CN215701682U - Pole-climbing robot - Google Patents
Pole-climbing robot Download PDFInfo
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- CN215701682U CN215701682U CN202122069782.2U CN202122069782U CN215701682U CN 215701682 U CN215701682 U CN 215701682U CN 202122069782 U CN202122069782 U CN 202122069782U CN 215701682 U CN215701682 U CN 215701682U
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Abstract
The utility model discloses a pole-climbing robot, which comprises a machine body, two clamps respectively arranged at the top end and the bottom end of the machine body, a rotation drive, an automatic telescopic rod, a fixed seat, a fine adjustment drive, a wiping drive and a brush. The advantages are that: through rotation drive and automatic telescopic link, can adjust the position and the height of brush to can finely tune the position of brush through setting up the fine setting drive, and then realize cleaning the all-round of camera. The clamp holder is of a multi-joint structure, can be matched with towers or pipelines with different diameters, and is firmer in clamping and wide in application range. And, drive the cylinder through rotary drive and rotate, can make fixture wholly rotate around shaft tower or pipeline to the relative position of adjustment fuselage is applicable to different operating modes.
Description
The technical field is as follows:
the utility model relates to the technical field of robots, in particular to a pole-climbing robot.
Background art:
when pipelines or rod pieces such as electric wire towers and chemical pipelines are overhauled, the pole-climbing robot is needed to be used, and corresponding detection equipment is carried by the pole-climbing robot to carry out relevant detection. The pole-climbing robot generally comprises a machine body and a clamp holder, wherein the machine body mainly comprises an I-shaped joint and a T-shaped joint, the clamp holder generally comprises a clamping arm hinged with a mechanical arm, and the opening and closing of the clamping arm are controlled through a telescopic rod. Present pole-climbing robot mainly used carries on check out test set, and lacks the function that can clean the camera, needs the manual work to clean the camera, and the manual work is cleaned intensity of labour big, and is inefficient, and has certain potential safety hazard. In addition, due to the fact that the clamping arms are fixed in structure, the matching degree is poor when the clamping arms climb towers or pipelines with different diameters, clamping is insecure, the accidental dropping risk is large, and the application range of the robot is limited.
The utility model has the following contents:
the utility model aims to provide a pole-climbing robot with a function of wiping a camera.
The utility model is implemented by the following technical scheme: the utility model provides a pole-climbing robot, its includes the fuselage, and sets up respectively two holders of fuselage top and bottom, it still includes rotation drive, automatic telescopic link, fixing base, fine setting drive, cleans drive and brush one side of fuselage is fixed with that the output shaft transversely sets up the rotation drive be fixed with vertical setting on the rotation drive's the output shaft automatic telescopic link, the top of automatic telescopic link is fixed with that the output shaft transversely sets up the fine setting drive be fixed with on the fine setting drive's the output shaft the fixing base the top level of fixing base is rotated and is equipped with the brush the bottom mounting of fixing base has the vertical setting of output shaft clean the drive, clean driven output shaft and pass the fixing base with brush fixed connection.
Furthermore, the holder comprises a connecting seat and two arc-shaped arms symmetrically arranged on two sides of the connecting seat, and the connecting seat is fixed with the machine body; each arc-shaped arm comprises a driving steering engine, a joint steering engine and a plurality of arc-shaped joints, the driving steering engine is arranged at the rear end of each arc-shaped arm, and the joint steering engines are arranged between the driving steering engine and the front end of each arc-shaped arm; the arc-shaped joints are arranged between the driving steering engine and the adjacent joint steering engines, between the adjacent joint steering engines and at the front end of the joint steering engine at the foremost end; the shell of the driving steering engine is fixedly connected with the connecting seat, and the output shaft of the driving steering engine is fixed with the adjacent arc-shaped joint; the shell of each joint steering engine is fixed with the arc joint adjacent to the rear end of the shell, and the output shaft of each joint steering engine is fixed with the arc joint adjacent to the front end of the shell.
Furthermore, the driving steering engine and the joint steering engine respectively comprise two output shafts which are vertically arranged, the arc-shaped joints respectively comprise an upper connecting plate and a lower connecting plate, and the rear ends of the upper connecting plate and the lower connecting plate are respectively arranged corresponding to the two output shafts of the driving steering engine or the two output shafts of the joint steering engine; and a connecting piece is fixed between the upper connecting plate and the lower connecting plate of the arc joint at the front end of the arc arm.
Further, a roller arranged along the axial direction of the arc-shaped arm is rotatably arranged between the middle parts of the corresponding upper connecting plate and the corresponding lower connecting plate, and the diameter of the roller is larger than the width of the upper connecting plate and the width of the lower connecting plate; and a rotary drive for driving the roller to rotate is fixed at the top end of the upper connecting plate or the bottom end of the lower connecting plate.
Further, the rotary drive is a motor.
Further, the brush is a disc type brush.
The utility model has the advantages that: through rotation drive and automatic telescopic link, can adjust the position and the height of brush to can finely tune the position of brush through setting up the fine setting drive, and then realize cleaning the all-round of camera. The clamp holder is of a multi-joint structure, can be matched with towers or pipelines with different diameters, and is firmer in clamping and wide in application range. And, drive the cylinder through rotary drive and rotate, can make fixture wholly rotate around shaft tower or pipeline to the relative position of adjustment fuselage is applicable to different operating modes.
Description of the drawings:
fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a partially enlarged view of fig. 1.
Fig. 3 is a schematic structural view of the holder.
The device comprises a machine body 1, a clamp holder 2, a connecting seat 21, an arc-shaped arm 22, a driving steering engine 23, a joint steering engine 24, an arc-shaped joint 25, an upper connecting plate 251, a lower connecting plate 252, a connecting piece 26, a roller 27, a rotary drive 28, a rotary drive 3, an automatic telescopic rod 4, a fixed seat 5, a fine adjustment drive 6, a wiping drive 7 and a hairbrush 8.
The specific implementation mode is as follows:
in the description of the present invention, it should be noted that, as the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. appear, their indicated orientations or positional relationships are based on those shown in the drawings only for the convenience of describing the present invention and simplifying the description, but not for indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" as appearing herein are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As shown in fig. 1 to 3, a pole-climbing robot includes a body 1, and two grippers 2 respectively provided at the top and bottom ends of the body 1. The holder 2 comprises a connecting seat 21 and two arc-shaped arms 22 symmetrically arranged at two sides of the connecting seat 21, and the connecting seat 21 is fixed with the machine body 1; each arc-shaped arm 22 comprises a driving steering engine 23, a joint steering engine 24 and a plurality of arc-shaped joints 25, the driving steering engine 23 is arranged at the rear end of the arc-shaped arm 22, and the joint steering engines 24 are arranged between the driving steering engine 23 and the front end of the arc-shaped arm 22; arc-shaped joints 25 are arranged between the driving steering engine 23 and the adjacent joint steering engines 24, between the adjacent joint steering engines 24 and at the front ends of the joint steering engines 24 at the forefront end; the shell of the driving steering engine 23 is fixedly connected with the connecting seat 21, and the two driving steering engines 23 can drive the arc-shaped arms 22 at the two sides to open or clamp tightly, so that the opening and closing of the clamp holder 2 are controlled. The output shaft of the driving steering engine 23 is fixed with the adjacent arc-shaped joint 25; the shell of each joint steering engine 24 is fixed with the arc joint 25 adjacent to the rear end of the shell, and the output shaft of each joint steering engine 24 is fixed with the arc joint 25 adjacent to the front end of the shell. The arc joints 25 connected with the joint steering engines 24 can be controlled to rotate around the output shafts of the joint steering engines, so that the overall radian of the arc arms 22 can be matched with towers or pipelines with different diameters, the clamping of the clamp holder 2 is more stable, and the application range of the clamp holder can be enlarged.
The driving steering engine 23 and the joint steering engine 24 respectively comprise two output shafts which are vertically arranged, the arc-shaped joints 25 respectively comprise an upper connecting plate 251 and a lower connecting plate 252, and the rear ends of the upper connecting plate 251 and the lower connecting plate 252 are respectively arranged corresponding to the two output shafts of the driving steering engine 23 or the two output shafts of the joint steering engine 24; a connecting member 26 is fixed between the upper connecting plate 251 and the lower connecting plate 252 of the arc joint 25 at the front end of the arc arm 22. The driving steering engine 23 and the adjacent joint steering engines 24 are connected through upper and lower connecting plates, so that the connection is more stable. A roller 27 arranged along the axial direction of the arc-shaped arm 22 is rotatably arranged between the middle parts of the corresponding upper connecting plate 251 and the corresponding lower connecting plate 252, and the diameter of the roller 27 is larger than the width of the upper connecting plate 251 and the lower connecting plate 252; a rotary drive 28 for driving the rotation of the roller 27 is fixed to the top end of the upper connecting plate 251 or the bottom end of the lower connecting plate 252. The rotary drive 28 can drive the roller 27 to rotate, so as to drive the machine body 1 to rotate around a tower or a pipeline, so that the aim of adjusting the posture of the robot according to different working spaces is fulfilled, the robot can move more flexibly, and the application range of the robot is further improved; specifically, taking a chemical plant as an example, various pipelines can be connected between different reactors and tanks, the pipelines are arranged in a staggered manner, the situation that the space on one side of the pipeline is small and the robot cannot pass through the pipeline exists, at the moment, only the rotary drive 28 needs to be started, the front ends of the two arc-shaped arms 22 are located at the narrow space, and the machine body 1 can bypass the narrow space.
The automatic cleaning machine further comprises a rotation drive 3, an automatic telescopic rod 4, a fixed seat 5, a fine adjustment drive 6, a cleaning drive 7 and a hairbrush 8, wherein the rotation drive 3 with an output shaft transversely arranged is fixed on one side of the machine body 1, the automatic telescopic rod 4 longitudinally arranged is fixed on the output shaft of the rotation drive 3, the fine adjustment drive 6 with an output shaft transversely arranged is fixed at the top end of the automatic telescopic rod 4, the fixed seat 5 is fixed on the output shaft of the fine adjustment drive 6, the fine adjustment drive 6 can be selected to be a steering engine with two transverse output shafts, and the bottom end of the fixed seat 5 is fixed with the two output shafts; a brush 8 is horizontally and rotatably arranged at the top of the fixed seat 5, and the brush 8 is a disc type brush; the bottom end of the fixed seat 5 is fixedly provided with a wiping drive 7 with an output shaft vertically arranged, and the output shaft of the wiping drive 7 penetrates through the fixed seat 5 to be fixedly connected with a brush 8. The rotary drive 28 is a motor, and the rotary drive 3 can drive the automatic telescopic rod 4 and the brush 8 at the top of the automatic telescopic rod to rotate in a vertical plane, so that the purpose of adjusting the extending angle of the automatic telescopic rod 4 according to the position of the camera is achieved; treat with automatic telescopic link 4 adjustment to suitable angle after, control automatic telescopic link 4 and stretch out, lift brush 8 to the camera position, later start to clean drive 7 and drive brush 8 and rotate and clean the camera, clean the in-process, can start fine setting drive 6, drive brush 8 rotates, and then finely tunes the position of brush 8, has realized cleaning the all-round of camera. After the wiping is finished, the automatic telescopic rod 4 is controlled to retract, and the rotation drive 3 is started to adjust the automatic telescopic rod 4 to one side of the machine body 1.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the utility model has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. The utility model provides a pole-climbing robot, its includes the fuselage, and sets up respectively two holders of fuselage top and bottom, its characterized in that, it still includes rotation drive, automatic telescopic link, fixing base, fine setting drive, cleans drive and brush one side of fuselage is fixed with that the output shaft transversely sets up the rotation drive be fixed with vertical setting on the rotation drive's the output shaft automatic telescopic link, the top of automatic telescopic link is fixed with that the output shaft transversely sets up the fine setting drive be fixed with on the fine setting drive's the output shaft the fixing base the top level of fixing base is rotated and is equipped with the brush the bottom mounting of fixing base has the vertical setting of output shaft clean the drive, driven output shaft passes the fixing base with brush fixed connection.
2. The pole-climbing robot as claimed in claim 1, wherein the holder includes a connecting seat and two arc-shaped arms symmetrically arranged at two sides of the connecting seat, and the connecting seat is fixed with the body; each arc-shaped arm comprises a driving steering engine, a joint steering engine and a plurality of arc-shaped joints, the driving steering engine is arranged at the rear end of each arc-shaped arm, and the joint steering engines are arranged between the driving steering engine and the front end of each arc-shaped arm; the arc-shaped joints are arranged between the driving steering engine and the adjacent joint steering engines, between the adjacent joint steering engines and at the front end of the joint steering engine at the foremost end; the shell of the driving steering engine is fixedly connected with the connecting seat, and the output shaft of the driving steering engine is fixed with the adjacent arc-shaped joint; the shell of each joint steering engine is fixed with the arc joint adjacent to the rear end of the shell, and the output shaft of each joint steering engine is fixed with the arc joint adjacent to the front end of the shell.
3. The climbing rod robot as claimed in claim 2, wherein the driving steering engine and the joint steering engine each comprise two vertically arranged output shafts, the arc-shaped joint comprises an upper connecting plate and a lower connecting plate, and the rear ends of the upper connecting plate and the lower connecting plate are arranged corresponding to the two output shafts of the driving steering engine or the two output shafts of the joint steering engine; and a connecting piece is fixed between the upper connecting plate and the lower connecting plate of the arc joint at the front end of the arc arm.
4. The climbing robot as claimed in claim 3, wherein rollers axially arranged along the arc arms are rotatably arranged between the middle parts of the corresponding upper connecting plate and the corresponding lower connecting plate, and the diameters of the rollers are larger than the widths of the upper connecting plate and the lower connecting plate; and a rotary drive for driving the roller to rotate is fixed at the top end of the upper connecting plate or the bottom end of the lower connecting plate.
5. A pole-climbing robot as claimed in claim 4, characterized in that the rotary drive is a motor.
6. A pole-climbing robot as claimed in any one of claims 1 to 5, wherein the brush is a disc brush.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122069782.2U CN215701682U (en) | 2021-08-30 | 2021-08-30 | Pole-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122069782.2U CN215701682U (en) | 2021-08-30 | 2021-08-30 | Pole-climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215701682U true CN215701682U (en) | 2022-02-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122069782.2U Active CN215701682U (en) | 2021-08-30 | 2021-08-30 | Pole-climbing robot |
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| Country | Link |
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| CN (1) | CN215701682U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114770560A (en) * | 2022-05-31 | 2022-07-22 | 上海共向电气科技有限公司 | Novel live working robot |
| CN115258192A (en) * | 2022-09-30 | 2022-11-01 | 成都市鸿侠科技有限责任公司 | Clamping device for gluing arc-shaped skin of wing |
-
2021
- 2021-08-30 CN CN202122069782.2U patent/CN215701682U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114770560A (en) * | 2022-05-31 | 2022-07-22 | 上海共向电气科技有限公司 | Novel live working robot |
| CN114770560B (en) * | 2022-05-31 | 2024-07-26 | 上海共向电气科技有限公司 | Novel live working robot |
| CN115258192A (en) * | 2022-09-30 | 2022-11-01 | 成都市鸿侠科技有限责任公司 | Clamping device for gluing arc-shaped skin of wing |
| CN115258192B (en) * | 2022-09-30 | 2023-07-21 | 成都市鸿侠科技有限责任公司 | Clamping device for wing arc-shaped skin gluing |
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