CN211869358U - Autonomous climbing device capable of carrying application device on rack and having overload protection function - Google Patents
Autonomous climbing device capable of carrying application device on rack and having overload protection function Download PDFInfo
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- CN211869358U CN211869358U CN202020032888.8U CN202020032888U CN211869358U CN 211869358 U CN211869358 U CN 211869358U CN 202020032888 U CN202020032888 U CN 202020032888U CN 211869358 U CN211869358 U CN 211869358U
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Abstract
The autonomous climbing device capable of carrying the application device and having the overload protection function is characterized in that the application device is carried on a shell, a battery, a controller, a motor, a front crawler wheel and a rear crawler wheel are arranged in the shell, the front crawler wheel and the rear crawler wheel are connected through a crawler, the motor drives the front crawler wheel or the rear crawler wheel, a plurality of adsorption pieces are arranged on the crawler, a web plate at the belly of the shell is provided with an elongated slot, the end part of each adsorption piece on the crawler passes through the elongated slot and extends out of the web plate when passing through the elongated slot, an antenna for receiving wireless signals is arranged outside the shell, the battery is electrically connected with the controller, the controller is respectively and electrically connected with the application device, the antenna and the overload protector, and the overload protector is electrically connected with the motor. The application device is a monitor, a lighting lamp, a signaler, a sonar, a radar or an infrared detector or a plurality of combinations thereof, provides public security monitoring, lighting or wireless signals for people, and meets the requirements of emergency monitoring, lighting or communication, or detects some information of a place where the incident happens, and the like.
Description
Technical Field
The utility model belongs to the technical field of emergency device in aspects such as public security, fire control, rescue, specifically relate to a can put on shelf application device and possess the autonomic climbing device of overload protection function.
Background
In the fields of public security, fire fighting, rescue and the like, sometimes application devices such as monitors, illuminating lamps, annunciators, sonars, radars or infrared detectors or a plurality of combinations thereof and the like need to be temporarily erected to provide public security monitoring, illumination or wireless signals for people, meet the requirements of emergency monitoring, illumination or communication, or detect some information of an incident site and the like. The application devices are usually erected at a certain height position, and lamp poles, telegraph poles or smooth-surfaced high-rise outer wall surfaces in the erection site are good choices. In order to erect the application device, a device capable of automatically climbing along a lamp pole, a telegraph pole or a smooth outer wall surface of a high building needs to be developed and designed, and the application device is erected on the self-climbing device. An autonomous lifting monitoring robot (patent No. 201510887939.9, application date: 2016.02.24) discloses a pole climbing device, which clamps a cylindrical lamp pole or telegraph pole by using a clamping device, and drives a silica gel wheel to rotate by a direct current motor so as to enable the lamp pole or telegraph pole to ascend or descend. Such climbing pole devices are complicated in structure, require a large number of parts to control, must provide a large clamping force, and are limited in that they cannot climb the pole on smooth-surfaced high-rise exterior walls and thicker poles. The patent "can put up the autonomous climbing device of carrying application device" (patent number: 201820837348.X, application date: 2018.05.31), because the motor lacks the overload protection mechanism, when climbing device meets the obstacle in the in-service use, the motor will block the commentaries on classics, cause the electric energy to be wasted, also easy damage motor, shorten motor life-span, this application improves on this basis, make climbing device have the overload protection function.
Disclosure of Invention
The utility model mainly solves the technical problem existing in the prior art and provides an autonomous climbing device which can be used for carrying application devices and has the function of overload protection.
The above technical problem of the present invention can be solved by the following technical solutions: the autonomous climbing device comprises a shell, wherein an application device is erected on the shell, a battery, a controller, a motor, a front crawler wheel and a rear crawler wheel are arranged in the shell, the front crawler wheel and the rear crawler wheel are connected through a crawler, the motor drives the front crawler wheel or the rear crawler wheel, a plurality of adsorption pieces are arranged on the crawler, a web plate at the belly of the shell is provided with a long groove, when the adsorption pieces on the crawler pass through the long groove, the end part of the adsorption pieces penetrates through the long groove and extends out of the web plate, an antenna for receiving wireless signals is arranged outside the shell, the battery is electrically connected with the controller, the controller is respectively electrically connected with the application device, the antenna and an overload protector, and the overload protector is electrically connected with the motor.
Preferably, the tail end of the shell is provided with a tail plate, the two ends of the tail plate are provided with clamping plates through hinge shafts, the inner sides of the two clamping plates, which are opposite, are provided with clamping wheels, the clamping wheels on the clamping plates are arranged oppositely, and the force application mechanism provides clamping force for the two clamping plates, so that the two clamping plates are clamped on a climbing pole, and therefore the two clamping plates can be lifted stably and prevented from falling.
Preferably, a torsion spring is arranged on a hinge shaft of the hinged clamping plates at the two ends of the tail plate, and the torsion spring provides clamping force for the two clamping plates.
Preferably, the hinge shafts of the hinged clamping plates at the two ends of the tail plate are output shafts of the servo motors, the servo motors are fixed on the tail plate, the clamping plates are fixed on the output shafts of the servo motors, the servo motors drive the two clamping plates to be clamped and separated, the servo motors provide clamping force for the two clamping plates, a speed sensor is arranged in the shell, and the speed sensor and the servo motors are both electrically connected with the controller.
Preferably, the clamping wheel is a shaftless spherical universal wheel which can adapt to the surface irregular pole.
Preferably, the adsorption part is a vacuum chuck, a permanent magnet or an electromagnet, a distance measuring sensor is arranged in the middle of the upper front end of a web plate of the shell, and coils in the distance measuring sensor and the electromagnet adsorption part are electrically connected with the controller.
Preferably, a reducer is further arranged between the motor and the front crawler wheel or the rear crawler wheel in the shell, the motor drives a pinion in the reducer, the pinion is meshed with a large gear which is in linkage with the front crawler wheel or the rear crawler wheel, and therefore the motor drives the front crawler wheel or the rear crawler wheel.
Preferably, the application device is a monitor, a lighting lamp, an annunciator, a sonar, a radar or an infrared detector or a combination of a plurality of the above devices, so as to provide security monitoring, lighting or wireless signals for people, meet the needs of emergency monitoring, lighting or communication, or detect some information of the incident site.
Preferably, the lifting lugs are arranged on two sides of the front end of the shell, the self-climbing device is convenient to move through the lifting lugs, or the self-climbing device is lifted at a proper position, or a protection rope for enclosing the pole is connected between the two lifting lugs when the self-climbing device automatically climbs along the pole, and when the self-climbing device falls due to accident factors such as aftershock and strong wind, the self-climbing device can fall along the pole, so that other people and objects are prevented from being injured by smashing.
During the use, will the utility model discloses on arranging lamp pole, wire pole or the smooth high building outer wall surface in, via radio signal starting motor corotation, the device of independently climbing can be put up and is carried application device and upwards climb, climbs suitable position and close the motor via radio signal again, and application device is erect by the climbing device and finishes, via radio signal starting motor reversal after the end, and the device of independently climbing can be put up and is carried application device and climb down. In special occasion, for example high-risk district, the utility model discloses can also combine intelligent translation dolly to use, will by intelligent translation dolly the utility model discloses suitable position in transport to the scene.
In the climbing or descending process, the overload protector detects the current of the motor in real time, when the current exceeds a threshold value (such as 4A), the climbing device is considered to encounter an obstacle, the motor is in a locked-rotor state, the overload protector cuts off a motor circuit, corresponding information prompt is given to an operator on a remote controller through a controller and an antenna, the operator can control the climbing device to move reversely or continue to move forwards after the obstacle is removed, and the overload protector is added, so that the climbing device has an overload protection function, the battery power can be saved, the motor is protected, and the service life of the motor is prolonged.
The utility model discloses choose for use vacuum chuck, permanent magnet or electro-magnet as adsorbing the piece, set up on the track via motor drive, the track rotates behind the received signal and drives and adsorb a turnover number of turns and adsorb on lamp pole, wire pole or the smooth high building outer wall face in surface, make the utility model discloses can independently climb or descend. Independently climb the distance between range sensor real-time measurement web and the belly object when rising, just automatic stop when being greater than the setting value (for example 1 centimetre) and climb to climb over the upper end of lamp pole, wire pole or the smooth high building outer wall face in surface, thereby cause the utility model discloses fall the damage. When needs climb the post, the casing afterbody provides the clamping-force for two splint by application of force mechanism, makes the utility model discloses the centre gripping is on the post that climbs, and one goes up and down steadily, prevents to fall for two, when needs climb smooth-surfaced high building outer wall face, must relax splint, the utility model discloses only rely on the absorption piece to adsorb independently climb on smooth-surfaced high building outer wall face. The application devices mounted on the front end of the shell, such as a monitor, a lighting lamp, an annunciator, a sonar, a radar or an infrared detector or a plurality of combinations thereof, provide public security monitoring, lighting or wireless signals for people, meet the requirements of emergency monitoring, lighting or communication, or detect some information of a place where the incident happens, and the like.
Drawings
Fig. 1 is a schematic perspective view of the present invention;
fig. 2 is a schematic view of an internal structure of the present invention;
fig. 3 is a schematic bottom view of the present invention;
fig. 4 is a schematic diagram of a circuit structure according to the present invention.
In the figure, 1-shell, 2-back plate, 3-application device, 4-antenna, 5-lifting lug, 6-tail plate, 7-clamping plate, 8-clamping wheel, 9-motor, 10-speed reducer, 11-pinion, 12-bull gear, 13-front crawler wheel, 14-rear crawler wheel, 15-crawler belt, 16-adsorption piece, 17-web plate, 18-hinge shaft, 19-battery, 20-controller and 21-overload protector.
Detailed Description
The technical solution of the present invention is further specifically described below by way of examples and with reference to the accompanying drawings.
Example 1: referring to fig. 1-4, the utility model discloses a casing upper bracket carries the application device, and the application device is watch-dog, light, signal ware, sonar, radar or infrared detector or a plurality of combinations thereof, for people provide peace and quiet control, illumination or radio signal, satisfies the needs of emergent control, illumination or communication, or surveys some information etc. of incident place. The casing front end both sides are equipped with the lug, conveniently move autonomic climbing device through the lug, perhaps will independently climbing device lifts in appropriate position, perhaps is connected with the protection rope of encircleing the post pole between two lugs when independently climbing along the post pole, because unexpected factors such as aftershock, strong wind lead to when independently climbing device falls, and autonomic climbing device can fall along the post pole, avoids pounding other people and article. The motor drives a pinion in the reducer, the pinion is meshed with a large gear which is in linkage with the front crawler wheel or the rear crawler wheel, so that the motor drives the front crawler wheel or the rear crawler wheel, the crawler is provided with a plurality of adsorption pieces, a web plate at the belly of the shell is provided with a long groove, when the adsorption pieces on the crawler pass through the long groove, the end part of the adsorption piece penetrates through the long groove and extends out of the web plate, an antenna used for receiving a wireless signal is arranged outside the shell, the battery is electrically connected with the controller, the controller is respectively and electrically connected with an application device, the antenna and the overload protector, and the overload protector is electrically connected with the motor. Front end middle part is equipped with range sensor on the web of casing, range sensor and controller electric connection, and the distance between range sensor real-time measurement web and the belly object just stops to climb when being greater than the setting value (for example 1 centimetre) to in order to avoid climbing the upper end of crossing lamp pole, wire pole or the smooth high building wall surface in surface, thereby cause the utility model discloses fall the damage. When the adsorption piece is a vacuum chuck, the utility model discloses can climb on lamp pole, wire pole or the smooth high building outer wall surface in surface. When adsorbing the piece for permanent magnet or electro-magnet, the utility model discloses be fit for climbing on the lamp pole of iron, wire pole, as the electro-magnet that adsorbs the piece moreover, through its coil outage of controller control best, the circular telegram has magnetic force when the electro-magnet adsorbs the piece and passes through the elongated slot, cuts off the power supply and gets rid of magnetic force when the electro-magnet adsorbs the piece and leaves the elongated slot for the track operation is laborsaving and the power saving.
During the use, will the utility model discloses on arranging lamp pole, wire pole or the smooth high building outer wall surface in, via radio signal starting motor corotation, the device of independently climbing can be put up and is carried application device and upwards climb, climbs suitable position and close the motor via radio signal again, and application device is erect by the climbing device and finishes, via radio signal starting motor reversal after the end, and the device of independently climbing can be put up and is carried application device and climb down. In special occasion, for example high-risk district, the utility model discloses can also combine intelligent translation dolly to use, will by intelligent translation dolly the utility model discloses suitable position in transport to the scene.
In the climbing or descending process, the overload protector detects the current of the motor in real time, when the current exceeds a threshold value (such as 4A), the climbing device is considered to encounter an obstacle, the motor is in a locked-rotor state, the overload protector cuts off a motor circuit, corresponding information prompt is given to an operator on a remote controller through a controller and an antenna, the operator can control the climbing device to move reversely or continue to move forwards after the obstacle is removed, and the overload protector is added, so that the climbing device has an overload protection function, the battery power can be saved, the motor is protected, and the service life of the motor is prolonged.
Example 2: on embodiment 1's basis, for preventing the utility model discloses the accident is fallen, and the tail end of casing is equipped with the tailboard, and the both ends of tailboard are equipped with splint through the hinge, and two inboard that the splint are relative are equipped with the centre gripping wheel, and the centre gripping wheel on the splint sets up relatively, and the centre gripping wheel is the spherical universal wheel of shaftless, and the spherical universal wheel of shaftless can adapt to the anomalous post in surface. The force applying mechanism provides clamping force for the two clamping plates, so that the clamping plates are clamped on the climbing pole, and therefore the lifting is stable, and the falling is prevented. The force applying mechanism is a torsion spring arranged on the hinge shaft, and the torsion spring provides clamping force for the two clamping plates. The device of independently climbing of this embodiment is fit for climbing on lamp pole, wire pole, and when the device of independently climbing of this embodiment when the smooth high building outer wall face of surface ascended and climbed, must relax splint, only rely on the absorption piece to adsorb and independently climb on the smooth high building outer wall face of surface.
Example 3: on embodiment 1's basis, for preventing the utility model discloses the accident is fallen, and the tail end of casing is equipped with the tailboard, and the both ends of tailboard are equipped with splint through the hinge, and two inboard that the splint are relative are equipped with the centre gripping wheel, and the centre gripping wheel on the splint sets up relatively, and the centre gripping wheel is the spherical universal wheel of shaftless, and the spherical universal wheel of shaftless can adapt to the anomalous post in surface. The force applying mechanism provides clamping force for the two clamping plates, so that the clamping plates are clamped on the climbing pole, and therefore the lifting is stable, and the falling is prevented. The hinge shaft is the output shaft of servo motor, and force application mechanism is servo motor, and servo motor fixes on the tailboard, and splint are fixed on servo motor's output shaft, and two splint armful clamps of servo motor drive are pressed from both sides and are separated, are provided clamping-force by servo motor for two splint, are equipped with speed sensor in the casing, and speed sensor and servo motor all with controller electric connection. The autonomic climbing device of this embodiment is fit for climbing on lamp pole, wire pole, and speedtransmitter in the casing is used for detecting the speed when autonomic climbing device descends, if the falling speed stall, speedtransmitter sends a signal for the controller, and controller control servo motor suitably rotates, provides bigger clamping-force for two splint in order to slow down the falling speed, prevents the utility model discloses the damage of falling. If the self-climbing device of the embodiment is required to climb on the outer wall surface of the high-rise building with the smooth surface, the clamping plate needs to be loosened, and the self-climbing device only depends on the adsorption piece to adsorb on the outer wall surface of the high-rise building with the smooth surface to climb automatically.
Finally, it should be noted that the above embodiments are merely representative examples of the present invention. Obviously, the technical solution of the present invention is not limited to the above-described embodiments, and many variations are possible. All modifications which can be derived or suggested by a person skilled in the art from the disclosure of the invention should be considered as within the scope of the invention.
Claims (9)
1. The autonomous climbing device is characterized in that the application device is mounted on the shell, a battery, a controller, a motor, a front crawler wheel and a rear crawler wheel are arranged in the shell, the front crawler wheel and the rear crawler wheel are connected through a crawler, the motor drives the front crawler wheel or the rear crawler wheel, a plurality of adsorption pieces are arranged on the crawler, a long groove is formed in a web plate at the belly of the shell, when the adsorption pieces on the crawler pass through the long groove, the end portion of each adsorption piece penetrates through the long groove and extends out of the web plate, an antenna for receiving wireless signals is arranged outside the shell, the battery is electrically connected with the controller, the controller is respectively electrically connected with the application device, the antenna and an overload protector, and the overload protector is electrically connected with the motor.
2. The self-climbing device with overload protection function for carrying an application device according to claim 1, wherein the tail end of the casing is provided with a tail plate, the two ends of the tail plate are provided with clamping plates via a hinge shaft, the opposite inner sides of the two clamping plates are provided with clamping wheels, and the clamping wheels on the clamping plates are arranged oppositely.
3. The self-climbing device with overload protection function for carrying an application device according to claim 2, wherein the hinge shaft of the hinged clamping plates at the two ends of the tail plate is provided with a torsion spring.
4. The autonomous climbing device according to claim 2, wherein the hinge shaft of the hinged clamp plates at the two ends of the tail plate is an output shaft of a servo motor, the servo motor is fixed on the tail plate, the clamp plates are fixed on the output shaft of the servo motor, the servo motor drives the two clamp plates to clamp and separate, a speed sensor is arranged in the housing, and the speed sensor and the servo motor are both electrically connected to the controller.
5. The autonomous climbing device with overload protection function capable of carrying applications on rack as claimed in claim 2 wherein the clamping wheel is a shaftless ball castor.
6. The autonomous climbing device capable of carrying applications on shelves and having an overload protection function according to claim 1 or 2, characterized in that the adsorption member is a vacuum chuck, a permanent magnet or an electromagnet, a distance measuring sensor is arranged in the middle of the front end of the web plate of the housing, and the distance measuring sensor and the coil in the electromagnet adsorption member are both electrically connected with the controller.
7. The autonomous climbing device according to claim 1 or 2, wherein a decelerator is further provided between the motor and the front crawler wheel or the rear crawler wheel in the housing, and the motor drives a pinion gear in the decelerator, the pinion gear engaging with a large gear linked with the front crawler wheel or the rear crawler wheel, whereby the motor drives the front crawler wheel or the rear crawler wheel.
8. The autonomous climbing device with overload protection function capable of carrying application devices according to claim 1 or 2 is characterized in that the application devices are monitors, lighting lamps, annunciators, sonars, radars or infrared detectors or some combination thereof.
9. The autonomous climbing device with overload protection function capable of carrying applications on rack as claimed in claim 1 or 2 is characterized in that lifting lugs are arranged at two sides of the front end of the housing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020032888.8U CN211869358U (en) | 2020-01-08 | 2020-01-08 | Autonomous climbing device capable of carrying application device on rack and having overload protection function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020032888.8U CN211869358U (en) | 2020-01-08 | 2020-01-08 | Autonomous climbing device capable of carrying application device on rack and having overload protection function |
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| CN211869358U true CN211869358U (en) | 2020-11-06 |
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| CN202020032888.8U Active CN211869358U (en) | 2020-01-08 | 2020-01-08 | Autonomous climbing device capable of carrying application device on rack and having overload protection function |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113978254A (en) * | 2021-10-25 | 2022-01-28 | 南京理工大学 | Safety overload control method for crawler-type remote control robot chassis motor driving system |
-
2020
- 2020-01-08 CN CN202020032888.8U patent/CN211869358U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113978254A (en) * | 2021-10-25 | 2022-01-28 | 南京理工大学 | Safety overload control method for crawler-type remote control robot chassis motor driving system |
| CN113978254B (en) * | 2021-10-25 | 2024-05-07 | 南京理工大学 | Safe overload control method for chassis motor driving system of crawler-type remote control robot |
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