CN111731404B - Folding climbing robot, climbing structure - Google Patents
Folding climbing robot, climbing structure Download PDFInfo
- Publication number
- CN111731404B CN111731404B CN202010735549.0A CN202010735549A CN111731404B CN 111731404 B CN111731404 B CN 111731404B CN 202010735549 A CN202010735549 A CN 202010735549A CN 111731404 B CN111731404 B CN 111731404B
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- box
- power box
- climbing robot
- power
- hss
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- 230000009194 climbing Effects 0.000 title claims abstract description 79
- 239000003638 chemical reducing agent Substances 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a foldable climbing robot and a climbing structure. The foldable climbing robot comprises a control box, a power box and a bearing box which are sequentially arranged from top to bottom, wherein the control box is fixedly connected to the power box, the power box is hinged to the power box, and the bearing box is hinged to the power box; the control box and the power box are electrically connected with the power box, and the control box can control the power box to drive the bearing box to climb on the HSS guide rail. In the foldable climbing robot, the power box is arranged on the power box in a foldable way, and the bearing box is arranged on the power box in a foldable way, so that the foldable climbing robot has the advantage of convenience in carrying.
Description
Technical Field
The invention relates to the field of climbing robots, in particular to a foldable climbing robot and a climbing structure.
Background
The aluminum alloy rail produced by swiss HSS (high step systems) is made of anodized aluminum alloy and can be put into use for a long time under severe weather conditions. The guide rail with complex appearance is firm and durable, and can bear a load of up to 12 tons per 6 meters. Rails have successfully survived the test in high altitudes, snowy, icy and severe marine climates. The guide rail is generally maintenance-free, is very strong but flexible, and can be freely bent according to the shape of a building at the place of use. The device is widely used for transmission line towers, wind power generation towers, the building industry, communication towers, firefighting rescue and the like.
Existing climbing equipment based on HSS guide rails 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 operation. However, the existing climbing device realized by electric operation has the disadvantages of complex structure, high cost and inconvenient disassembly and assembly and carrying.
Therefore, those skilled in the art have been working to develop a foldable climbing robot that is simple in structure, low in cost, and convenient to disassemble and carry.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention aims to provide a portable and foldable climbing robot.
In order to achieve the above purpose, the invention provides a foldable climbing robot which comprises a control box, a power box and a bearing box, wherein the control box, the power box and the bearing box are sequentially arranged from top to bottom;
the control box and the power box are electrically connected with the power box, and the control box can control the power box to drive the bearing box to climb on the HSS guide rail.
Preferably, a supporting position is arranged at the bottom of the bearing box.
Preferably, the power box comprises a frame, two driving motors symmetrically arranged on the frame, a speed reducer and a driving gear, wherein the speed reducer and the driving gear are connected to the output end of the driving motor, and the driving gear can be meshed with a rack of the HSS guide rail;
the machine frame is provided with a rotary guide module, and the rotary guide module comprises a rolling wheel which can be matched with the front surface of the HSS guide rail and a enclasping device which can enclasp the HSS guide rail;
the enclasping device comprises a shell hinged on the frame, an eccentric shaft fixedly connected to the shell, and enclasping wheels arranged on the eccentric shaft, wherein the enclasping wheels can be matched with the back surface of the HSS guide rail;
the two ends of the shell are provided with corresponding limiting holes, keys and combined pin shafts are arranged in the limiting holes, each combined pin shaft comprises a supporting block, a limiting block and a linkage pin, the limiting blocks are arranged on the supporting blocks, and the linkage pins at one end of the shell penetrate through the supporting blocks at the other end of the shell and are fixedly connected with the keys at the other end of the shell;
a reset spring is arranged between the support block and the key;
the frame is provided with an outwards protruding limit boss, the limit boss is provided with a hinge shaft in a penetrating way, two ends of the shell are provided with hinge parts which are in sliding fit with the hinge shaft, and when the two support blocks move in opposite directions, the limiting block can abut against the limit boss;
preferably, a brake with a manual release lever is arranged on one driving motor.
Preferably, the carrying case 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 carrying case comprises a carrying case body and a clamping piece which clamps two pedal sheets,
the bearing box body is provided with a sliding rail connecting piece, and the two pedal pieces are in sliding fit with the sliding rail connecting piece;
the sliding rail connecting piece is provided with a limiting groove, and the pedal sheet is provided with a limiting plunger matched with the limiting groove;
the clamping piece comprises two connecting rods capable of rotating relatively, and positioning grooves for inserting the pedal pieces are formed in the connecting rods.
The invention also provides a climbing structure, which comprises the HSS guide rail, wherein the folding climbing robot is arranged on the HSS guide rail, and two ends of the HSS guide rail are provided with limiters.
The beneficial effects of the invention are as follows: in the foldable climbing robot, the power box is arranged on the power box in a foldable way, and the bearing box is arranged on the power box in a foldable way, so that the foldable climbing robot has the advantage of convenience in carrying.
Drawings
Fig. 1 is a schematic structural view of a foldable climbing robot according to an embodiment of the present invention.
Fig. 2 is a schematic structural view of a power box in a foldable climbing robot according to an embodiment of the present invention.
Fig. 3 is a schematic view of the structure of a frame of a power box in a foldable climbing robot according to an embodiment of the present invention.
Fig. 4 is a schematic structural view of a hugging device of a power box in a foldable climbing robot according to an embodiment of the present invention.
Fig. 5 is a schematic view of the structure of the housing of the hugging device in the foldable climbing robot according to an embodiment of the present invention.
Fig. 6 is a bottom view of fig. 5.
Fig. 7 is a schematic diagram of a connection structure between a button of a clasping device and a combined pin in a foldable climbing robot according to an embodiment of the present invention.
Fig. 8 is a schematic structural view of a combined pin shaft of a enclasping device in a foldable climbing robot according to an embodiment of the present invention.
Fig. 9 is a schematic structural view of an eccentric shaft of a hugging device in a foldable 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 foldable climbing robot in accordance with an embodiment of the present invention.
Fig. 11 is a schematic structural view of a clasping wheel of a clasping device in a collapsible climbing robot in accordance with one embodiment of the present invention.
Fig. 12 is a schematic structural view of a control box in a foldable climbing robot according to an embodiment of the present invention.
Fig. 13 is a schematic view of the structure of a power box in a foldable climbing robot according to an embodiment of the present invention.
Fig. 14 is a schematic view of the structure of a carrying case in a collapsible climbing robot according to an embodiment of the 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 case in a foldable climbing robot according to an embodiment of the present invention.
Fig. 17 is a schematic view showing the structure of a pedal sheet of a carrying case in a foldable climbing robot according to an embodiment of the present invention.
Fig. 18 is a schematic view of the structure of the holding member of the carrying case in the foldable 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 in accordance with one 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 in fig. 20.
Detailed Description
The present invention will be further described with reference to the drawings and examples, and it should be noted that in the description of the present invention, the terms "upper", "lower", "left", "right", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific manner, and thus 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 objects;
1b) The control box is fixed on the power box;
1c) The power box is arranged on the power box in a folding way, and the bearing box is arranged on the power box in a folding way;
1d) When the power supply box and the bearing box are folded, the bearing box can stand stably.
2) Climbing robot climbs at HSS guide rail
2a) A driving motor, a speed reducer and a driving gear which are sequentially connected are arranged on the power box;
2b) Meshing the drive 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 on the HSS guide rail;
2d) The power supply box is used for providing power for the driving motor of the power box; simultaneously, the control box is enabled to control the power output of the power supply 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 drives the bearing box to climb on the HSS guide rail.
As shown in fig. 1-19, the above-described climbing method may be implemented by a collapsible climbing robot; the foldable climbing robot comprises a control box 100, a power box 200, a power box 300 and a bearing box 400 which are sequentially arranged from top to bottom; the control box 100 is fixedly connected to the power box 200; the power box 300 is hinged to the power box 200; the carrying case 400 is hinged to the power supply case 300;
in the embodiment, a hinge structure is adopted between a power box and a power box of the climbing robot; the connecting function and the relative movement can be realized; the hinge structure comprises a pin shaft 261, an upper shaft sleeve 262, a lower shaft sleeve 340 and a lock shaft nut 263; when the climbing robot is assembled, the pin shafts are inserted into the shaft sleeves of the power box and the power box, and the two ends of the pin shafts are fixedly locked through the lock shaft 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 bearing box 400 to climb on the HSS guide rail.
The bottom of the carrying case 400 is provided with a support location 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 can be folded and unfolded manually without using external tools in the folding process. The folded support is used as a supporting point through the bottom of the bearing box so that the folded box can stand stably.
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 end of the driving motors 211 and a driving gear 213; the drive gear 213 may engage with the rack of the HSS rail;
the frame 210 is provided with a rotary guide module; the rotary guiding module comprises a rolling wheel 220 which can be matched with the front surface of the HSS guide rail and a enclasping device 230 which can enclasp the HSS guide rail; the rotary guide module can be connected with the HSS guide rail, roll along the HSS guide rail and bear bending moment when the equipment operates.
The clasping device 230 comprises a housing 231 hinged on the frame 210, an eccentric shaft 232 fixedly connected on the housing 231, and a clasping wheel 233 arranged on the eccentric shaft 232; the holding wheel 233 can be matched with the back surface of the HSS guide rail; the eccentric configuration facilitates mounting of the hugging device 230 on the HSS rail.
Corresponding limiting holes 234 are formed in two ends of the shell 231, and keys 235 and a combined pin shaft 236 are arranged in the limiting holes 234; the combined pin shaft 236 comprises a supporting block 236a, a limiting block 236b arranged on the supporting block 236a and a linkage pin 236c; the linkage pin 236c at one end of the housing 231 passes through the support block 236a at the other end of the housing 231 and is fixedly connected with the key 235 at the other end of the housing 231;
a return spring 237 is arranged between the supporting block 236a and the key 235;
the frame 210 is provided with a convex limit boss 240; a hinge shaft 241 is arranged on the limit boss 240 in a penetrating way; both ends of the housing 231 are provided with hinge parts 231a slidably fitted with the hinge shafts 241; when the two support blocks 236a move in opposite directions, the limiting block 236b can abut against the limiting boss 240;
when the key 235 of the rotary guide module is pressed, the limiting block 236b is retracted (opened position) and the rack 210 can be removed from the HSS guide rail; when the key 235 of the rotary guide module is not pressed, the limiting block 236b pops up (closed position) to form a limit, and the rack 210 can be fixed on the HSS guide.
A brake 250 having a manual release lever is provided on one of the drive motors 211. The brake is a normally closed brake, is opened when being electrified, the climbing robot operates, and is automatically closed when the climbing robot needs to stop, so that a braking effect is achieved. The manual release deflector rod can be used for manually opening the brake when the climbing robot is suddenly powered off or fails to move, and the equipment slowly descends under the action of gravity, so that personnel can fall to a ground safety position.
Another rotary guide module is provided on the carrying case 400. It is ensured that the carrier case 400 does not disengage from the HSS rail.
The control box 100 includes a control box body 110 fixedly connected with 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; the appointed target can be observed when the equipment reaches the appointed position; and video recording. The display screen displays the electric quantity, speed, height, load capacity and the like of the battery; the display screen adopts a tablet personal computer, so that a password protection starting mode or a face recognition and fingerprint recognition function can be realized; realizing a GPS positioning function by using a public network; the independent communication system is developed, the cloud dialogue mode is realized, the connection between the ground, the base station (substation) and an operator is facilitated, and the data of an on-line monitoring device arranged on the iron tower can be collected.
The power box 300 includes a power box body 310, a battery provided on the power box body 310, a charging plug 320, and an aviation plug 330 connected to the power box 200. The power supply box is mainly provided with a lithium battery in a power supply box body to provide a power source for equipment; and an aviation plug is arranged on the power supply box, and an electric circuit between the power box and the power supply box is connected and quickly connected through the aviation plug.
The carrying case 400 includes a carrying case body 430, a clamping member 450 clamping two pedal pieces 440;
the bearing box 430 is provided with a sliding rail connecting piece 431; the two pedal pieces 440 are slidably fitted on the slide rail connecting member 431;
the slide rail connecting piece 431 is provided with a limit groove 431a; the pedal 440 is provided with a limit plunger 441 matched with the limit groove 431a; when in use, the pedal sheet 440 is inserted on the slide rail connector 431, and the connection stability of the pedal sheet 440 is ensured not to slide down through the limit plunger 441.
The clamping member 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 HSS guide 500; the HSS guide rail 500 is provided with the foldable climbing robot; two ends of the HSS rail 500 are provided with stoppers 510. The climbing robot is prevented from riding or toppling by the contact of the stopper 510 with the climbing robot.
When the climbing structure is used; an operator needs to open a rotary guide module on the climbing robot; fixing the climbing robot on the HSS guide rail; ensuring that the drive gear meshes with the rack on the HSS rail. The operator needs to stand on the pedal sheet on the carrying case with two feet; tying the safety belt; the handles on the control box are held by double 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 operation of the equipment; after the fault is removed; the emergency braking is canceled; and recovering the operation state.
The climbing robot is provided with a power supply; is convenient to be installed and used in a field area without a power supply. The climbing robot and the HSS guide rail are interchangeable and the climbing robot is detachable; a climbing robot can meet the maintenance and overhaul requirements of the multi-base iron tower. The whole climbing robot adopts a folding design; after the use is finished; can be folded and transported; or can be disassembled according to the module. The climbing robot is convenient to install and compact in structure. The climbing robot has various transportation modes; can adapt to various road conditions of the power transmission line. The climbing robot can be integrally loaded and transported; can also be disassembled and carried.
The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention by one of ordinary skill in the art without undue burden. Therefore, the technical solutions obtained by logic analysis, reasoning or limited experiments based on the prior art by those skilled in the art according to the present invention should be within the scope of protection defined by the claims.
Claims (7)
1. The foldable climbing robot is characterized by comprising a control box (100), a power box (200), a power box (300) and a bearing box (400) which are sequentially arranged from top to bottom, wherein the control box (100) is fixedly connected to the power box (200), the power box (300) is hinged to the power box (200), and the bearing box (400) is hinged to the power box (300);
the control box (100) and the power box (200) are electrically connected with the power box (300), and the control box (100) can control the power box (200) to drive the bearing box (400) to climb on the HSS guide rail;
the power box (200) comprises a frame (210), two driving motors (211) symmetrically arranged on the frame (210), a speed reducer (212) and a driving gear (213), wherein the speed reducer (212) is connected to the output end of the driving motor (211), and the driving gear (213) can be meshed with racks of the HSS guide rail;
the machine frame (210) is provided with a rotary guide module, and the rotary guide module comprises a rolling wheel (220) which can be matched with the front surface of the HSS guide rail and a enclasping device (230) which can enclasp the HSS guide rail;
the enclasping device (230) comprises a shell (231) hinged on the frame (210), an eccentric shaft (232) fixedly connected to the shell (231) and enclasping wheels (233) arranged on the eccentric shaft (232), wherein the enclasping wheels (233) can be matched with the back surface of the HSS guide rail;
corresponding limiting holes (234) are formed in two ends of the shell (231), keys (235) and combined pin shafts (236) are arranged in the limiting holes (234), each combined pin shaft (236) comprises a supporting block (236 a), a limiting block (236 b) and a linkage pin (236 c), each limiting block (236 b) is arranged on each supporting block (236 a), 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 corresponding 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 limit boss (240), the limit boss (240) is provided with a hinge shaft (241) in a penetrating way, two ends of the shell (231) are provided with hinge parts (231 a) which are in sliding fit with the hinge shaft (241), and when the two support blocks (236 a) move in opposite directions, the limit block (236 b) can abut against the limit boss (240);
the control box (100) comprises a control box body (110) fixedly connected with the power box (200), a display screen (120), a state selection switch (130), an emergency brake switch (140), an operating rod (150) and a handle (160), wherein the display screen (120) is arranged on the control box body (110).
2. The foldable climbing robot of claim 1, wherein a support location (420) is provided at the bottom of the carrying case (400).
3. A collapsible climbing robot according to claim 1, characterized in that one of the drive motors (211) is provided with a brake (250) with a manual release lever.
4. A collapsible climbing robot according to claim 1, characterized in that the carrying case (400) is provided with a further rotary guide module.
5. The collapsible climbing robot of claim 1, wherein the power box (300) comprises 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).
6. The collapsible climbing robot of claim 1, wherein the carrying case (400) comprises a carrying case body (430), a clamping member (450) clamping two pedal pieces (440),
the bearing box body (430) is provided with a sliding rail connecting piece (431), and the two pedal pieces (440) are in sliding fit on the sliding rail connecting piece (431);
a limit groove (431 a) is formed in the slide rail connecting piece (431), and a limit plunger (441) matched with the limit groove (431 a) is arranged on the pedal piece (440);
the clamping piece (450) comprises two connecting rods (451) capable of rotating relatively, and a positioning groove (451 a) for inserting the pedal piece (440) is formed in the connecting rods (451).
7. A climbing structure comprising an HSS guide (500), wherein the HSS guide (500) is provided with a foldable climbing robot according to any one of claims 1 to 6, and stoppers (510) are provided at both ends of the HSS guide (500).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010735549.0A CN111731404B (en) | 2020-07-28 | 2020-07-28 | Folding climbing robot, climbing structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010735549.0A CN111731404B (en) | 2020-07-28 | 2020-07-28 | Folding climbing robot, climbing structure |
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| Publication Number | Publication Date |
|---|---|
| CN111731404A CN111731404A (en) | 2020-10-02 |
| CN111731404B true CN111731404B (en) | 2023-08-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010735549.0A Active CN111731404B (en) | 2020-07-28 | 2020-07-28 | Folding climbing robot, climbing structure |
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|---|---|---|---|---|
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Also Published As
| Publication number | Publication date |
|---|---|
| CN111731404A (en) | 2020-10-02 |
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