CN202827826U - Self-adaptation cone lamp pole crawling robot - Google Patents
Self-adaptation cone lamp pole crawling robot Download PDFInfo
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- CN202827826U CN202827826U CN 201220499387 CN201220499387U CN202827826U CN 202827826 U CN202827826 U CN 202827826U CN 201220499387 CN201220499387 CN 201220499387 CN 201220499387 U CN201220499387 U CN 201220499387U CN 202827826 U CN202827826 U CN 202827826U
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Abstract
The utility model provides a self-adaptation cone lamp pole crawling robot. The self-adaptation cone lamp pole crawling robot comprises a drive device and a self-adaptation pressing device, wherein the drive device is fixed on the self-adaptation pressing device. The lamp pole crawling robot crawls through friction between crawler belts and lamp poles, damage on the lamp poles is reduced, service life of the lamp poles is prolonged, and cost of cleaning and detecting the lamp poles is reduced from another side. In addition, the self-adaptation cone lamp pole crawling robot has the advantages of being convenient to install and dismantle, high in cleaning and detecting efficiency, convenient to use, timesaving, laborsaving, compact in structure, small, low in processing cost and capable of achieving standardization.
Description
Technical field
The utility model relates to the robot field, especially relates to a kind of self adaptation tapered lamp post climbing robot.
Background technology
Lamp loses in life nowhere, and modern city is a brilliantly illuminated world especially, and lamp is also having the effect of decorating, so lamp is more and more important in the status of modern society except illumination.Modal lamp has street lamp, High-Pole Lamp, traffic signal lamp in the life.Wherein High-Pole Lamp refers to that pole height is equal to or greater than 20m, and as the high mast lighting facility of the large area lightings such as urban highway and highway, square, stadium, airport, port and pier, it is handsome in appearance, has very strong ornamental.If but can not be anticorrosion to lamp stand rust cleaning mopping by standard, the steel lamp stand not being carried out defect detecting test, the maintainer does not check its outward appearance corrosion abrasion situation and each parts degree that is connected firmly comprehensively yet, will produce serious safety misadventure.Particularly in paroxysmal weather disaster, embody more obvious.High-Pole Lamp is carried out regular inspection, safeguards and to comprise external detection and inner the detection, and wherein external detection is most important during all detect, and its objective is the situation of determining High-Pole Lamp, finds outer damage, and estimates internal injury.Early stage outer damage check is by observing with glass.The mode that has adopted subsequently the labor cleaning to detect is utilized the crane hanging basket to carry the staff and is carried out.Manually to High-Pole Lamp clear up detection efficiency low, have personal safety hidden danger, and cost is higher, can not satisfy and clear up frequently testing requirement.In order to improve this situation, carried out correlative study for the lamp stand cleaning and detection robot abroad, and developed special lamp stand and detected cleaning robot.This type of robot can apply certain effect power by pinch device to the equal diameter lamp stand and be attached on the lamp stand, but it is then unworkable to straighten the footpath lamp stand for taper.And this class robot is larger to the damage of lamp stand, greatly reduces the service life of lamp stand.
Summary of the invention
The purpose of this utility model is: for the problem that prior art exists, providing a kind of can creep at equal diameter and the lamp stand that straighten the footpath, and creeps steadily, simultaneously the self adaptation tapered lamp post climbing robot little to the injury on lamp stand surface.
The purpose of this utility model is achieved through the following technical solutions:
A kind of self adaptation tapered lamp post climbing robot is characterized in that this robot comprises actuating device and self adaptation pinch device, and described actuating device is fixed on the self adaptation pinch device.
Described actuating device comprises frame, motor, speed-changing mechanism and Athey wheel mechanism, and described motor, speed-changing mechanism and Athey wheel mechanism all are arranged on the frame, and motor is connected with Athey wheel mechanism by speed-changing mechanism.
Described speed-changing mechanism comprises drive bevel gear, driven wheel of differential, transmission shaft, small belt pulley, big belt pulley and belt, described drive bevel gear is connected in the rotating shaft of motor, this drive bevel gear is connected with a joggle with the driven wheel of differential that is connected to transmission shaft one end, the other end of transmission shaft connects small belt pulley, described big belt pulley is arranged in the Athey wheel mechanism, and this big belt pulley is connected with small belt pulley by belt.
Described Athey wheel mechanism comprises driving wheel, bearing wheed, flower wheel and crawler belt, and described crawler belt is set on driving wheel, bearing wheed and the flower wheel.
Described Athey wheel mechanism also comprises the crawler belt tighting adjusting part, this crawler belt tighting adjusting part comprises adjustment block and adjusts screw, described adjustment block is fixed on the frame, and after described adjustment screw passed adjustment block, the double-screw bolt of adjusting screw was connected in the rotating shaft of flower wheel.
Described self adaptation pinch device comprises two ring-shaped components, positioning component and balance weight assembly, described two ring-shaped components are symmetrical arranged up and down, each ring-shaped component is cross-linked composition by large movable quadrilateral frame and little movable quadrilateral frame, on the frame angle of the large movable quadrilateral frame of the ring-shaped component inboard above one end of described actuating device is connected to, on the frame angle of the large movable quadrilateral frame of the ring-shaped component inboard below the other end of actuating device is connected to, described positioning component comprises fix shaft and locating piece, on the frame angle of the large movable quadrilateral frame in the ring-shaped component outside above locating piece is arranged on, one end of fix shaft is fixed on the actuating device, the other end of fix shaft passes locating piece, fix shaft and locating piece sliding block joint, described balance weight assembly comprises guide roller frame, four pulleys, two groups of backguys, net backguy piece and clump weight, guide roller frame is fixed on the actuating device, be arranged on the guide roller frame for twice on four pulleys two, one end of one group of backguy in described two groups of backguys connects clump weight, after the other end of this group backguy is walked around two pulleys of top, on two relative frame angles of the large movable quadrilateral frame above being connected to, one end of another group backguy in described two groups of backguys connects clump weight, behind two pulleys above the other end of this group backguy is walked around successively and two pulleys of below, on two relative frame angles of the large movable quadrilateral frame below being connected to.
All offer notch on the outside two frames of described little movable quadrilateral frame, two frames link together by the spring bolt that passes notch.
Compared with prior art, the utlity model has following advantage:
(1) adopts the self adaptation pinch device, for equal diameter with straighten the footpath lamp stand and all can creep;
(2) creep by the friction between crawler belt and lamp stand, little to the injury on lamp stand surface;
(3) adopt three groups of actuating devices, can make creep more steady;
(4) by rotating and the rotating speed of control system control motor, can reach automatically and creep up and down, simple to operation;
(5) whole apparatus structure is compact, and small and exquisite, member can form gauge member, makes easy to maintenancely, and cost is low.
Description of drawings
Fig. 1 is integrally-built front view of the present utility model;
Fig. 2 is the birds-eye view of Fig. 1;
Fig. 3 is the front view of actuating device of the present utility model;
Fig. 4 is the birds-eye view of Fig. 3;
Fig. 5 is self adaptation pinch device schematic diagram of the present utility model (magnifying state);
Fig. 6 is self adaptation pinch device schematic diagram of the present utility model (contraction state);
Fig. 7 is self adaptation pinch device schematic diagram of the present utility model (disassembly status);
Fig. 8 is the schematic diagram of balance weight assembly;
The accompanying drawing marking explanation:
1 is that actuating device, 2 is that self adaptation pinch device, 3 is electric pole;
11 is that frame, 12 is that motor, 13 is that speed-changing mechanism, 14 is that Athey wheel mechanism, 15 is that adjustment rack, 16 is motor frame;
131 is that drive bevel gear, 132 is that driven wheel of differential, 133 is that transmission shaft, 134 is that small belt pulley, 135 is that big belt pulley, 136 is that belt, 137 is the transmission screw;
141 is that driving wheel, 142 is that bearing wheed, 143 is that driven axle, 144 is that crawler belt, 145 is that imput shaft, 146 is that axle, 147 is that yellow sleeve, 148 is that adjustment block, 149 is the adjustment screw;
201 is that large movable quadrilateral frame, 202 is that little movable quadrilateral frame, 203 is that notch, 204 is that spring bolt, 205 is that bolt of rear end plate, 206 is that fix shaft, 207 is that locating piece, 208 is that guide roller frame, 209 is that pulley, 210 is that backguy, 211 is that net backguy piece, 212 is that clump weight, 213 is contiguous block.
The specific embodiment
Below in conjunction with the drawings and specific embodiments the utility model is elaborated.
Embodiment
As depicted in figs. 1 and 2, self adaptation tapered lamp post climbing robot mainly is comprised of actuating device 1 and self adaptation pinch device 2 two parts, and wherein actuating device 1 has three.All actuating devices 1 all are fixed on the self adaptation pinch device 2.
As shown in Figure 3 and Figure 4, actuating device 1 comprises frame 11, motor 12, speed-changing mechanism 13, Athey wheel mechanism 14, adjustment rack 15 and motor frame 16.Motor 12 is fixed on the motor frame 16, and motor frame 16 is fixed on the frame 11.Speed-changing mechanism 13 and Athey wheel mechanism 14 all are arranged on the frame 11, and motor 12 is connected with Athey wheel mechanism 14 by speed-changing mechanism 13.Speed-changing mechanism 13 comprises drive bevel gear 131, driven wheel of differential 132, transmission shaft 133, small belt pulley 134, big belt pulley 135, belt 136 and transmission screw 137.Drive bevel gear 131 is connected in the rotating shaft of motor 12, and by 137 lockings of transmission screw, this drive bevel gear 131 is connected with a joggle with the driven wheel of differential 132 that is connected to transmission shaft 133 1 ends, and transmission shaft 133 is installed on the adjustment rack 15, and the other end of transmission shaft 133 connects small belt pulley 134.Big belt pulley 135 is arranged in the Athey wheel mechanism 14, and this big belt pulley 135 is connected with small belt pulley 134 by belt 136.
Such as Fig. 5 ~ shown in Figure 8, self adaptation pinch device 2 comprises two ring-shaped components, positioning component and balance weight assemblies, two ring-shaped components are symmetrical arranged up and down, and each ring-shaped component is cross-linked composition (frame angle, 201 pairs of tops of large movable quadrilateral frame links to each other to frame angle, top with little movable quadrilateral frame 202) by large movable quadrilateral frame 201 and little movable quadrilateral frame 202.On the frame angle of the large movable quadrilateral frame 201 of the ring-shaped component inboard above one end of each actuating device 1 all is connected to, on the frame angle of the large movable quadrilateral frame 201 of the ring-shaped component inboard below the other end of actuating device 1 is connected to, form stable system.
All offer notch 203 on the outside two frames of little movable quadrilateral frame 202, two frames link together by the spring bolt 204 that passes notch 203, and all the other attaching partss of little movable quadrilateral frame 202 and the attaching parts of large movable quadrilateral frame 201 are bolt of rear end plate 205.Spring bolt 204 is comprised of head, back-up ring and solid plug, when lamp stand 3 bores diminish, the relative slippage of the large movable quadrilateral frame 201 of ring-shaped component and little movable quadrilateral frame 202 generations, the angle of the inside and outside side frame of large and small movable quadrilateral frame all diminishes, the net that forms inwardly shrinks the variation that adapts to the lamp stand bore, and it is greatly then opposite that the lamp stand bore becomes; Installing/dismounting is all very convenient, such as Fig. 5 and shown in Figure 7 when needing dismounting, take off pair of bolts, and the head of all spring bolts and solid plug are broken away from, the head thin bar enters the hole on the little movable quadrilateral frame 202, the head thin bar is pulled out in the notch 203 of 202 liang of frames of little movable quadrilateral frame again, move in the head thin bar, the angle of two frames increases, and then the expansion of ring-shaped component just can be taken off robot as shown in Figure 7 at this moment.
Positioning component comprises fix shaft 206 and locating piece 207.On the frame angle of the large movable quadrilateral frame in the ring-shaped component outside above locating piece 207 is arranged on, one end of fix shaft 206 is fixed on the actuating device 1 (specifically be fixed on one with contiguous block 213 that actuating device 1 is connected on), the other end of fix shaft 206 passes locating piece 207, fix shaft 206 and locating piece 207 sliding block joints.Self adaptation pinch device 2 all the time along the axial direction of fix shaft 206, makes whole device forward clamping pole when convergent-divergent.
Balance weight assembly comprises guide roller frame 208, four pulleys 209, two groups of backguys 210, net backguy piece 211 and clump weights 212.Guide roller frame 208 is fixed on the actuating device 1, and 209 liang on four pulleys are arranged on the guide roller frame 208 for upper twice.One end of one group of backguy in two groups of backguys 210 connects clump weight 212, after the other end of this group backguy is walked around two pulleys of top, on two relative frame angles of the large movable quadrilateral frame above being connected to (specifically being connected on the net backguy piece 211 that is located on the large movable quadrilateral frame), end of another group backguy in two groups of backguys connects clump weight 212, behind two pulleys above the other end of this group backguy is walked around successively and two pulleys of below, on two relative frame angles of the large movable quadrilateral frame below being connected to (specifically being connected on the net backguy piece 211 that is located on the large movable quadrilateral frame).Clump weight 212 can slide up and down in the groove on guide roller frame 208, and when the lamp stand diameter reduced, clump weight 212 was toward lower slider, and when the lamp stand diameter increased, clump weight 212 up slided, and gave all the time enough thrust of ring-shaped component.
Whole working process is as follows: by being connected to the degree of tightness of the adjustment block 148 adjustment crawler belts 144 on the actuating device 1, adjust the degree of tightness of belts 136 by adjustment rack 15, guarantee stability and the safety of crawler belt, belt, and robot is installed on the lamp stand 3; Actuating motor 12, motor 12 forwards, by drive bevel gear 131 moment is passed to transmission shaft 133, transmission shaft 133 drives small belt pulley 134 rotations, the motion that small belt pulley drives belt 136 passes torque to big belt pulley 135, big belt pulley 135 passes torque to imput shaft 145, thereby drives the motion that driving wheel 141 drives crawler belt 144 by imput shaft 145 at last, so whole robot is up creeped; In this simultaneously self adaptation pinch device 2 regulate voluntarily according to the size of lamp stand diameter, the lamp stand bore diminishes, the relative slippage of the large movable quadrilateral frame 201 of ring-shaped component and little movable quadrilateral frame 202 generations, the angle of the inside and outside side frame of large and small movable quadrilateral frame all diminishes, the net that forms inwardly shrinks and adapts to the variation of lamp stand bore, thereby compresses whole device.Clump weight 212 is given up and down thrust of ring-shaped component all the time by two groups of backguys; After arriving the destination, turn off motor, by control cleaning and detecting device lamp stand is cleared up and detected; Cleaning detects complete rear actuating motor, the electrical motor counter-rotating, robot is down creeped, self adaptation pinch device 2 is regulated compression according to the size of lamp stand 3 diameters more simultaneously, it is large that the lamp stand bore becomes, the relative slippage of the large movable quadrilateral frame 201 of ring-shaped component and little movable quadrilateral frame 202 generations, and the angle of the inside and outside side frame of large and small movable quadrilateral frame all diminishes, the net that forms inwardly shrinks the variation that adapts to the lamp stand bore, finally returns ground; Disable motor 12, the pair of bolts of unclamping ring-shaped component is beaten and is opened a gap, press all spring bolts 204, the head of all spring bolts 204 and solid plug are broken away from, the head thin bar enters the hole on the little movable quadrilateral frame 202, again the head thin bar is pulled out in the notch 203 of 202 liang of frames of little movable quadrilateral frame, move in the head thin bar, the angle of two frames increases, and then the expansion of ring-shaped component as shown in Figure 7, just can take off robot this moment, and whole process is just carried out complete.
The above only is preferred embodiment of the present utility model; not in order to limit the utility model; should be pointed out that all any modifications of within spirit of the present utility model and principle, doing, be equal to replacement and improvement etc., all should be included within the protection domain of the present utility model.
Claims (7)
1. a self adaptation tapered lamp post climbing robot is characterized in that, this robot comprises actuating device and self adaptation pinch device, and described actuating device is fixed on the self adaptation pinch device.
2. a kind of self adaptation tapered lamp post climbing robot according to claim 1, it is characterized in that, described actuating device comprises frame, motor, speed-changing mechanism and Athey wheel mechanism, described motor, speed-changing mechanism and Athey wheel mechanism all are arranged on the frame, and motor is connected with Athey wheel mechanism by speed-changing mechanism.
3. a kind of self adaptation tapered lamp post climbing robot according to claim 2, it is characterized in that, described speed-changing mechanism comprises drive bevel gear, driven wheel of differential, transmission shaft, small belt pulley, big belt pulley and belt, described drive bevel gear is connected in the rotating shaft of motor, this drive bevel gear is connected with a joggle with the driven wheel of differential that is connected to transmission shaft one end, the other end of transmission shaft connects small belt pulley, described big belt pulley is arranged in the Athey wheel mechanism, and this big belt pulley is connected with small belt pulley by belt.
4. a kind of self adaptation tapered lamp post climbing robot according to claim 2 is characterized in that, described Athey wheel mechanism comprises driving wheel, bearing wheed, flower wheel and crawler belt, and described crawler belt is set on driving wheel, bearing wheed and the flower wheel.
5. a kind of self adaptation tapered lamp post climbing robot according to claim 4, it is characterized in that, described Athey wheel mechanism also comprises the crawler belt tighting adjusting part, this crawler belt tighting adjusting part comprises adjustment block and adjusts screw, described adjustment block is fixed on the frame, after described adjustment screw passed adjustment block, the double-screw bolt of adjusting screw was against in the rotating shaft of flower wheel.
6. a kind of self adaptation tapered lamp post climbing robot according to claim 1, it is characterized in that, described self adaptation pinch device comprises two ring-shaped components, positioning component and balance weight assembly, described two ring-shaped components are symmetrical arranged up and down, each ring-shaped component is cross-linked composition by large movable quadrilateral frame and little movable quadrilateral frame, on the frame angle of the large movable quadrilateral frame of the ring-shaped component inboard above one end of described actuating device is connected to, on the frame angle of the large movable quadrilateral frame of the ring-shaped component inboard below the other end of actuating device is connected to, described positioning component comprises fix shaft and locating piece, on the frame angle of the large movable quadrilateral frame in the ring-shaped component outside above locating piece is arranged on, one end of fix shaft is fixed on the actuating device, the other end of fix shaft passes locating piece, fix shaft and locating piece sliding block joint, described balance weight assembly comprises guide roller frame, four pulleys, two groups of backguys, net backguy piece and clump weight, guide roller frame is fixed on the actuating device, be arranged on the guide roller frame for twice on four pulleys two, one end of one group of backguy in described two groups of backguys connects clump weight, after the other end of this group backguy is walked around two pulleys of top, on two relative frame angles of the large movable quadrilateral frame above being connected to, one end of another group backguy in described two groups of backguys connects clump weight, behind two pulleys above the other end of this group backguy is walked around successively and two pulleys of below, on two relative frame angles of the large movable quadrilateral frame below being connected to.
7. a kind of self adaptation tapered lamp post climbing robot according to claim 6 is characterized in that, all offers notch on the outside two frames of described little movable quadrilateral frame, and two frames link together by the spring bolt that passes notch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220499387 CN202827826U (en) | 2012-09-28 | 2012-09-28 | Self-adaptation cone lamp pole crawling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220499387 CN202827826U (en) | 2012-09-28 | 2012-09-28 | Self-adaptation cone lamp pole crawling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202827826U true CN202827826U (en) | 2013-03-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220499387 Expired - Fee Related CN202827826U (en) | 2012-09-28 | 2012-09-28 | Self-adaptation cone lamp pole crawling robot |
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| Country | Link |
|---|---|
| CN (1) | CN202827826U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107618823A (en) * | 2016-07-14 | 2018-01-23 | 电子科技大学 | A kind of timing belt pole climbing device |
| CN109834692A (en) * | 2019-03-11 | 2019-06-04 | 重庆工业职业技术学院 | Cable detecting robot |
-
2012
- 2012-09-28 CN CN 201220499387 patent/CN202827826U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107618823A (en) * | 2016-07-14 | 2018-01-23 | 电子科技大学 | A kind of timing belt pole climbing device |
| CN107618823B (en) * | 2016-07-14 | 2019-12-03 | 电子科技大学 | A kind of synchronous belt pole climbing device |
| CN109834692A (en) * | 2019-03-11 | 2019-06-04 | 重庆工业职业技术学院 | Cable detecting robot |
| CN109834692B (en) * | 2019-03-11 | 2021-05-11 | 重庆工业职业技术学院 | Cable detection robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130327 Termination date: 20170928 |