CN213799955U - Roller adjusting structure of climbing robot - Google Patents
Roller adjusting structure of climbing robot Download PDFInfo
- Publication number
- CN213799955U CN213799955U CN202022312059.8U CN202022312059U CN213799955U CN 213799955 U CN213799955 U CN 213799955U CN 202022312059 U CN202022312059 U CN 202022312059U CN 213799955 U CN213799955 U CN 213799955U
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- roller
- section
- swing
- climbing robot
- arms
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- 230000009194 climbing Effects 0.000 title claims abstract description 54
- 230000000149 penetrating effect Effects 0.000 claims description 7
- 230000000994 depressogenic effect Effects 0.000 claims 1
- 230000035515 penetration Effects 0.000 claims 1
- 230000033001 locomotion Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000002493 climbing effect Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Abstract
The utility model relates to the technical field of robots, and discloses a roller adjusting structure of a climbing robot, which comprises a swing frame swinging up and down, wherein the swing frame is provided with two swing arms, an inner roller and an outer roller are connected between the two swing arms, and the inner roller and the outer roller are arranged at intervals; an enclosed area through which the power supply wire rod passes is enclosed among the two swing arms, the inner roller and the outer roller; the swing arm is provided with a plurality of connecting holes which are arranged at intervals along the length direction of the swing arm; two ends of the outer roller are respectively connected with the connecting holes of the two swing arms; set up interior cylinder and outer cylinder on two swing arms, with the swing span cover back on the wire pole, interior cylinder and outer cylinder butt the wire pole, through set up a plurality of connecting holes on the swing arm, like this, can adjust the distance between outer cylinder and the interior cylinder to make the swing span be applicable to the wire pole of different width, extensive applicability, wide application.
Description
Technical Field
The patent of the utility model relates to a technical field of robot particularly, relates to cylinder regulation structure of climbing robot.
Background
The transmission cable is a cable for transmitting electric power, generally a high voltage power, and is installed on a utility pole. Outdoor overhead transmission cables are exposed in the air and exposed to rain and sun all the year round, and need to be maintained regularly.
The conveying cable is maintained and needs the manual work to transport the maintenance device to the conveying cable at wire pole top, because it is heavier to maintain the device, and the heavy burden climbing pole difficulty is heavy, and conveying cable self is the high pressure, and degree of danger is fairly big, and the operation degree of difficulty is great.
In the prior art, in order to solve the problems, a climbing robot is used for climbing a telegraph pole at present, but the climbing robot only aims at the telegraph pole with a specific size, and the applicability is poor.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a cylinder of climbing robot adjusts structure aims at solving prior art, climbing robot's the poor problem of suitability.
The utility model discloses a realize like this, climbing robot's cylinder regulation structure, including the swing span of luffing motion, the swing span has two swing arms of interval arrangement, is connected with interior cylinder and outer cylinder between two swing arms, along the length extending direction of swing arm, interior cylinder and outer cylinder interval arrangement; an enclosed area through which the power supply wire rod passes is enclosed among the two swing arms, the inner roller and the outer roller; the swing arm is provided with a plurality of connecting holes which are arranged at intervals along the length direction of the swing arm; and two ends of the outer roller are respectively connected with the connecting holes of the two swing arms.
Furthermore, the swing frame comprises a connecting seat which swings up and down, the swing arm comprises an inner narrow section, an outer inclined section and an outer expanding section, the inner end of the inner narrow section is connected to the connecting seat, the outer end of the inner narrow section deviates from the surrounding area and is bent outwards to form the outer inclined section, and the outer expanding section is connected to the outer end of the outer inclined section; the inner roller is connected between the inner narrow sections of the two swing arms, and the outer roller is connected between the outer expanding sections of the two swing arms; the connecting holes are arranged on the outward expansion section of the swing arm.
Furthermore, the connecting holes are strip-shaped and extend along the length direction of the outward-expanding section.
Furthermore, the middle part of the connecting hole is sunken upwards to form an upper groove.
Furthermore, the middle part of the connecting hole is sunken downwards to form a lower groove.
Further, the upper groove and the lower groove are arranged in an up-down opposite mode.
Furthermore, the end of the outer roller extends outwards to form an extension section, the extension section penetrates through the connecting hole to form a connecting section extending to the outer side of the swing arm, and the connecting section is connected with a nut.
Further, the outer surface of outer cylinder is provided with wavy outer strip groove, outer strip groove is along the axial extension of outer cylinder and is the wavy crooked arrangement of axial along outer cylinder.
Furthermore, the extension section is provided with a penetrating section penetrating through the connecting hole, and an elastic ring is sleeved on the periphery of the penetrating section.
Further, the surface of the elastic ring is provided with a notch strip, and the notch strip extends along the length direction of the penetrating section.
Compared with the prior art, the utility model provides a cylinder regulation structure of climbing robot sets up interior cylinder and outer cylinder on two swing arms, overlaps the swing span on the wire pole back, and interior cylinder and outer cylinder butt are the wire pole, through setting up a plurality of connecting holes on the swing arm, like this, can adjust the distance between outer cylinder and the interior cylinder to make the swing span be applicable to the wire pole of different width, extensive applicability, the application is wide.
Drawings
Fig. 1 is a schematic perspective view of a climbing robot provided by the present invention fixed on a utility pole;
fig. 2 is a schematic perspective view of the climbing robot provided by the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The following describes the implementation of the present invention in detail with reference to specific embodiments.
The same or similar reference numerals in the drawings of the present embodiment correspond to the same or similar components; in the description of the present invention, it should be understood that if there are the terms "upper", "lower", "left", "right", etc. indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of the description, but it is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore the terms describing the positional relationship in the drawings are only for illustrative purposes and are not to be construed as limitations of the present patent, and those skilled in the art can understand the specific meanings of the terms according to specific situations.
Referring to fig. 1-2, the preferred embodiment of the present invention is shown.
The climbing robot 20 provided by the embodiment can be used for climbing along the utility pole 100 and climbing along other columnar bodies, and is not limited to the utility pole 100.
The climbing robot, climbing robot 20 includes main part 200, is equipped with the structure of placing the maintenance device on the main part 200, is connected with two movable blocks 211 that reciprocate for main part 200 on the main part 200, that is to say, each movable block 211 can reciprocate for main part 200, and two movable blocks 211 are arranged from top to bottom.
A swing frame which swings up and down relative to the moving block 211 is connected to the moving block 211, the swing frame is provided with two swing arms which are arranged at intervals, two rollers are connected between the two swing arms, and the two rollers are arranged at intervals along the length extending direction of the swing arms; the two swing arms and the two rollers enclose an enclosed area 204 through which the utility pole 100 passes.
In practical operation, the climbing steps of the climbing robot are as follows:
1) the climbing robot 20 is installed on a telegraph pole 100, the telegraph pole 100 passes through the surrounding area 204, and two rollers on the swing frame are respectively abutted to the surface of the telegraph pole 100 upwards and downwards; at this time, the two rollers on the swing frame are arranged up and down, and the climbing robot 20 is fixed on the utility pole 100 by utilizing the abutting force of the rollers and the utility pole 100;
2) keeping the moving block 211 at the upper part of the main body 200 and the main body 200 at fixed positions, that is, keeping the moving blocks at the lower part of the main body 200 immovable, and driving the moving block 211 at the lower part of the main body 200 to move upward relative to the main body 200 by a set distance, at this time, the distance between the two moving blocks 211 is shortened;
3) keeping the two moving blocks 211 at fixed positions, and driving the main body 200 to move upwards for a set distance;
4) the moving block 211 at the lower part of the main body 200 and the main body 200 are kept at fixed positions, and the moving block 211 at the upper part of the main body 200 is driven to move upwards for a set distance, so that the whole climbing robot 20 ascends for a set distance along the telegraph pole 100 through the alternate motion of the step 2), the step 3) and the step 4);
5) repeating the steps 2), 3) and 4) until the climbing robot 20 reaches a set position along the utility pole 100.
The climbing robot that the aforesaid provided will maintain the device and place placing structurally, through the alternative up-moving of two swing span and main part 200 for whole climbing robot 20 moves up to setting for the position for wire pole 100, and whole climbing action is continuous, fast, does not need artifical climbing, does not have risk factor, the climbing operation degree of difficulty greatly reduced.
In this embodiment, the moving block 211 and the main body 200 can be driven by a motor, and the whole climbing process can be wirelessly remotely controlled by a remote controller or controlled to climb by an automatic operation mode.
The main body 200 has an inner end surface arranged away from the utility pole 100, and a connecting rod driving structure is connected to the inner end surface of the main body 200; the placing structure includes a placing table 300 horizontally arranged, and the placing table 300 is connected to a link driving structure that drives the placing table 300 to move upward offset from the main body 200 or drives the placing table 300 to move downward close to the main body 200.
When the climbing robot 20 is in the climbing process, the connecting rod driving structure is close to the inner end face of the main body 200, and at this time, the placing table 300 faces downward and is close to the inner end face of the main body 200, so that the bearing moment in the climbing process is reduced.
The connecting rod driving structure comprises an inner rod arm 303 and an outer rod arm 302, wherein the inner end of the inner rod arm 303 is hinged to the inner end face of the main body 200, the lower end of the outer rod arm 302 is hinged to the outer end of the inner rod arm 303, the upper end of the outer rod arm 302 is connected with a horizontally-rotating electric joint 301, and the placing table 300 is connected to the electric joint 301; an inner push rod for driving the inner lever arm 303 to swing up and down relative to the main body 200 is connected to the inner end surface of the main body 200, the inner push rod is connected to the inner lever arm 303, an outer push rod for driving the outer lever arm 302 to swing up and down relative to the inner lever arm 303 is connected to the inner lever arm 303, and the outer push rod is connected to the outer lever arm 302.
In this embodiment, the main body 200 is connected to a battery 304, and the battery 304 can be used for supplying power for the operation of the whole climbing robot 20.
The main body 200 has an outer end surface arranged toward the utility pole 100, the outer end surface of the column is provided with two guide rails arranged at a longitudinal interval, and the moving block 211 is movably connected to the guide rails, and the movement of the moving block 211 and the main body 200 can be guided by the guide rails.
A hinge seat is arranged on the moving block 211, the swing frame comprises a connecting seat, and the connecting seat is hinged with the hinge seat; the inner end of the swing arm is connected to the connecting base and the outer end of the swing arm extends outwardly away from the body 200. In this way, during the installation of the climbing robot 20 on the utility pole 100 and the climbing robot 20 in climbing, the swing frame can swing relative to the main body 200, facilitating the installation and climbing.
The embodiment also provides a roller adjusting structure of the climbing robot, which comprises the swinging frame swinging up and down, wherein the swinging frame is provided with two swinging arms arranged at intervals, two rollers between the two swinging arms are an inner roller 209 and an outer roller 205 respectively, and the inner roller 209 and the outer roller 205 are arranged at intervals along the length extending direction of the swinging arms; the two swing arms, the inner roller 2092 and the outer roller 205 enclose the enclosed area 204 through which the utility pole 100 passes; the swing arm is provided with a plurality of connecting holes 206, and the connecting holes 206 are arranged at intervals along the length direction of the swing arm; the two ends of the outer drum 205 are respectively connected to the connecting holes 206 of the two swing arms.
Above-mentioned climbing robot's cylinder regulation structure that provides sets up interior cylinder 209 and outer cylinder 205 on two swing arms, with the swing span frame cover back on wire pole 100, interior cylinder 209 and outer cylinder 205 butt wire pole 100, through set up a plurality of connecting holes 206 on the swing arm, like this, can adjust the distance between outer cylinder 205 and the interior cylinder 209 to make the swing span frame be applicable to the wire pole 100 of different width, extensive applicability, wide application.
The swing span includes above-mentioned luffing motion's connecting seat, the swing arm includes interior narrow section 203, outer oblique section 202 and expands section 201 outward, the inner of interior narrow section 203 is connected on the connecting seat, the outer end of interior narrow section 203 deviates to surround regional 204 and buckles outwards, form outer oblique section 202, expand section 201 outward and connect the outer end at outer oblique section 202, like this, surround regional 204 and then form the little shape in big outside, after climbing robot 20 installs on wire pole 100, form environmental protection state to wire pole 100, be convenient for climb the relative fixation between robot 20 and wire pole 100.
An inner roller 209 is connected between the inner narrow sections 203 of the two swing arms, and an outer roller 205 is connected between the flared sections 201 of the two swing arms; in step 1), the utility pole 100 is placed between the flared sections 201 of the two swing arms and embedded between the inner narrow sections 203 of the two swing arms, the inner rollers 209 and the outer rollers 205 are respectively abutted against the surface of the utility pole 100, and the outer rollers 205 are located above the inner rollers 209.
A plurality of connecting holes 206 are arranged on the flaring segment 201 of the swing arm, and the connecting holes 206 are arranged at intervals along the length direction of the flaring segment 201; two ends of the outer roller 205 are respectively connected with the connecting holes 206 of the two expanding sections 201. In this way, the position of the outer roller 205 on the two flared sections 201, i.e., the envelope of the enclosed area 204, can be adjusted for poles 100 of different widths.
The middle part of the connecting hole 206 is recessed upwards to form an upper groove, and the middle part of the connecting hole 206 is recessed downwards to form a lower groove, so that after the end part of the outer roller 205 is connected into the connecting hole 206, the position of the outer roller 205 can be conveniently adjusted upwards or downwards, and the position of the outer roller 205 can be conveniently adjusted in the process that the outer roller 205 rolls up and down.
The upper groove and the lower groove are arranged in a vertically opposite mode.
The end of the outer roller 205 extends outward to form an extension section, the extension section passes through the connecting hole 206 to form a connecting section extending to the outer side of the swing arms, and the connecting section is connected with nuts, so that the outer roller 205 can be conveniently installed on the outward-expanded sections of the two swing arms.
The extension section has the section of wearing to establish of wearing to wear in connecting hole 206, and the periphery cover of wearing to establish the section is equipped with the elastic ring, like this, utilizes the lateral wall of elastic ring butt connecting hole 206, and outer cylinder 205 is stabilized, and simultaneously, the elastic ring has elastic deformation ability, can realize the position fine setting of outer cylinder 205.
The surface of elastic ring is provided with the breach strip, and the length direction that the breach strip was worn to establish the section extends to be arranged, and like this, being provided with of breach strip does benefit to the deformation of elastic strip.
The middle part of the inner roller 209 is sunken inwards to form a concave ring groove which is arranged around the circumference of the middle part of the inner roller 209; in step 1), the utility pole 100 is inserted into the recessed groove of the inner roller 209. In this way, by providing the recessed ring groove, and embedding the utility pole 100 in the recessed ring groove, it is possible to make the climbing robot 20 and the utility pole 100 relatively more stable.
The concave ring groove is provided with two oppositely arranged ring groove walls which are arranged around the circumferential direction of the inner roller 209; along the direction from the middle part of the concave ring groove to both sides, the ring groove wall is obliquely arranged outwards deviating from the axial direction of the inner roller 209; after the pole 100 passes through the enclosed area 204, the ring groove walls of the groove abut the surface of the pole 100; in step 1), the annular groove wall abuts against the surface of the pole 100.
In this way, with the abutment of the two ring groove walls against the surface of the pole 100 and the abutment of the outer drum 205 against the surface of the pole 100, three abutments are formed between the climbing robot 20 and the pole 100, so that a relatively more stable fixation between the climbing robot 20 and the pole 100 is achieved.
In this embodiment, the outer surface of the outer drum 205 is provided with a wavy outer strip groove, and the outer strip groove extends along the axial direction of the outer drum 205 and is arranged in a wavy bending manner along the axial direction of the outer drum 205. Thus, when the outer rollers 205 abut the surface of the pole 100, the pole 100 presses the outer spline to deform, so that the outer circumference of the outer rollers 205 presses to deform, increasing the force of abutment of the outer rollers 205 against the surface of the pole 100.
The surface of the ring groove wall is convexly provided with a plurality of inner convex strips, the inner convex strips are arranged in a wavy and bent manner along the inclination direction of the ring groove wall, and the plurality of inner convex strips are arranged at intervals along the periphery of the ring groove wall. Thus, when the annular groove wall abuts against the surface of the utility pole 100, the plurality of inner protrusions simultaneously abut against the surface of the utility pole 100 and are deformed by the pressing, thereby increasing the abutting force between the inner roller 209 and the surface of the utility pole 100.
The inner roller 209 has an annular peripheral wall between two annular groove walls, the annular peripheral wall being circumferentially arranged along the inner roller 209 and abutting against the surface of the pole 100 when the inner roller 209 abuts against the surface of the pole 100.
The circumferential wall has a plurality of deformation protrusions protruding from the surface thereof and spaced apart from each other along the circumferential direction of the circumferential wall, and the deformation protrusions have abutting surfaces abutting against the surface of the utility pole 100, and the center of the abutting surfaces is provided with a gap, so that when the deformation protrusions abut against the surface of the utility pole 100, the gap is pressed to deform the deformation protrusions, thereby enhancing the abutting force between the inner roller 209 and the surface of the utility pole 100.
The end parts of the inner roller 209 and the outer roller 205 are respectively provided with a disc brake sheet 207, and the swing arm is provided with a disc brake 208 for tightly grasping the disc brake sheet 207 or loosening the disc brake sheet 207; in step 2), the disc brake piece 207 is tightly gripped by the disc brake 208 on the swing frame on the moving block 211 at the upper part of the main body 200, and the disc brake piece 207 is loosened by the disc brake 208 on the swing frame on the moving block 211 at the lower part of the main body 200; in step 3), the disc brakes 208 on the two swing frames respectively grasp the disc brake sheets 207; in step 4), the disc brake plate 207 is gripped by the disc brake 208 on the swing frame on the moving block 211 at the lower part of the main body 200, and the disc brake plate 207 is released by the disc brake 208 on the swing frame on the moving block 211 at the upper part of the main body 200.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The roller adjusting structure of the climbing robot is characterized by comprising a swinging frame which swings up and down, wherein the swinging frame is provided with two swinging arms which are arranged at intervals, an inner roller and an outer roller are connected between the two swinging arms, and the inner roller and the outer roller are arranged at intervals along the length extending direction of the swinging arms; an enclosed area through which the power supply wire rod passes is enclosed among the two swing arms, the inner roller and the outer roller; the swing arm is provided with a plurality of connecting holes which are arranged at intervals along the length direction of the swing arm; and two ends of the outer roller are respectively connected with the connecting holes of the two swing arms.
2. The roller adjustment structure of the climbing robot as claimed in claim 1, wherein the swing frame comprises a connecting base swinging up and down, the swing arm comprises an inner narrow section, an outer inclined section and an outer expanding section, the inner end of the inner narrow section is connected to the connecting base, the outer end of the inner narrow section is bent outwards deviating from the surrounding area to form the outer inclined section, and the outer expanding section is connected to the outer end of the outer inclined section; the inner roller is connected between the inner narrow sections of the two swing arms, and the outer roller is connected between the outer expanding sections of the two swing arms; the connecting holes are arranged on the outward expansion section of the swing arm.
3. The roller adjustment structure of a climbing robot as claimed in claim 2, wherein the connection holes are in the shape of a bar, and the connection holes are arranged to extend along the length direction of the flared section.
4. The roller adjusting structure of the climbing robot as claimed in claim 2, wherein the middle of the connection hole is upwardly recessed to form an upper groove.
5. The roller adjustment structure of a climbing robot as claimed in claim 4, wherein the middle of the connection hole is depressed downward to form a lower groove.
6. The roller adjustment structure of a climbing robot as set forth in claim 5, characterized in that the upper groove and the lower groove are arranged in a vertically opposite manner.
7. The roller adjustment structure of the climbing robot as claimed in any one of claims 2 to 6, wherein an end of the outer roller extends outward to form an extension section, the extension section passes through the connection hole to form a connection section extending to an outer side of the swing arm, and the connection section is connected with a nut.
8. The drum adjusting structure of the climbing robot according to any one of claims 2 to 6, wherein the outer surface of the outer drum is provided with a wavy outer strip groove which is arranged along an axial extension of the outer drum and is arranged in a wavy curved manner along the axial direction of the outer drum.
9. The roller adjusting structure of the climbing robot as claimed in claim 7, wherein the extension section has a penetrating section penetrating in the connecting hole, and an elastic ring is sleeved on the outer circumference of the penetrating section.
10. The roller adjustment structure of the climbing robot as claimed in claim 9, wherein the surface of the elastic ring is provided with a notch strip extending along a length direction of the penetration section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022312059.8U CN213799955U (en) | 2020-10-16 | 2020-10-16 | Roller adjusting structure of climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022312059.8U CN213799955U (en) | 2020-10-16 | 2020-10-16 | Roller adjusting structure of climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213799955U true CN213799955U (en) | 2021-07-27 |
Family
ID=76959582
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022312059.8U Expired - Fee Related CN213799955U (en) | 2020-10-16 | 2020-10-16 | Roller adjusting structure of climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213799955U (en) |
-
2020
- 2020-10-16 CN CN202022312059.8U patent/CN213799955U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210727 |
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| CF01 | Termination of patent right due to non-payment of annual fee |