CN201694275U - Mechanical stopping rod-climbing robot - Google Patents
Mechanical stopping rod-climbing robot Download PDFInfo
- Publication number
- CN201694275U CN201694275U CN2009202784802U CN200920278480U CN201694275U CN 201694275 U CN201694275 U CN 201694275U CN 2009202784802 U CN2009202784802 U CN 2009202784802U CN 200920278480 U CN200920278480 U CN 200920278480U CN 201694275 U CN201694275 U CN 201694275U
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- motor
- stopping
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- seat
- bar
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Abstract
The utility model provides a mechanical stopping rod-climbing robot, which comprises an upper sleeve, a lower sleeve, a motor and a parallelogram transmission mechanism. The upper sleeve and the lower sleeve are identical in structure and respectively consist of a roller support, a roller, an adjusting seat, a small motor, a thin steel wire rope, a stopping rod, a hinge and a sleeve lock, the motor and the parallelogram transmission mechanism respectively consist of a motor, a small gear, a rack, a rack seat, a parallelogram transmission rod and a limit switch, the upper end of the parallelogram transmission rod is connected with the upper sleeve through a fixing pin, the lower end is installed on one corresponding rack through a pin, the two racks placed in parallel are opposite to each other via toothed faces so as to clamp the small gears in between, while the small gears are meshed with each other, the rack is embedded into the rack seat, and both the motor and the rack seat are fixed on the lower sleeve. The mechanical stopping rod-climbing robot is suitable for stopping at specific positions of rods of different diameters for long period of time to accomplish certain special acts, and has the advantages of simple structure, low power, small volume, easy detachment and installation, energy conservation and the like.
Description
Technical field
The present invention relates to a kind of machinery climbing level robot of stopping, the simple and easy mechanical self-latching structure of specifically a kind of application, robot can not needed to supply with the climbing level robot that continual energy just can be kept the stop state to pole climbing device in the process of pole-climbing or decline.
Background technology
Progress along with society, task more and more many dangerous or that have a certain altitude needs climbing level robot to finish, much also need climbing level robot to stop to finish some special actions and wherein have in the pole somewhere, power overcomes the downward gravity that himself quality produces yet the robot that is in the stop state for a long time need be supplied with endlessly, so not only can make a large amount of energy loss wastes, but also can make climbing level robot the situation of under power occur, or even dangerous situation, therefore this work is particularly suitable for using simple and easy mechanical self-latching structure, the robot that weight is light and handy is finished, but this robot has not yet to see.
Summary of the invention
At above-mentioned deficiency, the invention provides a kind of machinery climbing level robot of stopping, easy for installation when using, only need general dry battery or storage battery that power is provided, 80C52 is as control chip, and its simple and easy mechanical self-latching structure can be utilized self gravitation to produce self-locking and realize long-time the stop and not loss power and energy.
The present invention is achieved by the following technical solutions:
Comprise upper bush, lower sleeve and motor and parallelogram transmission device, wherein upper bush is identical with the lower sleeve structure, be to constitute by rolling wheel support, roller, adjustment seat, small machine, finer wire, the bar of stopping, hinge and sleeve lock, roller is installed on the rolling wheel support and can sways, rolling wheel support is installed on the adjustment seat, adjustment seat is fixed on the sleeve lining, small machine is fixed on the adjustment seat, the bar of stopping is connected with adjustment seat by pin key, there is finer wire in stop bar corner system, and finer wire links to each other with the small machine rotating shaft; Motor and parallelogram transmission device are made of motor, miniature gears, tooth bar, tooth bar seat, parallelogram drive link and travel switch, parallelogram drive link upper end is passed through fixedly, and pin key links to each other with upper bush, the lower end is installed on the cooresponding tooth bar by pin key, the parallel placement of two tooth bars, geared surface is relative, be clipped in the middle and intermesh being installed in miniature gears on the motor, tooth bar is embedded in the tooth bar seat, and motor and tooth bar seat all are fixed on the lower sleeve.
A kind of machinery climbing level robot of stopping, it by rolling wheel support, sleeve, parallelogram drive link, be used for that fixedly pin key, miniature gears, motor, roller, adjustment seat, small machine, finer wire, the bar of stopping, hinge, travel switch, tooth bar seat, sleeve lock, tooth bar etc. are formed with an end of parallelogram drive link and sleeve bonded assembly.
The described bar of stopping is a rigid bar with certain angle, and an end is connected with adjustment seat, and can rotate around the junction.
Described sleeve divides upper bush and lower sleeve, and upper bush is identical with lower sleeve inside configuration structure, for certain diameter, inside the thin circular cylinder of roller, rolling wheel support, small machine and the bar of stopping is housed, and cylinder is combined by hinge by two semicolumns.
Described parallelogram drive link is that many isometric rod members are cross-linked by pin key, and can freely rotate around pin key, and its lower end is connected with two tooth bars, and the upper end is connected with upper bush.
Described tooth bar has two, and tooth bar simultaneously has teeth and teeth relative, and parallel placement will be installed in miniature gears on the machine shaft and be clipped in the middle and intermesh, and tooth bar is embedded in the tooth bar seat and can only sway, and motor and tooth bar seat all are fixed on the lower sleeve.
Described adjustment seat is fixed on the sleeve lining, and small machine is installed on the same adjustment seat with the bar of stopping, the thickness of adjustment seat can be adjusted, thereby can change the distance between each roller, guarantee that the machinery climbing level robot of stopping can work on the pole of different-diameter, there is finer wire in stop bar corner system, the finer wire other end links to each other with the small machine rotating shaft, when being rotated, small machine can roll finer wire, the drive bar of stopping rotates, the bar other end of will stopping inserts between roller and the pole, and roller is pressed in the effect that forms similar lever on the bar of stopping, and hinders sleeve and descends, it is big more that sleeve is subjected to downward power, leverage is obvious more, and the friction force of stopping between bar and the pole is bigger, reaches the purpose of lower sleeve mechanical self-latching.
The invention has the beneficial effects as follows: this machinery climbing level robot of stopping takes up room little, be easy to carry, simple in structure, power is little, quick detachable, easy installation, when using, only need general dry battery or storage battery that power is provided, 80C52 is as control chip, and its simple and easy mechanical self-latching structure can be utilized self gravitation to produce self-locking and realize long-time the stop and not loss power and energy.
Description of drawings
Fig. 1 is the machinery climbing level robot internal view of stopping;
Fig. 2 is the machinery climbing level robot front view of stopping;
Fig. 3 is the machinery climbing level robot sleeve birds-eye view of stopping;
Fig. 4 installs birds-eye view for the machinery climbing level robot rack-and-gear of stopping.
Among the figure: 1 rolling wheel support, 2 fixing pin keies, 3 keys of having strong market potential, 4 miniature gearss, 5 motors, 6 rollers, 7 adjustment seats, 8 small machines, 9 finer wires, 10 bars of stopping, 11 poles, 12 sleeves, 13 hinges, 14 travel switches, 15 tooth bar seats, 16 sleeves lock, 17 parallelogram drive links, 18 tooth bars.
Specific embodiment
This machinery climbing level robot of stopping divides three parts: upper bush, lower sleeve, motor and parallelogram transmission device, as Fig. 1, Fig. 2, Fig. 3, shown in Figure 4, wherein upper bush and lower sleeve structure are just the same, all be by rolling wheel support 1, roller 6, adjustment seat 7, small machine 8, finer wire 9, the bar 10 of stopping, hinge 13 and sleeve lock 16 constitute, roller 6 is installed on the rolling wheel support 1 and can sways, rolling wheel support 1 is installed on the adjustment seat 7, adjustment seat 7 is fixed on sleeve 12 inwalls, small machine 8 is fixed on the adjustment seat 7, the bar 10 of stopping is connected (small machine 8 is installed on the same adjustment seat with the bar 10 of stopping) by pin key with adjustment seat 7, there is finer wire 9 in stop bar 10 corners system, finer wire 9 links to each other with small machine 8 rotating shafts small machine 8 to be rotated can drive the bar 10 of stopping by finer wire 9 and rotates around pin key, the thickness of adjustment seat 7 can change, thereby can change the distance between each roller, guarantees that the machinery climbing level robot of stopping can work on the pole of different-diameter.Motor and parallelogram transmission device are made of motor 5, miniature gears 4, tooth bar 18, tooth bar seat 15, parallelogram drive link 17 and travel switch 14, parallelogram drive link 17 upper ends are passed through fixedly, and pin key 2 links to each other with upper bush, the lower end is installed on the cooresponding tooth bar by pin key, the parallel placement of two tooth bars, geared surface is relative, be clipped in the middle and intermesh being installed in miniature gears 4 on the motor 5, tooth bar 18 is embedded in the tooth bar seat 15 and can only sway, and motor 5 all is fixed on the lower sleeve with tooth bar seat 15.
When machinery is stopped the climbing level robot pole-climbing, open two sleeves, regulating adjustment seat 7 thickness makes roller and pole apart from suitable, closed sleeve, during pole-climbing, small machine 8 in the lower sleeve rotates, the bar 10 1 end pull-ups of will stopping, fill between roller 6 and the pole 11, roller 6 is pressed in the effect that forms similar lever on the bar 10 of stopping, motor 5 is just changeing simultaneously, drives two tooth bars 18 by miniature gears 4 and relatively moves in tooth bar seat 15, drives parallelogram drive link 17, thereby rise on parallelogram transmission device top, this moment, the parallelogram transmission device rose meeting to last, two sleeves all have application force down, because lower sleeve is used on the roller 6 by the downward masterpiece of parallelogram transmission device, and roller 6 is pressed on the bar 10 of stopping, make leverage more obvious, the friction force of stopping between bar 10 and the pole 11 is bigger, reaches the purpose of lower sleeve mechanical self-latching, thereby moves on the upper bush; When the parallelogram transmission device rises to vertex, travel switch 14 is touched, make motor 5 counter-rotatings behind the control system received signal, parallelogram drive link 17 lower ends are apart from increase, small machine rotates in the control system control pinion simultaneously, with bar 10 pull-ups of stopping in the upper bush, make and form leverage in the upper bush and can not descend, be in the stop state, its cooresponding bar 10 of stopping is put down in the small machine counter-rotating in the lower sleeve, and leverage disappears, and lower sleeve is pulled upwardly by the parallelogram transmission device, small machine 8 restPoses with the bar 10 of stopping, the machinery climbing level robot upward movement of stopping.When upper and lower sleeve took turns to operate continuously, the machinery climbing level robot of stopping will constantly upwards climb.
When the motor initial rotation was reversed, upper and lower sleeve job order changed, and the machinery climbing level robot of stopping will move downward.When upper and lower sleeve took turns to operate continuously, the machinery climbing level robot of stopping will constantly descend.
When motor does not rotate, upper and lower sleeve only needs an effect, and the machinery climbing level robot of stopping will be in the stop state and not need propulsion source to provide power to keep because of mechanical self-latching.
Claims (1)
1. the machinery climbing level robot of stopping, it is characterized in that: comprise upper bush, lower sleeve and motor and parallelogram transmission device, wherein upper bush is identical with the lower sleeve structure, be by rolling wheel support, roller, adjustment seat, small machine, finer wire, the bar of stopping, hinge and sleeve lock constitute, roller is installed on the rolling wheel support and can sways, rolling wheel support is installed on the adjustment seat, adjustment seat is fixed on the sleeve lining, small machine is fixed on the adjustment seat, the bar of stopping is connected with adjustment seat by pin key, and there is finer wire in the system of bar corner of stopping, and finer wire links to each other with the small machine rotating shaft; Motor and parallelogram transmission device are made of motor, miniature gears, tooth bar, tooth bar seat, parallelogram drive link and travel switch, parallelogram drive link upper end is passed through fixedly, and pin key links to each other with upper bush, the lower end is installed on the cooresponding tooth bar by pin key, the parallel placement of two tooth bars, geared surface is relative, be clipped in the middle and intermesh being installed in miniature gears on the motor, tooth bar is embedded in the tooth bar seat, and motor and tooth bar seat all are fixed on the lower sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202784802U CN201694275U (en) | 2009-11-17 | 2009-11-17 | Mechanical stopping rod-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202784802U CN201694275U (en) | 2009-11-17 | 2009-11-17 | Mechanical stopping rod-climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201694275U true CN201694275U (en) | 2011-01-05 |
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ID=43395519
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009202784802U Expired - Fee Related CN201694275U (en) | 2009-11-17 | 2009-11-17 | Mechanical stopping rod-climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201694275U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102975783A (en) * | 2011-09-06 | 2013-03-20 | 山东科技大学 | Single-wheel type robot used for climbing outside pipe |
| CN105438304A (en) * | 2016-01-06 | 2016-03-30 | 北京电子科技职业学院 | Pole-climbing robot system device and application method |
| CN106184450A (en) * | 2016-07-20 | 2016-12-07 | 东南大学 | A kind of climbing level robot |
| CN110001812A (en) * | 2019-04-10 | 2019-07-12 | 安徽省一步高智能装备有限责任公司 | A kind of climbing level robot |
| CN110498375A (en) * | 2019-09-20 | 2019-11-26 | 西南石油大学 | A kind of hydraulic drive derrick crawl device |
| CN112373592A (en) * | 2020-11-26 | 2021-02-19 | 重庆大学 | Space ladder climbing robot for high-speed heavy-load transportation |
-
2009
- 2009-11-17 CN CN2009202784802U patent/CN201694275U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102975783A (en) * | 2011-09-06 | 2013-03-20 | 山东科技大学 | Single-wheel type robot used for climbing outside pipe |
| CN105438304A (en) * | 2016-01-06 | 2016-03-30 | 北京电子科技职业学院 | Pole-climbing robot system device and application method |
| CN106184450A (en) * | 2016-07-20 | 2016-12-07 | 东南大学 | A kind of climbing level robot |
| CN106184450B (en) * | 2016-07-20 | 2018-05-08 | 东南大学 | A kind of climbing level robot |
| CN110001812A (en) * | 2019-04-10 | 2019-07-12 | 安徽省一步高智能装备有限责任公司 | A kind of climbing level robot |
| CN110001812B (en) * | 2019-04-10 | 2024-04-23 | 安徽省一步高智能装备有限责任公司 | Pole climbing robot |
| CN110498375A (en) * | 2019-09-20 | 2019-11-26 | 西南石油大学 | A kind of hydraulic drive derrick crawl device |
| CN112373592A (en) * | 2020-11-26 | 2021-02-19 | 重庆大学 | Space ladder climbing robot for high-speed heavy-load transportation |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110105 Termination date: 20111117 |