CN217945364U

CN217945364U - Obstacle crossing device applicable to pole-climbing robot capable of automatically loosening pole

Info

Publication number: CN217945364U
Application number: CN202222072089.5U
Authority: CN
Inventors: 田锐; 何孔德; 杨书博; 胡昊; 胡季平
Original assignee: China Three Gorges University CTGU
Current assignee: China Three Gorges University CTGU
Priority date: 2022-08-08
Filing date: 2022-08-08
Publication date: 2022-12-02
Anticipated expiration: 2032-08-08

Abstract

The utility model provides a but hinder device more suitable for pole-climbing robot of automatic pole loosening, including tip first lifting unit of mutual articulated shaft-like and second lifting unit, and first lifting unit and second lifting unit's structure sets up along articulated shaft mirror symmetry, all be provided with on first lifting unit and the second lifting unit and follow its main part rectilinear movement's lift platform, lift platform passes through the drive of linear driving spare and removes, the last rotatable pole-climbing robot that can loosen automatically and the centre gripping member that is connected with of lift platform, still be provided with between first lifting unit and the second lifting unit and drive first lifting unit and second lifting unit and carry out relative pivoted upset subassembly. The utility model provides a exist among the prior art conflict or too be close to the obstacle when the robot of crawling can't hinder more and the robot of crawling removes unstable problem along the member, produced the effect of the obstacle performance more of reinforcing pole climbing robot.

Description

Obstacle crossing device applicable to pole-climbing robot capable of automatically loosening pole

Technical Field

The utility model relates to a pole-climbing robot technical field especially relates to a but hinder device more of pole-climbing robot suitable for automatic pine pole.

Background

There is an increasing number of rod-shaped utilities, and the length of these rods is typically 3-20 meters, and some are even higher. The cleaning, the inspection and the maintenance of the facilities are usually realized by adopting a pole-climbing robot, and the safety and the efficiency are higher.

The whole structure of the existing climbing robot with multiple degrees of freedom, such as the climbing robot with multiple degrees of freedom disclosed as 2017100966763.4, and the climbing mode of the climbing robot derive from the bionic design of inchworm, and the climbing robot can walk on a rod piece through a first rotating connecting rod and a second rotating connecting rod which are hinged with each other, so that the climbing and obstacle crossing of the rod piece are realized.

However, the crawling robot needs to detect the position of the obstacle in advance, so that the situation that the position of the first rotating connecting rod is propped by the obstacle when the first rotating connecting rod needs to turn over and cross the obstacle is avoided, the adsorption foot assembly is blocked by the obstacle, the obstacle crossing cannot be realized, and the climbing robot can climb the rod and cross the obstacle after reversing; in addition, in the process of crossing obstacles, requirements exist on the distance crossed every time, the included angle between the first rotating connecting rod and the second rotating connecting rod of the crawling robot is not smaller than a certain angle, otherwise, the crawling robot is easy to be integrally perpendicular to the rod piece, the crawling robot is usually loaded with cleaning or detection parts, and therefore the crawling robot is unstable in operation.

SUMMERY OF THE UTILITY MODEL

Not enough to exist among the prior art, the utility model provides a but be applicable to automatic pole-loosening pole-climbing robot hinder device more, it has solved the robot that exists among the prior art conflict or can't hinder more and creep the robot and remove unstable problem along the member when too being close to the obstacle.

According to the utility model discloses an embodiment, but be applicable to the device of hindering more of pole-climbing robot of automatic pole loosening, including tip first lifting unit and the second lifting unit of mutual articulated shaft-like, and first lifting unit and second lifting unit's structure sets up along articulated shaft mirror symmetry, all be provided with on first lifting unit and the second lifting unit and follow its main part rectilinear movement's lift platform, lift platform passes through the drive of linear driving piece and removes, the last rotatable pole-climbing robot that can loosen automatically and the centre gripping member that is connected with of lift platform, still be provided with between first lifting unit and the second lifting unit and drive first lifting unit and second lifting unit and carry out relative pivoted upset subassembly.

Preferably, first lifting unit and second lifting unit all include the body of rod, parallel with the body of rod and set up rack on the lateral wall of the body of rod and set up in the stopper of body of rod tip, linear driving spare including set up in lift motor on the lift platform is provided with lifting gear on lift motor's the output shaft, and lifting gear meshes with the rack mutually.

Preferably, the side wall of the rod body is further provided with a slide rail as a slide rail of the lifting platform.

Preferably, the lifting platform is provided with a connecting assembly and an adjusting assembly; the connecting assembly comprises a hinge seat arranged on the lifting platform and a connecting seat rotatably connected to the movable end of the hinge seat, and the pole-climbing robot is directly connected to the connecting seat; the adjusting assembly comprises an electric push rod, the end part of the electric push rod is hinged to the lifting platform, a connecting block is rotatably connected to the movable end of the electric push rod, and the connecting block is fixedly connected to one end of the rod-climbing robot; the hinged end of the electric push rod and the lifting platform is positioned between the connecting seat and the first lifting assembly.

Preferably, when the electric push rod is fully extended, the climbing robot connected to the connecting assembly is in a vertical state.

Preferably, the turnover assembly comprises a driving gear and a driven gear which are meshed with each other, the driving gear and the driven gear are respectively arranged on the first lifting assembly and the second lifting assembly, any one of the driving gear and the driven gear is installed on a hinged shaft of the first lifting assembly and the second lifting assembly, any one of the driving gear and the driven gear is fixedly installed, the other one of the driving gear and the driven gear is rotatably installed, and the rotatably installed gear rotates through the driving of the turnover motor.

Compared with the prior art, the utility model discloses following beneficial effect has:

1. two climbing robots connected to two ends of the obstacle crossing device drive the obstacle crossing device to move along the rod piece, and the movement is more stable.

2. The obstacle crossing device can realize the integral obstacle crossing of the device when the crawling robot is in contact with the obstacle, and the positioning process of manual work or other equipment on the obstacle on the rod piece is omitted, so that the obstacle crossing device is more convenient to use.

3. The angle of the pole-climbing robot connected to the obstacle crossing device can be adjusted, the pole-climbing robot is separated from the rod piece in advance through the electric push rod, and then the integral rotation is carried out by using the turnover assembly; the electric push rod has the advantages that whether the rod climbing robot loosens the rod or not can be determined by the electric push rod, the obstacle crossing device is prevented from being directly turned over under the condition that the rod is not loosened, and parts of the obstacle crossing device are prevented from being damaged.

4. The robot is crawled through the connecting assembly and the adjusting assembly, a stable triangular structure is formed and connected with the lifting platform, the first lifting assembly and the second lifting assembly which are connected to the crawling robot are more stable, the bearing performance of the obstacle crossing device is increased, and other automatic tools can be equipped according to climbing rod requirements.

5. The upset subassembly can carry out the rotation of wide angle, and the coupling assembling of setting makes obstacle crossing assembly can stride across the obstacle of bigger size as the extension section of the interval of first lifting unit and second lifting unit and member, cooperation use, has promoted the obstacle crossing ability of pole climbing robot.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of the present invention.

Fig. 2 is a front view of the embodiment of the present invention.

Fig. 3 is a rear view of an embodiment of the present invention.

Fig. 4 is a schematic movement diagram of an obstacle crossing process according to an embodiment of the present invention.

Fig. 5 is a schematic diagram of the movement of the large-size obstacle crossing process according to the embodiment of the present invention.

In the drawings, wherein: 1. a first lifting assembly; 11. a rod body; 12. a lifting platform; 13. a slide rail; 14. a rack; 15. a lifting gear; 16. a lifting motor; 17. a limiting block; 18. a driven gear; 2. a second lifting assembly; 21. a driving gear; 22. turning over a motor; 3. a first connection assembly; 31. a hinged seat; 32. a connecting seat; 4. a first adjustment assembly; 41. an electric push rod; 42. connecting blocks; 5. a second connection assembly; 6. a second adjustment assembly; 7. a first pole-climbing robot; 8. and the second pole-climbing robot.

Detailed Description

As shown in fig. 1-3, in order to improve the obstacle-crossing ability of the pole-climbing robot and maintain the stability of the movement of the pole-climbing robot during pole-climbing. The utility model provides a but hinder device more suitable for pole-climbing robot of automatic pole loosening, including tip first lifting unit 1 of mutual articulated shaft-like and second lifting unit 2, and the structure of first lifting unit 1 and second lifting unit 2 sets up along articulated shaft mirror symmetry, all be provided with on first lifting unit 1 and the second lifting unit 2 and follow its main part rectilinear movement's lift platform 12, lift platform 12 removes through the drive of linear driving spare, rotatable being connected with on the lift platform 12 can loosen automatically and the pole-climbing robot of centre gripping member, still be provided with between first lifting unit 1 and the second lifting unit 2 and drive first lifting unit 1 and second lifting unit 2 and carry out relative pivoted upset subassembly.

The pole-climbing robot is a manned pole-climbing robot with the publication number of CN109178132A, but the part used for manned can be eliminated, and the part is changed into a switch of a remote control speed reducing motor, so that the functions of pole loosening and pole clamping of the pole-climbing robot are realized.

The overall movement of the obstacle crossing device comprises a pole climbing process and an obstacle crossing process, the pole climbing process is realized by two pole climbing robots, the pole climbing robots drive the obstacle crossing device to move along the rod piece, the obstacle crossing process is realized by matching the obstacle crossing device with the two pole climbing robots, and a single pole climbing robot can drive the device to move along the rod piece integrally; for example, after 8's the top of second pole-climbing robot contacts the barrier on the member, loosen the member through controlling second pole-climbing robot 8, start the upset subassembly and drive second lifting unit 2 around its articulated shaft with first lifting unit 1 and rotate, the holistic top of device is to the direction perk of keeping away from the member, drive device moving as a whole through first pole-climbing robot 7, after the barrier is crossed at the top, control upset subassembly carries out the resetting and centre gripping member of second pole-climbing robot 8, the holistic bottom of controlling means again is to the direction perk of keeping away from the member, drive device moving as a whole through second pole-climbing robot 8, cross the barrier in the bottom after, carry out the bottom of device and reset.

As shown in fig. 1-3. First lifting unit 1 and second lifting unit 2 all include the body of rod 11, parallel with the body of rod 11 and set up rack 14 on the lateral wall of the body of rod 11 and set up in the stopper 17 of the 11 tip of the body of rod, linear driving spare including set up in lift motor 16 on the lift platform 12 is provided with lifting gear 15 on lift motor 16's the output shaft, lifting gear 15 meshes with rack 14 mutually.

For the rotation of the linear driving member, the matching form of the rotating gear and the rack in this embodiment drives the lifting platform 12 to move along the axial direction of the rod body 11, and a form of a lead screw and a moving block in threaded fit on the lead screw can also be adopted; the cross section of the lifting platform 12 is C-shaped, and the inner side of the lifting platform is provided with a bulge attached to the mounting wall of the rack 14 of the rod body 11; the inner wall of the lifting platform 12 is attached to the outer wall of the rod body 11, so that the lifting platform 12 is kept perpendicular to the rod body 11 under the condition that the lifting platform 12 is guaranteed to move smoothly. The two ends of the rod body 11 are fixed with limit blocks 17 through bolts, so that the lifting platform 12 is prevented from being separated from the rod body 11.

As shown in fig. 1-3, to control the manufacturing cost of the obstacle crossing device. A slide rail 13 serving as a slide rail of the lifting platform 12 is further arranged on the side wall of the rod body 11. The flatness of the outer wall of the rod body 11 and the inner wall of the lifting platform 12 needs to be guaranteed to ensure that the inner wall of the lifting platform 12 is attached to the outer wall of the rod body 11, the requirement on size is high, meanwhile, the rod body 11 and the lifting platform 12 need to have good strength, and the cost of the obstacle crossing device is too high due to high-precision manufacturing; therefore, the slide rail 13 is attached to one inner side wall of the lifting platform 12, and gaps are formed between other inner walls of the lifting platform 12 and the outer wall of the rod body 11, so that the cost of the obstacle crossing device is effectively controlled.

As shown in fig. 1-3, to achieve the adjustment of the angle of the pole-climbing robot. The lifting platform 12 is provided with a connecting assembly and an adjusting assembly; the connecting assembly comprises a hinge seat 31 arranged on the lifting platform 12 and a connecting seat 32 rotatably connected to the movable end of the hinge seat 31, and the rod-climbing robot is directly connected to the connecting seat 32; the adjusting assembly comprises an electric push rod 41, the end part of the electric push rod 41 is hinged to the lifting platform 12, a connecting block 42 is rotatably connected to the movable end of the electric push rod 41, and the connecting block 42 is fixedly connected to one end of the pole-climbing robot; the hinged end of the electric push rod 41 and the lifting platform 12 is located between the connecting seat 32 and the first lifting assembly 1.

A first connecting component 3 and a first adjusting component 4 are connected to a lifting platform 12 of the first lifting component 1, and a second connecting component 5 and a second adjusting component 6 are connected to a lifting platform 12 of the second lifting component 2; the inside of articulated seat 31 and connecting seat 32 all carries out the fretwork design, under the condition of guaranteeing structural strength, reduces the dead weight.

The connecting block 42 in the first adjusting component 4 is connected at the bottom end of the first pole-climbing robot 7, and the connecting block 42 in the second adjusting component 6 is connected at the top end of the second pole-climbing robot 8.

As the preferred embodiment of the utility model, the pole-climbing robot is convenient to control and effectively clamp the pole piece in the operation process. When the electric push rod 41 is completely extended, the climbing robot connected to the connecting assembly is in a vertical state.

When all adjusting first lifting unit 1 and second lifting unit 2 to vertical state through the upset subassembly, stretch out completely through control electric putter 41, can realize promptly that pole-climbing robot provides the guarantee to the effective centre gripping of member, for follow-up stable pole-climbing motion.

As shown in fig. 1-3. The overturning assembly comprises a driving gear 21 and a driven gear 18 which are meshed with each other, the driving gear 21 and the driven gear 18 are respectively arranged on the first lifting assembly 1 and the second lifting assembly 2, any one of the driving gear 21 and the driven gear 18 is installed on a hinged shaft of the first lifting assembly 1 and the second lifting assembly 2, any one of the driving gear 21 and the driven gear 18 is fixedly installed, the other one of the driving gear 21 and the driven gear 18 is installed in a rotatable mode, and the rotatably installed gear is driven to rotate through an overturning motor 22.

The driven gear 18 is fixed by a bolt so that the driven gear 18 cannot rotate; when the second lifting assembly 2 is overturned, the overturning motor 22 drives the driving gear 21 to rotate, the driving gear 21 rotates around the driven gear 18, when the first lifting assembly 1 is overturned, the overturning motor 22 drives the driving gear 21 to rotate, the driven gear 18 drives the first lifting assembly 1 to rotate around the axis of the driven gear 18, and the installation shaft of the driven gear 18 (namely, the articulated shaft between the first lifting assembly 1 and the second lifting assembly 2) rotates.

The climbing rod of the whole obstacle crossing device and the power supply of electrical elements in the obstacle crossing device are supplied with direct current through a storage battery arranged on the obstacle crossing device, motors involved in the obstacle crossing device all adopt brake motors, and the safety of the obstacle crossing device can be guaranteed after power failure.

As shown in fig. 4. The obstacle crossing method of the obstacle crossing device of the pole-climbing robot suitable for automatically loosening the pole comprises the following steps: a. the device is driven to integrally move along the rod piece by two rod-climbing robots connected to the obstacle crossing device; b. the top surface of the pole-climbing robot arranged on the top of the obstacle crossing device is abutted against the obstacle; c. the rod climbing robot at the top is controlled to loosen the rod, the lifting gear 15 is driven to rotate by the lifting motor 16 on the second lifting assembly 2, and the lifting gear 15 is matched with the rack 14 to drive the lifting platform 12 to move downwards; d. the electric push rod 41 is controlled to contract to drive the rod-climbing robot at the top to rotate around the hinge shaft between the hinge seat 31 and the connecting seat 32, and the rod-climbing robot at the top is far away from the rod piece; e. controlling the turnover motor 22 to drive the driving gear 21 to rotate, so that the driving gear 21 rotates around the driven gear 18, and drives the second lifting assembly 2 to rotate around the hinge shaft of the second lifting assembly and the hinge shaft of the first lifting assembly 1, so that the rod climbing robot at the top moves to one side of the obstacle on the rod piece; f. controlling the pole-climbing robot at the bottom to continuously climb the pole, so that the pole-climbing robot at the top moves to the position above the obstacle on the rod piece; g. controlling the turnover motor 22 to rotate reversely, driving the second lifting assembly 2 to rotate to a vertical state, and controlling the electric push rod 41 to extend out, so that the rod-climbing robot at the top is in the vertical state, and controlling the rod-climbing robot at the top to clamp a rod piece; h. the rod climbing robot at the bottom is controlled to loosen the rod, the electric push rod 41 at the bottom is controlled to contract, the overturning motor 22 is controlled to rotate, the driving gear 21 on the fixed second lifting assembly 2 drives the driven gear 18 on the first lifting assembly 1 to rotate around the hinge shaft between the first lifting assembly 1 and the second lifting assembly 2, namely the driven gear 18 drives the first lifting assembly 1 to rotate around the mounting shaft of the driven gear 18, and the rod climbing robot at the bottom is enabled to move to one side of an obstacle on the rod; i. and controlling the rod climbing robot at the top to move upwards, so that the rod climbing robot at the bottom moves to the position above the obstacle on the rod piece, and then controlling the electric push rod 41 at the bottom to extend and the overturning motor 22 to rotate reversely, so that the rod piece is clamped by the rod climbing robot at the bottom again, and the obstacle crossing is completed.

The present invention is a preferred embodiment. In the steps e and h, the lifting platform 12 on the first lifting assembly 1 and the second lifting assembly 2 is controlled to move along the rod body 11 according to the size of the obstacle on the rod body.

According to the size of the obstacle on the rod, the lifting platform 12 is moved to the movable end of the rod 11 to cross over the obstacle with larger size, and the lifting platform 12 is moved to the middle of the rod 11 to cross over the obstacle with smaller size.

As shown in fig. 4 and 5, the present invention is a preferred embodiment. When the obstacle crossing of the large-size obstacle is carried out, after the step e is carried out, the step x is carried out; step x, controlling the electric push rod 41 of the pole-climbing robot connected with the bottom to contract, so that the first lifting assembly 1 inclines relative to the rod piece, then performing step f, and executing step y after step f is completed; y, controlling the electric push rod 41 connected with the second lifting assembly 2 to contract for the same length according to the contracted length of the electric push rod 41 in the step x, and then controlling the overturning assembly to reversely overturn, so that the rod climbing robot at the top can clamp the rod, and executing a step z after the rod climbing robot at the top clamps the rod; step z, the rod climbing robot at the bottom is controlled to loosen the rod, the overturning assembly is controlled to drive the first lifting assembly 1 to overturn, the rod climbing robot at the bottom is made to move to one side of the obstacle on the rod, the rod climbing robot at the top is made to drive the device to integrally move, after the obstacle is completely crossed, the two electric push rods 41 are controlled to completely extend out, and the overturning assembly is controlled to reversely rotate, so that the obstacle crossing device is integrally parallel to the rod.

Claims

1. Obstacle crossing device of pole-climbing robot suitable for can loosen the pole automatically, its characterized in that: including tip first lifting unit (1) and second lifting unit (2) of mutual articulated shaft-like, and the structure of first lifting unit (1) and second lifting unit (2) sets up along the articulated shaft mirror symmetry, all be provided with on first lifting unit (1) and second lifting unit (2) and follow its main part rectilinear movement's lift platform (12), lift platform (12) are through the drive of linear driving spare removal, rotatable being connected with on lift platform (12) can loosen automatically and the pole climbing robot of centre gripping member spare, still be provided with between first lifting unit (1) and second lifting unit (2) and drive first lifting unit (1) and second lifting unit (2) and carry out relative pivoted upset subassembly.

2. The obstacle-crossing device for a pole-climbing robot capable of automatically releasing poles as claimed in claim 1, wherein: first lifting unit (1) and second lifting unit (2) all include the body of rod (11), parallel with the body of rod (11) and set up rack (14) on the lateral wall of the body of rod (11) and set up in stopper (17) of the end of the body of rod (11), linear driving spare including set up in elevator motor (16) on lift platform (12), be provided with lifting gear (15) on the output shaft of elevator motor (16), lifting gear (15) mesh with rack (14).

3. The obstacle-crossing device for a pole-climbing robot capable of automatically releasing poles as claimed in claim 2, wherein: the side wall of the rod body (11) is also provided with a slide rail (13) which is used as a slide rail of the lifting platform (12).

4. The obstacle-crossing device for a pole-climbing robot capable of automatically releasing poles as claimed in claim 1, wherein: the lifting platform (12) is provided with a connecting assembly and an adjusting assembly; the connecting assembly comprises a hinge seat (31) arranged on the lifting platform (12) and a connecting seat (32) rotatably connected to the movable end of the hinge seat (31), and the pole-climbing robot is directly connected to the connecting seat (32); the adjusting assembly comprises an electric push rod (41) with the end part hinged to the lifting platform (12), a connecting block (42) is rotatably connected to the movable end of the electric push rod (41), and the connecting block (42) is fixedly connected to one end of the pole-climbing robot; the hinged end of the electric push rod (41) and the lifting platform (12) is positioned between the connecting seat (32) and the first lifting assembly (1).

5. The obstacle-crossing device for a pole-climbing robot capable of automatically releasing poles as claimed in claim 4, wherein: when the electric push rod (41) is completely extended out, the pole-climbing robot connected to the connecting assembly is in a vertical state.

6. The obstacle-crossing device for a pole-climbing robot capable of automatically releasing poles as claimed in claim 1, wherein: the turnover assembly comprises a driving gear (21) and a driven gear (18) which are meshed with each other, the driving gear (21) and the driven gear (18) are respectively arranged on the first lifting assembly (1) and the second lifting assembly (2), any one of the driving gear (21) and the driven gear (18) is arranged on a hinged shaft of the first lifting assembly (1) and the second lifting assembly (2), any one of the driving gear (21) and the driven gear (18) is fixedly arranged, the other one of the driving gear (21) and the driven gear (18) is rotatably arranged, and the rotatably arranged gear is driven to rotate through a turnover motor (22).