CN208773605U - A kind of multi-functional climbing platform - Google Patents
A kind of multi-functional climbing platform Download PDFInfo
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- CN208773605U CN208773605U CN201821181693.9U CN201821181693U CN208773605U CN 208773605 U CN208773605 U CN 208773605U CN 201821181693 U CN201821181693 U CN 201821181693U CN 208773605 U CN208773605 U CN 208773605U
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- 230000003287 optical effect Effects 0.000 claims description 21
- 210000000078 claw Anatomy 0.000 claims description 14
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- 230000004888 barrier function Effects 0.000 abstract description 6
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Abstract
A kind of multi-functional climbing platform, belongs to high altitude operation technical field.The multi-functional climbing platform, including telescoping mechanism, avoidance mechanism, clamping device, loading mechanism and controller, the sliding block of telescoping mechanism is connect by connecting plate with the frame of avoidance mechanism, the synchronizing wheel of avoidance mechanism is engaged with the synchronous belt of clamping device, loading mechanism includes support board, the connection of the rectangle support of support board and telescoping mechanism, and be arranged in avoidance mechanism back to side, support board is connect far from the side of rectangle support with mechanical arm, and controller is connect with stepper motor, decelerating motor and steering engine respectively.The multi-functional climbing platform structure is simple, climbing performance is stable, has a safety feature, and can adapt to the climbing object of various complexity；It can substitute and manually be efficiently completed high altitude operation；It is driven by decelerating motor, makes clamping device around climbing body rotation, can flexibly be effectively shielded from by the barrier on climbing body；Loading mechanism can carry various auxiliary tools.
Description
Technical Field
The utility model relates to an aerial working technical field, in particular to multi-functional climbing platform.
Background
With the rapid development of economy in China, the living standard of people is increasingly improved, the demand of a plurality of high-altitude operations with high dangerousness on robot generation is increasingly obvious, such as high-altitude power transmission line maintenance, roadside illuminating lamp maintenance, municipal green belt pruning, forestry pest disease detection, fruit picking work of tall trees and the like, all of the works need workers to climb to corresponding positions for maintenance, monitoring, picking and the like, the personal safety of the workers is greatly threatened, the working strength is high, and the efficiency is low. With the advent and development of robotics and the enhancement of awareness of self-safety protection of people, it is highly desirable to use robots instead of human workers to accomplish these high-altitude dangerous operations, thereby freeing people from dangerous, harsh and burdensome working environments.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem that prior art exists, the utility model aims at providing a multi-functional climbing platform possesses simple structure, the nimble advantage of motion, the control performance is reliable, can adapt to various complicated climbing objects, can avoid being climbed the barrier on the body, can also carry various additional tools simultaneously.
In order to realize the purpose of the utility model, the technical scheme of the utility model is that:
a multifunctional climbing platform comprises a telescopic mechanism, an obstacle avoidance mechanism, a clamping mechanism, an object carrying mechanism and a controller;
the telescopic mechanism comprises a rectangular support, a positive and negative screw rod and an optical axis which are parallel to one side of the rectangular support are arranged in the rectangular support, a stepping motor is arranged at one end of the positive and negative screw rod, the stepping motor is connected with the rectangular support, the other end of the positive and negative screw rod is connected with the rectangular support, two ends of the optical axis are both connected with the rectangular support, a sliding block is arranged on the positive and negative screw rod and the optical axis, the sliding block is connected with a frame of the obstacle avoidance mechanism through a connecting plate, and a tail supporting wheel is arranged on the outer side of one side, away from the;
the obstacle avoidance mechanism comprises a frame, a first gear is arranged on one side, close to the stepping motor, of the frame, a speed reduction motor is connected with one side, far away from the frame, of the first gear to drive the first gear, the first gear is meshed with two second gears simultaneously, two ends of a first transmission shaft are connected with the frame, a first rubber-coated roller is sleeved outside the first transmission shaft, each second gear is sleeved on a second transmission shaft, the second transmission shafts extend into the frame and are connected with the frame, the second transmission shafts are parallel to the first transmission shafts, a second rubber-coated roller is sleeved outside the second transmission shafts, two sides of the second rubber-coated roller are provided with a synchronizing wheel respectively, the synchronizing wheels are sleeved on the second transmission shafts, and the synchronizing wheels are meshed with a synchronizing belt of the clamping mechanism;
the clamping mechanism comprises an arc-shaped arm, the arc-shaped arm is arranged between a first transmission shaft and a second transmission shaft of the obstacle avoidance mechanism, a synchronous belt is arranged on one side of the arc-shaped arm close to the second transmission shaft and meshed with a synchronous wheel, two ends of the arc-shaped arm are respectively connected with a mechanical claw, and a steering engine is arranged on the mechanical claw;
the carrying mechanism comprises a carrying plate, the carrying plate is connected with the rectangular support of the telescopic mechanism and arranged on one side opposite to the obstacle avoidance mechanism, and one side of the carrying plate, which is far away from the rectangular support, is connected with the mechanical arm;
the controller is respectively connected with the stepping motor, the speed reducing motor and the steering engine.
The positive and negative tooth lead screw is connected with the stepping motor through the coupler, the stepping motor is connected with the rectangular support through the support, the positive and negative tooth lead screw is connected with the rectangular support through the bearing seat, and two ends of the optical axis are respectively connected with the rectangular support through the optical axis seat.
The connecting part of the sliding block and the positive and negative screw rods is provided with a flange nut which is sleeved on the positive and negative screw rods, the connecting part of the sliding block and the optical axis is provided with a linear bearing, and the linear bearing is sleeved on the optical axis.
The first rubber coating roller rotates around the first transmission shaft, and the second transmission shaft is fixedly connected with the second rubber coating roller.
The second transmission shaft is connected with the frame through a bearing.
The utility model provides a multi-functional climbing platform's technological effect is: the structure is simple, the climbing performance is stable, the safety performance is good, and the climbing device can adapt to various complex climbing objects; the aerial work can be efficiently completed instead of manual work, the danger of manual operation is reduced, the safety of workers is ensured, the working efficiency is greatly improved, and the working cost is reduced; the clamping mechanism rotates around the climbing body through the driving of the speed reducing motor, so that obstacles on the climbing body can be flexibly and effectively avoided; the carrier mechanism may carry various additional tools.
Drawings
Fig. 1 is a schematic structural view of a multifunctional climbing platform provided by the present invention;
fig. 2 is a schematic structural diagram of the telescopic mechanism provided by the present invention;
fig. 3 is a schematic structural diagram of the obstacle avoidance mechanism provided by the present invention;
fig. 4 is a schematic structural diagram of a clamping mechanism provided by the present invention;
fig. 5 is a schematic diagram of a synchronous belt and a synchronous wheel provided by the present invention;
fig. 6 is a schematic structural diagram of the carrying mechanism provided by the present invention;
fig. 7 is a hardware block diagram provided by the present invention.
Wherein,
the device comprises a rectangular support 1, a 2-positive and negative tooth screw rod, a 3-optical axis, a 4-stepping motor, a 5-flange nut, a 6-linear bearing, a 7-first gear, a 8-second gear, a 9-first transmission shaft, a 10-second transmission shaft, a 11-speed reduction motor, a 12-first rubber coating roller, a 13-second rubber coating roller, a 14-synchronous wheel, a 15-synchronous belt, a 16-arc-shaped arm, a 17-mechanical claw, an 18-object carrying plate, a 19-mechanical arm, a 20-steering engine and a 21-tail supporting wheel.
Detailed Description
In order to solve the problem that prior art exists, as shown in fig. 1 to 7, the utility model provides a multifunctional climbing platform, include telescopic machanism, keep away barrier mechanism, fixture, carry thing mechanism and controller.
The telescopic mechanism comprises a rectangular support 1, a positive and negative tooth screw rod 2 and an optical axis 3 which are parallel to one side of the rectangular support 1 are arranged in the rectangular support 1, a stepping motor 4 is arranged at one end of the positive and negative tooth screw rod 2, the stepping motor 4 is connected with the rectangular support 1, the other end of the positive and negative tooth screw rod 2 is connected with the rectangular support 1, both ends of the optical axis 3 are connected with the rectangular support 1, the positive and negative tooth screw rod 2 is connected with the stepping motor 4 through a coupler, the stepping motor 4 is connected with the rectangular support 1 through a support, the positive and negative tooth screw rod 2 is connected with the rectangular support 1 through a bearing seat, both ends of the optical axis 3 are respectively connected with the rectangular support 1 through the optical axis 3, slide blocks are arranged on the positive and negative tooth screw rod 2 and the optical axis 3, the slide blocks are connected with a frame of an obstacle avoidance mechanism through a connecting plate, the slider is provided with linear bearing 6 with the 3 junction of optical axis, and linear bearing 6 cup joints on optical axis 3, and the outside of one side that step motor 4 was kept away from to rectangle support 1 is provided with afterbody supporting wheel 21. In this embodiment, step motor 4 drive lead screw drives the slider and slides on the guide rail to realize the flexible of platform, afterbody supporting wheel 21 is the omniwheel, and afterbody supporting wheel 21 passes through the support frame to be connected with rectangular support 1, when arbitrary fixture loosens by the climbing object, offsets the moment of torsion that acts on fixture that multi-functional climbing platform produced because of gravity through two afterbody supporting wheels 21, makes overall structure at the climbing in-process steady operation.
The obstacle avoidance mechanism comprises a frame, a first gear 7 is arranged on one side of the frame close to a stepping motor 4, a speed reducing motor 11 is connected with one side of the first gear 7 far from the frame to drive the first gear 7, the first gear 7 is meshed with two second gears 8 simultaneously, two ends of a first transmission shaft 9 are connected with the frame, a first rubber-coated roller 12 is sleeved outside the first transmission shaft 9, each second gear 8 is sleeved on a second transmission shaft 10 respectively, the second transmission shaft 10 extends into the frame and is connected with the frame, the second transmission shaft 10 is connected with the frame through a bearing, the second transmission shaft 10 is parallel to the first transmission shaft 9, a second rubber-coated roller 13 is sleeved outside the second transmission shaft 10, the first rubber-coated roller 12 rotates around the first transmission shaft 9, the second transmission shaft 10 is fixedly connected with the second rubber-coated roller 13, two synchronizing wheels 14 are arranged on two sides of the second rubber-coated roller 13 respectively, the synchronizing wheels 14 are sleeved on the second transmission shaft 10, the timing wheel 14 is engaged with a timing belt 15 of the gripping mechanism. In this embodiment, gear motor 11 rotates the first gear 7 of drive and rotates, first gear 7 drives two second gears 8 and rotates, second gear 8 drives second on the second transmission shaft 10 and covers gluey cylinder 13 and synchronizing wheel 14 and rotates, synchronizing wheel 14 drives hold-in range 15 and makes arc arm 16 rotate, arc arm 16 centers on the body of rod of being climbed and rotates, makes the climbing platform avoid the barrier, keeps away barrier mechanism and can start at any time in order to avoid the barrier at multi-functional climbing platform climbing in-process.
The clamping mechanism comprises an arc-shaped arm 16, the arc-shaped arm 16 is arranged between a first transmission shaft 9 and a second transmission shaft 10 of the obstacle avoidance mechanism, a synchronous belt 15 is arranged on one side, close to the second transmission shaft 10, of the arc-shaped arm 16, the synchronous belt 15 is meshed with a synchronous wheel 14, two ends of the arc-shaped arm 16 are connected with mechanical claws 17 respectively, and steering engines 20 are arranged on the mechanical claws 17. In this embodiment, fixture includes two arc arms 16, and two gripper 17 are connected to every arc arm 16, and gripper 17 is prior art, sheathes the rubber sleeve on gripper 17, increases frictional force, adapts to different by the climbing body.
The carrying mechanism comprises a carrying plate 18, the carrying plate 18 is connected with the rectangular support 1 of the telescopic mechanism and is arranged on one side opposite to the obstacle avoidance mechanism, and one side, far away from the rectangular support 1, of the carrying plate 18 is connected with a mechanical arm 19. In this embodiment, the carrying mechanism can fix a plurality of tools to adapt to different working environments and working requirements, and the mechanical arm 19 is the prior art.
The controller is respectively connected with the stepping motor 4, the reducing motor 11 and the steering engine 20. In the embodiment, the controller comprises a single chip microcomputer, the single chip microcomputer is an Atmega328p single chip microcomputer, and the Atmega328p single chip microcomputer drives the speed reducing motor 11 through an L289N motor driving module to drive the obstacle avoiding mechanism to rotate so as to avoid obstacles; the Atmega328p singlechip drives the stepping motor 4 through the A4988 stepping motor 4 driving module to drive the motion telescoping mechanism to telescope so as to realize climbing motion; the Atmega328p singlechip controls the steering engine 20 in the clamping mechanism by outputting PWM signals, and drives the clamping mechanism to open and close so as to clamp or release the object to be climbed. The motion of the multifunctional climbing platform is controlled through a remote controller, the remote controller comprises an Atmega328p single chip microcomputer, the Atmega328p single chip microcomputer collects information of a rotary encoder A and information of a rotary encoder B, data are sent to the climbing platform through an HC-05 Bluetooth module, and the Atmega328p single chip microcomputer of the climbing platform receives the data through the HC-05 Bluetooth module and analyzes the data into a moving instruction.
The utility model provides a disposable process of multi-functional climbing platform:
when the multifunctional climbing platform moves upwards, a worker places the multifunctional climbing platform bearing an operating tool on a climbed body, the multifunctional climbing platform is started, the four mechanical claws 17 on the two arc-shaped arms 16 clamp the climbed body, and the two arc-shaped arms 16 are positioned at the positions with the farthest relative distance to prepare for climbing upwards; the mechanical claw 17 of the lower arc-shaped arm 16 is loosened, the mechanical claw 17 of the upper arc-shaped arm 16 still keeps a clamping state, the stepping motor 4 operates to drive the rectangular support 1 and the lower arc-shaped arm 16 to move upwards, the lower arc-shaped arm 16 moves upwards relative to the rectangular support 1 to move to a preset position, the stepping motor 4 stops operating, the mechanical claw 17 of the lower arc-shaped arm 16 clamps, and at the moment, the two arc-shaped arms 16 are located at the positions with the shortest relative distance; the mechanical claw 17 of the upper arc-shaped arm 16 is loosened, the stepping motor 4 operates to drive the rectangular support 1 and the upper arc-shaped arm 16 to move upwards, meanwhile, the upper arc-shaped arm 16 moves upwards relative to the rectangular support 1 and moves to a preset position, the stepping motor 4 stops operating, the mechanical claw 17 of the upper arc-shaped arm 16 clamps, at the moment, the two arc-shaped arms 16 are located at the positions with the farthest relative distance, one cycle of upward movement is realized, upward climbing is realized after the reciprocating cycle, until the upper arc-shaped arms move to the working position, the mechanical claws 17 of the two arc-shaped arms 16 clamp, the platform stops operating, and the operation tool carried by the back starts to work. If the multifunctional climbing platform moves downwards, the stepping motor 4 is reversed, and the above circulation process is continuously realized.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.
Claims (5)
1. A multifunctional climbing platform is characterized by comprising a telescopic mechanism, an obstacle avoidance mechanism, a clamping mechanism, a carrying mechanism and a controller;
the telescopic mechanism comprises a rectangular support, a positive and negative screw rod and an optical axis which are parallel to one side of the rectangular support are arranged in the rectangular support, a stepping motor is arranged at one end of the positive and negative screw rod, the stepping motor is connected with the rectangular support, the other end of the positive and negative screw rod is connected with the rectangular support, two ends of the optical axis are both connected with the rectangular support, a sliding block is arranged on the positive and negative screw rod and the optical axis, the sliding block is connected with a frame of the obstacle avoidance mechanism through a connecting plate, and a tail supporting wheel is arranged on the outer side of one side, away from the;
the obstacle avoidance mechanism comprises a frame, a first gear is arranged on one side, close to the stepping motor, of the frame, a speed reduction motor is connected with one side, far away from the frame, of the first gear to drive the first gear, the first gear is meshed with two second gears simultaneously, two ends of a first transmission shaft are connected with the frame, a first rubber-coated roller is sleeved outside the first transmission shaft, each second gear is sleeved on a second transmission shaft, the second transmission shafts extend into the frame and are connected with the frame, the second transmission shafts are parallel to the first transmission shafts, a second rubber-coated roller is sleeved outside the second transmission shafts, two sides of the second rubber-coated roller are provided with a synchronizing wheel respectively, the synchronizing wheels are sleeved on the second transmission shafts, and the synchronizing wheels are meshed with a synchronizing belt of the clamping mechanism;
the clamping mechanism comprises an arc-shaped arm, the arc-shaped arm is arranged between a first transmission shaft and a second transmission shaft of the obstacle avoidance mechanism, a synchronous belt is arranged on one side of the arc-shaped arm close to the second transmission shaft and meshed with a synchronous wheel, two ends of the arc-shaped arm are respectively connected with a mechanical claw, and a steering engine is arranged on the mechanical claw;
the carrying mechanism comprises a carrying plate, the carrying plate is connected with the rectangular support of the telescopic mechanism and arranged on one side opposite to the obstacle avoidance mechanism, and one side of the carrying plate, which is far away from the rectangular support, is connected with the mechanical arm;
the controller is respectively connected with the stepping motor, the speed reducing motor and the steering engine.
2. The multifunctional climbing platform according to claim 1, wherein the positive and negative threaded screws are connected with a stepping motor through a coupler, the stepping motor is connected with the rectangular bracket through a support, the positive and negative threaded screws are connected with the rectangular bracket through bearing seats, and two ends of the optical axis are respectively connected with the rectangular bracket through optical axis seats.
3. The multifunctional climbing platform according to claim 1, wherein a flange nut is arranged at the joint of the sliding block and the positive and negative lead screws, the flange nut is sleeved on the positive and negative lead screws, and a linear bearing is arranged at the joint of the sliding block and the optical axis and sleeved on the optical axis.
4. The multifunctional climbing platform according to claim 1, wherein the first glue-coated roller rotates about a first transmission shaft, and the second transmission shaft is fixedly connected to the second glue-coated roller.
5. The multifunctional climbing platform according to claim 1, wherein the second transmission shaft is connected to the frame by a bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821181693.9U CN208773605U (en) | 2018-07-25 | 2018-07-25 | A kind of multi-functional climbing platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821181693.9U CN208773605U (en) | 2018-07-25 | 2018-07-25 | A kind of multi-functional climbing platform |
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| Publication Number | Publication Date |
|---|---|
| CN208773605U true CN208773605U (en) | 2019-04-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821181693.9U Active CN208773605U (en) | 2018-07-25 | 2018-07-25 | A kind of multi-functional climbing platform |
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| CN (1) | CN208773605U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108927813A (en) * | 2018-07-25 | 2018-12-04 | 沈阳航空航天大学 | A kind of multi-functional climbing platform |
| CN115817670A (en) * | 2023-01-05 | 2023-03-21 | 武汉溯野科技有限公司 | Climbing robot |
-
2018
- 2018-07-25 CN CN201821181693.9U patent/CN208773605U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108927813A (en) * | 2018-07-25 | 2018-12-04 | 沈阳航空航天大学 | A kind of multi-functional climbing platform |
| CN108927813B (en) * | 2018-07-25 | 2023-08-29 | 沈阳航空航天大学 | Multifunctional climbing platform |
| CN115817670A (en) * | 2023-01-05 | 2023-03-21 | 武汉溯野科技有限公司 | Climbing robot |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200708 Address after: 110000 No. 52 North Avenue, Huanggu District, Shenyang, Liaoning, the Yellow River Patentee after: Shenyang Hangda Intelligent Equipment Co., Ltd Address before: 110136 Shenyang Province, moral economic development zone, moral, South Street, No. 37, No. Patentee before: SHENYANG AEROSPACE University |
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| TR01 | Transfer of patent right |