises: the two hydraulic locking devices are respectively arranged in oil paths of the two telescopic oil cylinders and are respectively used for hydraulically locking the two telescopic oil cylinders.
7. The tower climbing robot of claim 1, wherein each of the active wheel assemblies comprises:
the frame is fixedly connected with the arm-embracing component;
the two driving mechanisms are arranged on the frame;
and the two wheels are in transmission connection with the two driving mechanisms respectively.
8. The tower climbing robot of claim 1, wherein each of the clamping assemblies comprises:
the support is fixedly connected with the arm-holding assembly;
the middle part of the balance beam is rotationally connected with the support;
one ends of the two clamping oil cylinders are respectively and fixedly connected with two ends of the balance beam;
and the two clamping blocks are respectively and fixedly connected with the other ends of the two clamping oil cylinders.
9. The tower climbing robot of claim 3, wherein the arm assembly comprises: the four telescopic arms and the four corner boxes are arranged at intervals and are sequentially connected to form a square frame; the driving wheel assemblies and the clamping assemblies are fixedly connected with the four corner boxes or the four telescopic arms respectively; the driving wheel assemblies are four, and the four driving wheel assemblies are respectively and fixedly connected with the four corner boxes or the four telescopic arms; the clamping assemblies are eight clamping assemblies which are fixedly connected with the four corner boxes or the four telescopic arms respectively, and every two clamping assemblies are located on two sides of one driving wheel assembly respectively.
10. The tower climbing robot of claim 3, wherein the arm assembly further comprises:
the guide rollers are arranged on the outer wall of the arm-holding component at equal intervals along the periphery of the arm-holding component;
the two hydraulic winding wheels are arranged on the outer wall of the arm-embracing component and are positioned between any two adjacent guide rollers;
and each rope is in transmission connection with the four guide rollers and the two hydraulic winding wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922025435.2U CN211592755U (en) | 2019-11-21 | 2019-11-21 | Tower column climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922025435.2U CN211592755U (en) | 2019-11-21 | 2019-11-21 | Tower column climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211592755U true CN211592755U (en) | 2020-09-29 |
Family
ID=72588599
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922025435.2U Active CN211592755U (en) | 2019-11-21 | 2019-11-21 | Tower column climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211592755U (en) |
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2019
- 2019-11-21 CN CN201922025435.2U patent/CN211592755U/en active Active
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