CN212243610U - Climbing robot and climbing structure - Google Patents
Climbing robot and climbing structure Download PDFInfo
- Publication number
- CN212243610U CN212243610U CN202021511436.4U CN202021511436U CN212243610U CN 212243610 U CN212243610 U CN 212243610U CN 202021511436 U CN202021511436 U CN 202021511436U CN 212243610 U CN212243610 U CN 212243610U
- Authority
- CN
- China
- Prior art keywords
- climbing robot
- hss
- box
- power box
- climbing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a climbing robot, climbing structure. Wherein, climbing robot is including control box, headstock, power box and the bearer box that from top to bottom sets gradually, control box and headstock with the power box electricity is connected, the control box is steerable the headstock drives the bearer box scrambles on the HSS guide rail. The utility model discloses climbing robot passes through the modular design for it has simple structure, advantage with low costs.
Description
Technical Field
The utility model relates to a climbing robot field especially relates to a climbing robot, climbing structure.
Background
The aluminum alloy rails produced by the swiss hss (high step systems) are made of anodized aluminum alloy and can be put into use for a long time under severe weather conditions. Such a complex appearing guide rail is strong and durable and can withstand loads of up to 12 tonnes per 6 metres. The guide rails successfully survived the tests on high ground, snow, ice and bad sea climate. The guide rail is generally maintenance-free, is very strong and still bendable, and can be bent freely according to the shape of a building at a use place. The wind power generation tower is widely applied to the aspects of transmission line iron towers, wind power generation towers, building industries, communication towers, fire rescue and the like.
The existing climbing equipment based on the HSS guide rail is roughly divided into two types, one is a climbing device based on manpower climbing, and the other is a climbing device realized through electric driving. However, the existing climbing device realized by electric power has the disadvantages of complex structure, high cost and inconvenient disassembly, assembly and carrying.
Therefore, the technical personnel in the field are dedicated to develop a climbing robot with simple structure, low cost and convenient assembly, disassembly and carrying.
SUMMERY OF THE UTILITY MODEL
In view of the above-mentioned defects in the prior art, the technical problem to be solved in the present invention is to provide a climbing robot with a simple structure.
In order to achieve the purpose, the utility model provides a climbing robot, including control box, headstock, power supply box and the bearer box that from top to bottom sets gradually, control box and headstock with the power supply box electricity is connected, the control box is steerable the headstock drives the bearer box scrambles on the HSS guide rail.
Preferably, the power box comprises a rack, two driving motors symmetrically arranged on the rack, a speed reducer connected to the output ends of the driving motors, and a driving gear, wherein the driving gear can be meshed with a rack of the HSS guide rail;
the rotary guide module comprises a rolling wheel which can be matched with the front surface of the HSS guide rail and a holding device which can hold the HSS guide rail tightly;
preferably, the clasping device comprises a housing hinged on the rack, an eccentric shaft fixedly connected on the housing, and a clasping wheel arranged on the eccentric shaft, wherein the clasping wheel can be matched with the back of the HSS guide rail;
the two ends of the shell are provided with corresponding limiting holes, keys and a combined pin shaft are arranged in the limiting holes, the combined pin shaft comprises a supporting block, a limiting block arranged on the supporting block and a linkage pin, and the linkage pin at one end of the shell penetrates through the supporting block at the other end of the shell and is fixedly connected with the keys at the other end of the shell;
a return spring is arranged between the supporting block and the key;
the machine frame is provided with a convex limiting boss, an articulated shaft penetrates through the limiting boss, two ends of the shell are provided with articulated parts in sliding fit with the articulated shaft, and the limiting blocks can abut against the limiting boss when the two supporting blocks move oppositely;
preferably, a brake with a manual release lever is arranged on one of the driving motors.
Preferably, the carrying box is provided with another rotary guiding module.
Preferably, the control box comprises a control box body fixedly connected with the power box, a display screen arranged on the control box body, a state selection switch, an emergency brake switch, an operating rod and a handle.
Preferably, the power box comprises a power box body, a battery arranged on the power box body, a charging plug and an aviation plug connected with the power box.
Preferably, the bearing box comprises a bearing box body and a clamping piece for clamping two pedal sheets,
the bearing box body is provided with a slide rail connecting piece, and the two pedal sheets are in sliding fit with the slide rail connecting piece;
a limiting groove is formed in the slide rail connecting piece, and a limiting plunger matched with the limiting groove is arranged on the pedal;
the clamping piece comprises two connecting rods capable of rotating relatively, and positioning grooves for the pedal pieces to be inserted are formed in the connecting rods.
The utility model also provides a climbing structure, including the HSS guide rail, be equipped with foretell climbing robot on the HSS guide rail, the both ends of HSS guide rail are equipped with the stopper.
The utility model has the advantages that: the utility model discloses climbing robot passes through the modular design for it has simple structure, advantage with low costs.
Drawings
Fig. 1 is a schematic structural view of a climbing robot according to an embodiment of the present invention.
Fig. 2 is a schematic structural view of a power box in the climbing robot according to a specific embodiment of the present invention.
Fig. 3 is a schematic structural view of a frame of a power box in the climbing robot according to an embodiment of the present invention.
Fig. 4 is a schematic structural view of a holding device of a power box in the climbing robot according to a specific embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a housing of a holding device in a climbing robot according to an embodiment of the present invention.
Fig. 6 is a bottom view of fig. 5.
Fig. 7 is a schematic view of the connection structure between the key and the combined pin of the clasping device in the climbing robot according to the embodiment of the present invention.
Fig. 8 is a schematic structural view of a combined pin shaft of a holding device in a climbing robot according to a specific embodiment of the present invention.
Fig. 9 is a schematic structural view of an eccentric shaft of a clasping device in a climbing robot according to an embodiment of the present invention.
Fig. 10 is a schematic view of a connection structure between an eccentric shaft and a clasping wheel of a clasping device in a climbing robot according to an embodiment of the present invention.
Fig. 11 is a schematic structural view of the clasping wheel of the clasping device in the climbing robot according to the embodiment of the present invention.
Fig. 12 is a schematic structural view of a control box in the climbing robot according to an embodiment of the present invention.
Fig. 13 is a schematic structural view of a power box in the climbing robot according to an embodiment of the present invention.
Fig. 14 is a schematic structural view of a carrying box in the climbing robot according to an embodiment of the present invention.
Fig. 15 is a front view of fig. 14.
Fig. 16 is a schematic structural view of a slide rail connector of a carrying box in the climbing robot according to an embodiment of the present invention.
Fig. 17 is a schematic structural view of a pedal of a carrying box in the climbing robot according to an embodiment of the present invention.
Fig. 18 is a schematic structural view of a clamping member of a carrying box in the climbing robot according to an embodiment of the present invention.
Fig. 19 is a front view of fig. 18.
Fig. 20 is a schematic structural view of a climbing structure according to an embodiment of the present invention.
Fig. 21 is an enlarged view of a portion P in fig. 20.
Fig. 22 is an enlarged view of a portion Q of fig. 20.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and examples, wherein it is noted that, in the description of the invention, the terms "upper", "lower", "left", "right", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular manner, and therefore should not be construed as limiting the present invention. The terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
A climbing method of a climbing robot comprises the following steps,
1) assembled climbing robot
1a) Providing a control box, a power box and a bearing box, wherein the bearing box can carry people and goods;
1b) fixing the control box on the power box;
1c) the power box is arranged on the power box in a foldable manner, and the bearing box is arranged on the power box in a foldable manner;
1d) when the power box and the bearing box are folded, the bearing box can stand stably.
2) Climbing robot in HSS guide rail climbing
2a) A driving motor, a speed reducer and a driving gear which are connected in sequence are arranged on the power box;
2b) meshing the driving gear with the rack of the HSS guide rail;
2c) the power box is matched on the HSS guide rail in a rolling way, and the power box is tightly held to the HSS guide rail;
2d) the power box provides power for a driving motor of the power box; meanwhile, the control box controls the power output of the power box;
2e) when the control box controls the power box to output power for the power box, the driving motor drives the driving gear to move on the rack of the HSS guide rail, and then the bearing box is driven to climb on the HSS guide rail.
As shown in fig. 1-19, the climbing method can be realized by a climbing robot; the climbing robot comprises a control box 100, a power box 200, a power box 300 and a bearing box 400 which are arranged from top to bottom in sequence; the control box 100 is fixedly connected to the power box 200; the power box 300 is hinged on the power box 200; the bearing box 400 is hinged on the power box 300;
in the embodiment, a hinge structure is adopted between a power box and a power box of the climbing robot; not only can play a role of connection, but also can do relative motion; the hinge structure comprises a pin shaft 261, an upper shaft sleeve 262, a lower shaft sleeve 340 and a shaft locking nut 263; when the climbing robot is assembled, the pin shaft is inserted into the shaft sleeves of the power box and the power box, and two ends of the pin shaft are fixedly locked through the shaft locking nuts. The hinge structure is also adopted between the bearing box and the power supply box.
The control box 100 and the power box 200 are electrically connected with the power box 300; the control box 100 can control the power box 200 to drive the carrying box 400 to climb on the HSS guide rail.
The bottom of the carrying case 400 is provided with a supporting position 420.
The climbing robot can fold the power box, the power box and the bearing box into a C shape through folding, or fold the power box, the power box and the bearing box together; by folding, the length can be reduced by about 50%. The climbing robot can be placed into the draw-bar box after being folded, and the climbing robot can be folded and unfolded manually without the help of external tools during the folding process. After folding, the supporting position at the bottom of the bearing box is used as a supporting point so that the bearing box can stand stably after being folded.
The power box 200 comprises a frame 210, two driving motors 211 symmetrically arranged on the frame 210, a speed reducer 212 connected to the output ends of the driving motors 211 and a driving gear 213; the drive gear 213 may mesh with a rack of the HSS rail;
a rotary guide module is arranged on the frame 210; the rotary guide module comprises a rolling wheel 220 which can be matched with the front surface of the HSS guide rail and a holding device 230 which can hold the HSS guide rail tightly; the rotary guide module can be connected with the HSS guide rail, rolls along the HSS guide rail and bears bending moment when the equipment runs.
The clasping device 230 comprises a shell 231 hinged on the frame 210, an eccentric shaft 232 fixedly connected on the shell 231, and a clasping wheel 233 arranged on the eccentric shaft 232; the clasping wheels 233 can be matched with the back of the HSS guide rail; the eccentric structure is arranged, so that the clasping device 230 can be conveniently installed on the HSS guide rail.
Two ends of the shell 231 are provided with corresponding limiting holes 234, and the limiting holes 234 are internally provided with keys 235 and combined pin shafts 236; the combined pin shaft 236 comprises a supporting block 236a, a limiting block 236b arranged on the supporting block 236a, and a linkage pin 236 c; the linkage pin 236c at one end of the shell 231 passes through the supporting block 236a at the other end of the shell 231 and is fixedly connected with the key 235 at the other end of the shell 231;
a return spring 237 is arranged between the supporting block 236a and the key 235;
a convex limiting boss 240 is arranged on the frame 210; a hinge shaft 241 is arranged on the limit boss 240 in a penetrating way; a hinge 231a slidably engaged with the hinge shaft 241 is provided at both ends of the housing 231; when the two supporting blocks 236a move towards each other, the limiting block 236b can abut against the limiting boss 240;
when the key 235 of the rotary guide module is pressed, the stopper 236b retracts (open position), and the rack 210 can be taken off from the HSS rail; when the key 235 of the rotary guide module is not pressed, the limit block 236b pops up (closed position) to form a limit position, so that the rack 210 can be fixed on the HSS rail.
A brake 250 with a manually releasable lever is provided on one of the drive motors 211. The stopper is normal close formula stopper, opens when the circular telegram, and the operation of climbing robot is automatic closing when climbing robot need stop, plays the braking action. The manual release driving lever is when climbing robot outage suddenly or the trouble can not move, can manually open the stopper, utilizes the action of gravity, lets equipment slowly descend for personnel descend to ground safety position.
Another rotation guide module is provided on the carrying case 400. It is ensured that the carrier box 400 does not come off the HSS rail.
The control box 100 includes a control box body 110 fixedly connected to the power box 200, a display screen 120 provided on the control box body 110, a status selection switch 130, an emergency brake switch 140, an operation lever 150, and a handle 160. In this embodiment, the control box may be additionally provided with a network camera; real-time image transmission in the running process can be realized; or observing the specified target when the equipment reaches the specified position; and recorded. The display screen displays the electric quantity, the speed, the height, the load capacity and the like of the battery; the display screen adopts a tablet personal computer, so that a password protection starting mode or functions of face recognition and fingerprint recognition can be realized; the public network is utilized to realize the GPS positioning function; an independent communication system is developed, a cloud conversation mode is realized, the connection between the ground, a base station (a substation) and an operator is facilitated, and data of an online monitoring device installed on an iron tower can be collected.
The power box 300 includes a power box body 310, a battery disposed on the power box body 310, a charging plug 320, and an aviation plug 330 connected to the power box 200. The power box is mainly characterized in that a lithium battery is arranged in a power box body to provide a power source for equipment; the power box is provided with an aviation plug, and an electric circuit between the power box and the power box is connected and quickly connected through the aviation plug.
The carrying case 400 comprises a carrying case body 430 and a clamping piece 450 which clamps two pedal sheets 440;
the bearing box body 430 is provided with a slide rail connecting piece 431; two foot pedals 440 are slidably fitted on the slide rail connection 431;
a limiting groove 431a is arranged on the sliding rail connecting piece 431; the pedal sheet 440 is provided with a limit plunger 441 matched with the limit groove 431 a; when the pedal sheet 440 is used, the pedal sheet 440 is inserted into the sliding rail connecting piece 431, and the limiting plunger 441 ensures that the pedal sheet 440 is connected stably and does not slide off.
The clamp 450 includes two relatively rotatable links 451; the link 451 is provided with a positioning groove 451a into which the pedal 440 is inserted.
As shown in fig. 20-22, a climbing structure includes an HSS rail 500; the HSS guide rail 500 is provided with the climbing robot; the HSS rail 500 is provided with stoppers 510 at both ends. Through stopper 510 and the contact of climbing robot, prevent to climb robot mound ground or towards the top.
When the climbing structure is used; an operator needs to open the rotary guide module on the climbing robot; fixing the climbing robot on an HSS guide rail; ensure the meshing of the driving gear and the rack on the HSS guide rail. An operator needs to stand on the pedal sheet on the bearing box with feet; fastening a safety belt; the handle on the control box is held by two hands; the climbing robot can be operated up and down through the operating rod. In the event of an emergency; the emergency brake switch on the control box can be immediately pressed; stopping the equipment; after the fault is cleared; emergency braking is cancelled; and recovering the running state.
The climbing robot is provided with a power supply; the device is convenient to install and use in field areas without power supplies. The climbing robot and the HSS guide rail are interchangeable, and the climbing robot is detachable; one climbing robot can meet the maintenance and overhaul requirements of a multi-base iron tower. The climbing robot is integrally designed in a folding mode; after use; can be folded for transportation; and can also be disassembled according to modules. The climbing robot is convenient to install and compact in structure. The climbing robot has various transportation modes; the method can adapt to various road conditions of the power transmission line. The climbing robot can be integrally loaded and transported; can also be disassembled for transportation.
The foregoing has described in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be devised by those skilled in the art in light of the teachings of the present invention without undue experimentation. Therefore, the technical solutions that can be obtained by a person skilled in the art through logic analysis, reasoning or limited experiments based on the prior art according to the concepts of the present invention should be within the scope of protection defined by the claims.
Claims (9)
1. The utility model provides a climbing robot, its characterized in that, including control box (100), headstock (200), power box (300) and bearing box (400) that from top to bottom set gradually, control box (100) and headstock (200) with power box (300) electricity is connected, control box (100) are steerable headstock (200) drive bearing box (400) scramble on the HSS guide rail.
2. The climbing robot as claimed in claim 1, wherein the power box (200) comprises a frame (210), two driving motors (211) symmetrically arranged on the frame (210), a speed reducer (212) connected to the output ends of the driving motors (211) and a driving gear (213), wherein the driving gear (213) can be meshed with a rack of an HSS guide rail;
the rotary guide device is characterized in that a rotary guide module is arranged on the rack (210), and the rotary guide module comprises rolling wheels (220) capable of being matched with the front surface of the HSS guide rail and a holding device (230) capable of holding the HSS guide rail tightly.
3. The climbing robot according to claim 2, characterized in that the clasping means (230) comprises a housing (231) hinged to the frame (210), an eccentric shaft (232) fixedly connected to the housing (231), a clasping wheel (233) arranged on the eccentric shaft (232), the clasping wheel (233) being engageable with the back of the HSS rail;
two ends of the shell (231) are provided with corresponding limiting holes (234), a key (235) and a combined pin shaft (236) are arranged in the limiting holes (234), the combined pin shaft (236) comprises a supporting block (236 a), a limiting block (236 b) arranged on the supporting block (236 a) and a linkage pin (236 c), and the linkage pin (236 c) at one end of the shell (231) penetrates through the supporting block (236 a) at the other end of the shell (231) and is fixedly connected with the key (235) at the other end of the shell (231);
a return spring (237) is arranged between the supporting block (236 a) and the key (235);
the frame (210) is provided with a convex limiting boss (240), the limiting boss (240) is provided with a hinge shaft (241) in a penetrating manner, two ends of the shell (231) are provided with hinge parts (231 a) in sliding fit with the hinge shaft (241), and when the two supporting blocks (236 a) move oppositely, the limiting blocks (236 b) can abut against the limiting boss (240).
4. A climbing robot as claimed in claim 2, characterized in that one of said driving motors (211) is provided with a brake (250) with a manually releasable lever.
5. A climbing robot as claimed in claim 2, characterized in that the carrying case (400) is provided with a further rotary guiding module.
6. The climbing robot as claimed in claim 1, characterized in that the control box (100) comprises a control box body (110) fixedly connected with the power box (200), a display screen (120) arranged on the control box body (110), a status selection switch (130), an emergency brake switch (140), an operating lever (150) and a handle (160).
7. The climbing robot according to claim 1, characterized in that the power box (300) comprises a power box body (310), a battery arranged on the power box body (310), a charging plug (320) and an aviation plug (330) connected with the power box (200).
8. The climbing robot as claimed in claim 1, characterized in that the carrying case (400) comprises a carrying case (430), a clamp (450) with two footplates (440) clamped in it,
a sliding rail connecting piece (431) is arranged on the bearing box body (430), and the two pedal sheets (440) are in sliding fit with the sliding rail connecting piece (431);
a limiting groove (431 a) is formed in the sliding rail connecting piece (431), and a limiting plunger (441) matched with the limiting groove (431 a) is arranged on the pedal sheet (440);
the clamping piece (450) comprises two connecting rods (451) capable of rotating relatively, and positioning grooves (451 a) for the pedal sheets (440) to insert are formed in the connecting rods (451).
9. A climbing structure comprising an HSS-rail (500), characterized in that the HSS-rail (500) is provided with a climbing robot according to any one of claims 1 to 8, and the HSS-rail (500) is provided with stoppers (510) at both ends.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021511436.4U CN212243610U (en) | 2020-07-28 | 2020-07-28 | Climbing robot and climbing structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021511436.4U CN212243610U (en) | 2020-07-28 | 2020-07-28 | Climbing robot and climbing structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212243610U true CN212243610U (en) | 2020-12-29 |
Family
ID=73981084
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021511436.4U Active CN212243610U (en) | 2020-07-28 | 2020-07-28 | Climbing robot and climbing structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212243610U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111731403A (en) * | 2020-07-28 | 2020-10-02 | 北京瑞华新科科技有限公司 | Climbing robot, climbing structure and climbing method |
-
2020
- 2020-07-28 CN CN202021511436.4U patent/CN212243610U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111731403A (en) * | 2020-07-28 | 2020-10-02 | 北京瑞华新科科技有限公司 | Climbing robot, climbing structure and climbing method |
| CN111731403B (en) * | 2020-07-28 | 2023-12-26 | 北京雅利多创新科技有限公司 | Climbing robot, climbing structure and climbing method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111731403A (en) | Climbing robot, climbing structure and climbing method | |
| US9834944B2 (en) | Lift for high-voltage towers and wind turbine towers | |
| CN102942093B (en) | Step on tower equipment | |
| CN212243610U (en) | Climbing robot and climbing structure | |
| CN113315046B (en) | Aerial platform convenient for overhauling joint of electric tower and cable | |
| CN113879941B (en) | Modular lifting equipment and lifting system | |
| CN105666501B (en) | A kind of rescue robot | |
| CN111824282A (en) | Climbing method of foldable climbing robot | |
| CN212243611U (en) | Foldable climbing robot and climbing structure | |
| CN212763447U (en) | Bearing box, climbing robot and climbing structure | |
| CN212736003U (en) | Power box, climbing robot and climbing structure | |
| CN111731404B (en) | Folding climbing robot, climbing structure | |
| CN212450210U (en) | Telescopic lifting device and lifting structure | |
| CN202953664U (en) | Tower climbing equipment | |
| CN108826177A (en) | A kind of LED street lamp being easily installed | |
| CN209859817U (en) | Novel brake separating device | |
| CN212864041U (en) | Portable lifting device and lifting structure | |
| CN217037355U (en) | Communication supporting device for emergency rescue command and dispatch under three-no-scene | |
| CN114668988B (en) | High-rise intelligent folding escape device | |
| CN220996237U (en) | Multipurpose long-sight-distance warning and guiding vehicle | |
| CN221628224U (en) | Tunnel top maintenance equipment convenient to installation | |
| CN111762668A (en) | Telescopic lifting device, lifting structure and lifting method | |
| CN213109133U (en) | Distribution network emergency maintenance standardized operation inspection vehicle | |
| CN113184764A (en) | Integral type climbing equipment and climbing structure | |
| CN221043241U (en) | Emergency wireless communication device for wind power plant |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220411 Address after: 100176 room 702, floor 7, building 8, courtyard 6, Rongjing North Street, Beijing Economic and Technological Development Zone, Daxing District, Beijing Patentee after: Beijing Yaliduo Creative Technology Ltd. Address before: 102308 102, 1st floor, building 1, No.1 Huayuan Road, Shilong Industrial Zone, Mentougou District, Beijing Patentee before: Beijing Ruihua Xinke Technology Co.,Ltd. |
|
| TR01 | Transfer of patent right |