CN210555239U - Stay auto-lock pole-climbing robot - Google Patents
Stay auto-lock pole-climbing robot Download PDFInfo
- Publication number
- CN210555239U CN210555239U CN201921041680.6U CN201921041680U CN210555239U CN 210555239 U CN210555239 U CN 210555239U CN 201921041680 U CN201921041680 U CN 201921041680U CN 210555239 U CN210555239 U CN 210555239U
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- main body
- body frame
- telescopic rod
- wheel shaft
- rod
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- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000009194 climbing Effects 0.000 abstract description 6
- 230000005484 gravity Effects 0.000 description 6
- 230000003068 static effect Effects 0.000 description 3
- 241000282414 Homo sapiens Species 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
An object of the utility model is to provide a can keep pole-climbing robot of auto-lock state during stop, its self structure of complete utilization realizes the auto-lock, does not consume the extra energy, and the auto-lock state can not obstruct the normal climbing of pole-climbing robot. The utility model adopts the technical scheme as follows: the utility model provides a stop auto-lock pole climbing robot, it includes a rectangle main body frame, two U type frames, four angles difference fixedly connected with L type connecting pieces of main body frame side, respectively install the shaft between two L type connecting pieces at both ends about the main body frame, the wheel is installed at the shaft both ends, an opening limit of two U type frames links together through hinge and main body frame entablature respectively, shaft and wheel are installed through L type connecting piece to another opening limit inboard of every U type frame, be connected with electric telescopic handle between two U type frame keep away from the opening limit of main body frame.
Description
Technical Field
The utility model relates to the field of mechanical equipment, especially, relate to a stop auto-lock pole-climbing robot.
Background
At present, high-altitude operation is more and more common, tasks such as operation, detection, maintenance need climb to the eminence along the pole and carry out, for example light pole, wire pole, wind power tower pole etc. high-altitude operation at present mainly relies on manual work and large-scale equipment to accomplish, and its is with high costs, inefficiency, danger coefficient height. With the development of the robot technology, the robot gradually replaces human beings to complete some operations which are high in strength, high in repeatability, high in danger and even impossible to complete by the human beings, the pole-climbing robot belongs to one of the field of high-altitude operations for replacing workers, and the existing pole-climbing robots are various in types, such as an upper clamping structure, a lower clamping structure, a friction wheel clamping structure and the like, and have advantages and disadvantages.
In many cases, the rod-climbing robot needs to stay at a certain position to complete some tasks, however, the robot in a stay state for a long time needs to supply continuous power to overcome downward gravity generated by the self mass, so that a large amount of energy is consumed, and a dangerous situation is easy to occur once the energy shortage condition occurs.
SUMMERY OF THE UTILITY MODEL
In view of the above problem, an object of the present invention is to provide a pole-climbing robot capable of maintaining a self-locking state during stopping, which realizes self-locking by fully utilizing a self-structure, does not consume extra energy, and does not obstruct normal climbing of the pole-climbing robot in the self-locking state.
The utility model adopts the technical scheme as follows: a staying self-locking pole-climbing robot comprises a rectangular main body frame and two U-shaped frames, wherein four corners of one side face of the main body frame are respectively and fixedly connected with L-shaped connecting pieces, wheel shafts are respectively arranged between the two L-shaped connecting pieces at the upper end and the lower end of the main body frame, wheels are arranged at two ends of each wheel shaft, two ends of each wheel shaft extend out of mounting holes on the L-shaped connecting pieces, the wheel shafts are limited between the two L-shaped connecting pieces by wheel shaft fixing pieces, hinges are arranged on the upper end face and the lower end face of the main body frame, one opening edge of each U-shaped frame is respectively connected with an upper cross beam and a lower cross beam of the main body frame through the hinges and can respectively rotate around the upper cross beam and the lower cross beam of the rectangular main body frame through the hinges, a wheel shaft and the wheel, the stepping motor is connected with the wheel shaft through the transmission, an electric telescopic rod is connected between the opening edges of the two U-shaped frames far away from the main body frame, the electric telescopic rod stretches out and draws back through the driving of the motor, the two ends of the electric telescopic rod are connected with the supporting plates in a hinged mode respectively, and the opening edges of the two supporting plates and the two U-shaped frames far away from the main body frame are fixedly connected together through hinges respectively.
The two ends of the wheel shaft are thinner than the middle of the two L-shaped connecting pieces, and the round holes formed in the wheel shaft fixing pieces are smaller than the mounting holes in the L-shaped connecting pieces, so that the wheel shaft fixing pieces are matched with the thinner parts at the two ends of the wheel shaft, the wheel shaft is limited between the two L-shaped connecting pieces, the left and right movement of the wheel shaft is prevented, and the wheel shaft fixing pieces are fixedly connected with the L-shaped connecting pieces through bolts.
Electric telescopic handle includes driving motor, holds pole, telescopic link, and the top of telescopic link still is connected with the bracing piece, the spring is installed to the inside cavity of bracing piece, and each division has a long and narrow groove in both sides, thereby the one end of telescopic link is inserted inside the bracing piece and is supported the dress with the spring inside the bracing piece, and the telescopic link inserts the one end of bracing piece and has two round pins, thereby the round pin prevents that the telescopic link from droing in the bracing piece with the groove cooperation of bracing piece both sides. The one end that the telescopic link was kept away from to the bracing piece is articulated with the backup pad, it is articulated with another backup pad to hold the one end that the telescopic link was kept away from to the pole, the hinge is all installed to two backup pad surfaces to the opening limit that main body frame was kept away from with two backup pads and two U type frames through the hinge respectively links together.
The surface of the wheel is provided with friction-increasing patterns, such as conventional ribs.
The working principle is as follows: the main body frame of the pole-climbing robot in the application is used as a load-bearing carrier, and a bearing plate or a bearing frame can be installed on one side, where the wheel axle is not installed, of the main body frame according to actual needs, so that operation or maintenance equipment can be placed. When the climbing robot is operated, the two U-shaped frames are basically in an up-and-down parallel state, the climbing robot is arranged on a rod body to be operated through the opening part of the U-shaped frames, the driving motor of the electric telescopic rod is started to push the telescopic rod out, the telescopic rod pushes the inner spring of the supporting rod to generate partial compression, and the supporting plate is pushed to move upwards integrally, so that the U-shaped frames rotate around the upper cross beam of the main body frame matched with the U-shaped frames in an installing mode until the wheels on the U-shaped frames are in close contact with the rod. Then, a stepping motor at one end of a wheel shaft on the U-shaped frame is started, and after the motor is started, the two motors synchronously drive the wheel shaft through a speed changer to force the wheel to rotate and move up and down by utilizing static friction force generated by pretightening force.
Under the stop state of the stepping motor, the corresponding wheel shaft and the two wheels arranged on the wheel shaft are locked by the speed reducer and can not rotate, and the static friction force generated between the two wheels arranged on the wheel shaft and the pipe wall is fixed on the pipe wall under the action of the pre-tightening force. When the load on one side of the main body frame is subjected to downward gravity, the wheels on the upper cross beam of the main body frame have a downward movement tendency, an oblique downward pulling force is generated on the locked wheel shaft through the upper U-shaped frame, the vertical downward component of the pulling force is equal to the downward gravity of the load on one side of the main body frame, the self-locking state is formed when the value of the component of the pulling force in the normal direction of the contact between the wheels and the pipe wall multiplied by the static friction coefficient is larger than the vertical downward component, and the larger the pulling force is due to the gravity of the load, the larger the self-locking force is, so that the rod-climbing robot can keep from sliding down without additional energy.
The utility model has the advantages that: 1. the self-locking function is realized by the self-characteristics of the mechanical structure, so that the pole-climbing robot can keep not sliding downwards without additional energy; 2. the inside spring of bracing piece can suitably prolong electric telescopic handle whole length when U type frame wheel pressure diminishes, promotes U type frame promptly and further rotates around main part frame crossbeam to increase U type frame wheel pressure makes this application pole-climbing robot can adapt to body of rod diameter can be along with the change of highly rising taper under the operating condition.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic view of another perspective structure of the present invention;
FIG. 3 is a schematic view of the working state of the present invention;
FIG. 4 is a schematic view of the main frame structure of the present invention;
FIG. 5 is a schematic view of the installation structure of the electric telescopic rod of the present invention;
FIG. 6 is a schematic view of the U-shaped frame structure of the present invention;
in the figure: 1. u type frame, 2, electric telescopic handle, 3, hinge, 4, step motor, 5, wheel, 6, shaft, 7, L type connecting piece, 8, main body frame, 9, shaft stationary blade, 10, backup pad, 11, bracing piece, 12, groove, 13, spring.
Detailed Description
The present invention will be described in further detail with reference to the following embodiments.
Other advantages and features of the present invention will become apparent to those skilled in the art from the following detailed description, which, taken in conjunction with the annexed drawings, discloses a preferred embodiment of the present invention.
Referring to the drawings, the structure, ratio, size and the like shown in the drawings attached to the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by those skilled in the art, and are not used for limiting the limit conditions that the present invention can be implemented, so that the present invention has no technical essential meaning, and any structure modification, ratio relationship change or size adjustment should still fall within the scope that the technical content disclosed in the present invention can cover without affecting the function and the achievable purpose of the present invention. Meanwhile, the position limitation terms cited in the present specification are for clarity of description only, and are not intended to limit the scope of the present invention, and the changes or adjustments of the relative relationship thereof should be considered as the scope of the present invention without substantial changes in the technical content.
As shown in the figures, fig. 1 is a schematic view of the overall structure of the present invention; fig. 2 is a schematic view of another view structure of the present invention. A staying self-locking pole-climbing robot comprises a rectangular main body frame 8 and two U-shaped frames 1, wherein four corners of one side surface of the main body frame 8 are respectively and fixedly connected with L-shaped connecting pieces 7, wheel shafts 6 are respectively arranged between the two L-shaped connecting pieces 7 at the upper end and the lower end of the main body frame 8, wheels 5 are arranged at two ends of the wheel shafts 6, hinges 3 are arranged on the upper end and the lower end surfaces of the main body frame 8, one opening edge of each of the two U-shaped frames 1 is respectively connected with an upper cross beam and a lower cross beam of the main body frame 8 through the hinge 3, and can rotate around the upper and lower beams of the rectangular main body frame 8 by hinges 3 respectively, the inner side of the other opening edge of each U-shaped frame 1 is provided with a wheel shaft 6 and a wheel 5 by an L-shaped connecting piece 7, and the wheel shaft 6 is arranged at one end of the opening side of the U-shaped frame 1, the stepping motor 4 is arranged, and the electric telescopic rod 2 is connected between the opening sides of the two U-shaped frames 1 far away from the main body frame 8.
Fig. 3 is a schematic view of the working state of the utility model, the rod body to be operated is installed to the rod climbing robot through the opening part of the U-shaped frame 1, the driving motor for opening the electric telescopic rod 2 pushes out the telescopic rod until the wheel 5 on the U-shaped frame 1 is in close contact with the rod body. When the heavy burden of main body frame 8 one side receives downward gravity, can form the pole-climbing robot and use the wheel of main body frame 8 entablature department as the fulcrum, upper portion U type frame 1 is the radial auto-lock state of tendency of rotation, receives the heavy burden gravity pulling more big, and the auto-lock power is also big more to make the pole-climbing robot need not the extra energy and can keep not gliding.
FIG. 4 is a schematic view of the main frame structure of the present invention, which is a rectangular frame structure as a whole, four corners of one side surface of the main frame 8 are fixedly connected with L-shaped connecting pieces 7, a wheel shaft 6 is installed between two L-shaped connecting pieces 7 at the upper and lower ends of the main frame 8, wheels 5 are installed at both ends of the wheel shaft 6, the two ends of the wheel shaft 6 extend out of the mounting holes on the L-shaped connecting pieces 7, the wheel shaft 6 is limited between the two L-shaped connecting pieces 7 by the wheel shaft fixing pieces 9, the upper end surface and the lower end surface of the main body frame 8 are provided with hinges 3, the two end parts of the wheel shaft 6 are thinner than the middle part of the two L-shaped connecting pieces 7, the round hole arranged on the wheel shaft fixing piece 9 is smaller than the mounting hole on the L-shaped connecting piece 7, thereby matching with the thinner parts at the two ends of the wheel shaft 6, limiting the wheel shaft 6 between the two L-shaped connecting pieces 7, preventing the left and right movement of the wheel shaft 6, and fixedly connecting the wheel shaft fixing piece 9 and the L-shaped connecting pieces 7 through bolts.
Fig. 5 is the utility model discloses electric telescopic handle mounting structure sketch map, electric telescopic handle 2 include driving motor, hold pole, telescopic link, and the top of telescopic link still is connected with bracing piece 11, spring 13 is installed to 11 inside hollows of bracing piece, and both sides are respectively opened a long and narrow groove 12, thereby the one end of telescopic link is inserted 11 insidely of bracing piece and is supported the dress at bracing piece 11 inside with spring 13, and the telescopic link inserts the one end of bracing piece 11 and has two round pins, thereby the round pin prevents that the telescopic link from droing from the bracing piece with the groove 12 cooperation of bracing piece 11 both sides. The one end that the telescopic link was kept away from to bracing piece 11 is articulated with backup pad 10, it is articulated with another backup pad 10 to hold the one end that the telescopic link was kept away from to the pole, hinge 3 is all installed on two backup pad 10 surfaces to the opening limit that keeps away from main body frame 8 with two backup pads 10 and two U type frames 1 through hinge 3 respectively links together.
Fig. 6 is the utility model discloses U type frame construction sketch map, as shown in the figure, U type frame main part is the steel bending into U type, installs shaft 6 through L type connecting piece in it closes on U type open-ended limit inboard, installs two wheels 5 on the shaft 6, and the shaft lies in U type frame opening side's one end and installs step motor, step motor with link together through derailleur and shaft 6.
The above-mentioned embodiments, further detailed description of the objects, technical solutions and advantages of the present invention, it should be understood that the above description is only the embodiments of the present invention, and is not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (2)
1. A staying self-locking pole-climbing robot is characterized by comprising a rectangular main body frame and two U-shaped frames, wherein four corners of one side face of the main body frame are respectively and fixedly connected with L-shaped connecting pieces, wheel shafts are respectively arranged between the two L-shaped connecting pieces at the upper end and the lower end of the main body frame, wheels are arranged at two ends of each wheel shaft, two ends of each wheel shaft extend out of mounting holes on the L-shaped connecting pieces, the wheel shafts are limited between the two L-shaped connecting pieces by wheel shaft fixing pieces, hinges are arranged on the upper end face and the lower end face of the main body frame, one opening edge of each U-shaped frame is respectively connected with an upper cross beam and a lower cross beam of the main body frame through the hinges and can respectively rotate around the upper cross beam and the lower cross beam of the rectangular main body frame through the hinges, a wheel shaft and the wheels, the stepping motor is connected with the wheel shaft through the transmission, an electric telescopic rod is connected between the opening edges of the two U-shaped frames far away from the main body frame, two ends of the electric telescopic rod are respectively connected with the supporting plates in a hinged mode, and the opening edges of the two supporting plates and the two U-shaped frames far away from the main body frame are respectively fixedly connected together through hinges.
2. The staying self-locking pole-climbing robot according to claim 1, further characterized in that the electric telescopic rod comprises a driving motor, a holding rod and a telescopic rod, the telescopic rod is telescopically held in the holding rod, a supporting rod is further connected to the top end of the telescopic rod, the supporting rod is hollow and provided with a spring, two narrow and long grooves are respectively formed in two sides of the supporting rod, one end of the telescopic rod is inserted into the supporting rod so as to support the spring inside the supporting rod, and the end of the telescopic rod inserted into the supporting rod is provided with two pins which are matched with the grooves in two sides of the supporting rod so as to prevent the telescopic rod from falling off from.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921041680.6U CN210555239U (en) | 2019-07-05 | 2019-07-05 | Stay auto-lock pole-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921041680.6U CN210555239U (en) | 2019-07-05 | 2019-07-05 | Stay auto-lock pole-climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210555239U true CN210555239U (en) | 2020-05-19 |
Family
ID=70627927
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921041680.6U Expired - Fee Related CN210555239U (en) | 2019-07-05 | 2019-07-05 | Stay auto-lock pole-climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210555239U (en) |
-
2019
- 2019-07-05 CN CN201921041680.6U patent/CN210555239U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200519 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |