A pole-climbing robot with an adaptive mounting frame

Abstract

The present invention relates to a pole-climbing robot with an adaptive mounting frame. The pole-climbing robot with an adaptive mounting frame includes a walking unit and a telescopic connecting member. The walking unit includes a walking wheel and a main drive motor that drives the walking wheel to rotate. Any two adjacent walking units are connected by a telescopic connecting member. During the movement of the walking unit along the pole body, each telescopic connecting member is synchronously telescoped and adjusted to make the walking wheel close to the pole body. The pole-climbing robot also includes an adaptive mounting frame. The adaptive mounting frame includes a frame-shaped bracket and a connecting rod movably configured between the frame-shaped bracket and the walking unit. The connecting rod can make the walking unit move relative to the frame-shaped bracket, thereby keeping the frame-shaped bracket in its original posture. The purpose of the present invention is to provide a pole-climbing robot with an adaptive mounting frame to solve the problem of inconvenience in placing objects in existing pole-climbing robots.

Description

Technical Field

[0001] The invention relates to a pole-climbing robot with an adaptive mounting frame. Background Art

[0002] With the development of electricity and the Internet, the installation and maintenance of wires and cables are of paramount importance to ensure the smooth transmission of electricity and the smooth operation of the Internet. However, to maintain the beauty and smooth operation of the city, most wire and cable facilities are installed on very high utility poles. Workers need to use climbing tools to climb the poles. Before use, workers need to fix the climbing tools on their feet, then hold the pole with both hands, and slowly climb the pole with the help of their feet and hands. This climbing method requires the assistance of both hands and feet, which is time-consuming and laborious. It is impossible to carry more maintenance tools to climb the poles for maintenance work, and it also poses a major safety hazard.

[0003] A Chinese invention patent application, publication number CN112429107A, discloses a pole-climbing robot comprising a walking unit and an auxiliary connecting member. The walking units may be two or more and each include a walking frame, a wheel frame mounted on the walking frame, and walking wheels mounted on the wheel frame. Each walking unit also includes a main drive motor for driving the walking wheels. The auxiliary connecting member connects two adjacent walking units. The walking units and the auxiliary connecting member together form a frame-shaped enclosure structure and a passage within the enclosure structure for a rod to pass through. The enclosure structure is partially openable, forming an opening for the rod to enter the passage when opened.

[0004] The above-mentioned pole-climbing robot can carry objects and move up and down the utility pole, reducing the burden on workers. However, this type of pole-climbing robot usually requires objects to be tied to the walking unit, which makes the placement of objects inconvenient. Summary of the Invention

[0005] The object of the present invention is to provide a pole-climbing robot with an adaptive mounting frame, so as to solve the problem that the existing pole-climbing robots are inconvenient in placing objects.

[0006] The technical solution of the pole-climbing robot with an adaptive mounting frame of the present invention is:

[0007] The pole climbing robot with adaptive mounting frame includes:

[0008] There are more than two walking units, each of which includes a walking wheel and a main drive motor that drives the walking wheel to rotate;

[0009] A telescopic connecting member is provided, wherein any two adjacent traveling units are connected by the telescopic connecting member. The traveling units and the telescopic connecting member together form a frame-shaped enclosing structure and a passage for the rod to pass through is formed inside the frame-shaped enclosing structure. Part of the frame-shaped enclosing structure is a telescopic connecting member that can be opened and closed. When the telescopic connecting member is opened, the opening is formed for the rod to enter the passage.

[0010] When the walking unit moves along the rod body, each telescopic connecting member is synchronously telescoped and adjusted to make the walking wheel close to the rod body;

[0011] The pole-climbing robot further includes an adaptive mounting frame, the adaptive mounting frame including a frame-shaped bracket, the frame-shaped bracket enclosing a central aisle for the pole body to pass through, the frame-shaped bracket having a frame-shaped bracket retractable structure, and when the frame-shaped bracket retractable structure is opened, an opening is formed for the pole body to enter the central aisle;

[0012] The adaptive mounting frame also includes a connecting rod movably configured between the frame bracket and the walking unit. There are at least two connecting rods. When the telescopic connecting member is telescopically adjusted, the connecting rod can make the walking unit move relative to the frame bracket, thereby keeping the frame bracket in its original posture.

[0013] Beneficial effect: The pole-climbing robot with an adaptive mounting frame of the present invention enables objects to be hooked or tied to the adaptive mounting frame through the setting of the adaptive mounting frame, which makes the placement of objects more convenient. In addition, the adaptive mounting frame includes a frame-shaped bracket and a connecting rod movably configured between the frame-shaped bracket and the walking unit. During the movement of the crawling robot along the pole body, each telescopic connecting member is synchronously telescoped and adjusted to make the walking wheel close to the pole body. The synchronously telescopic connecting members can maintain the original posture of the frame bracket during the movement of the walking unit relative to the frame bracket, that is, the frame bracket will not frequently tilt and shake, thereby improving the safety of objects on the adaptive mounting frame.

[0014] Furthermore, one end of the connecting rod is hinged to the frame bracket, and the other end is hinged to the traveling unit. When the telescopic connecting member is telescopically adjusted, the end of the connecting rod connected to the traveling unit swings relative to the other end.

[0015] Beneficial effect: The swinging motion of the connecting rod makes the travel unit have a larger range of motion and a wider range of application.

[0016] Furthermore, the frame-shaped bracket is connected to at least three of the connecting rods.

[0017] Beneficial effect: At least three connecting rods are connected to the frame-shaped bracket, so that the bearing capacity of the frame-shaped bracket is improved.

[0018] Furthermore, the connecting rod is in sliding cooperation with the traveling unit guide.

[0019] Beneficial effect: The sliding movement of the connecting rod makes the travel unit more stable during movement.

[0020] Furthermore, a guide sliding groove is provided on the walking unit, the connecting rod is slidably assembled in the guide sliding groove, and one end of the connecting rod is fixed to the frame bracket.

[0021] Beneficial effects: The guide sliding groove and the connecting rod are slidably matched, the structure is simple and the installation is convenient.

[0022] Furthermore, the guide sliding groove is a dovetail groove.

[0023] Beneficial effect: The setting of the dovetail groove can prevent the connecting rod from falling out of the notch of the guide sliding groove.

[0024] Furthermore, each walking unit is connected to the connecting rod.

[0025] Beneficial effect: The walking units are all connected with connecting rods, making the frame bracket more stable.

[0026] Furthermore, the telescopic connecting member includes two sleeves inserted into each other and an elastic member installed in the sleeves, and two ends of the elastic member are respectively connected to the inner walls of the sleeves on both sides.

[0027] Beneficial effect: The telescopic connecting member adopting this structural form has a guiding function, which can ensure that the walking units do not shake relative to each other.

[0028] Furthermore, the frame-shaped bracket includes at least two sub-brackets, the frame-shaped bracket openable and closable structure is arranged between adjacent sub-brackets, the frame-shaped bracket openable and closable structure includes a magnetic member, and adjacent sub-brackets are adsorbed and connected by the magnetic member.

[0029] Beneficial effect: Adjacent sub-brackets are connected by magnetic adsorption, and the connection structure is simple and easy to assemble.

[0030] Furthermore, the frame-shaped bracket includes at least two sub-brackets, and the frame-shaped bracket openable and closable structure is arranged between adjacent sub-brackets. The frame-shaped bracket openable and closable structure includes connecting sub-and-male buckles, and the connecting sub-and-male buckles include sub-buckles and female buckles respectively arranged on adjacent sub-brackets, and the sub-buckles and female buckles are detachably connected.

[0031] Beneficial effect: Adjacent sub-brackets are connected by connecting the male and female buckles, and the connection reliability of adjacent sub-brackets is higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a structural diagram of Example 1 of a pole-climbing robot with an adaptive mounting frame according to the present invention;

[0033] Figure 2 This is a front view of Example 1 of a pole-climbing robot with an adaptive mounting frame according to the present invention;

[0034] Figure 3 A top view of a pole-climbing robot with an adaptive mounting frame according to embodiment 1 of the present invention;

[0035] Figure 4 This is a structural diagram of a pole-climbing robot with an adaptive mounting frame according to Example 2 of the present invention;

[0036] Figure 5 A top view of a pole-climbing robot with an adaptive mounting frame according to embodiment 2 of the present invention;

[0037] Figure 6 Schematic diagram of the structure of a pole-climbing robot with an adaptive mounting frame in Example 5 of the present invention;

[0038] Figure 7 This is a structural diagram of Example 8 of a pole climbing robot with an adaptive mounting frame according to the present invention.

[0039] Figure 8 This is a structural schematic diagram of the frame-shaped bracket in Example 9 of the pole-climbing robot with an adaptive mounting frame of the present invention.

[0040] In the figure: 1. Travel unit; 101. Travel frame; 102. Wheel frame; 103. Travel wheel; 2. Telescopic connecting member; 201. Sleeve; 3. Adaptive mounting frame; 4. Frame bracket; 401. Sub-bracket; 5. Connecting rod; 6. Guide sliding groove; 7. Rod body; 8. Magnetic part; 9. Connecting male and female buckle; 901. Sub-buckle; 902. Female buckle; 903. Pin. DETAILED DESCRIPTION

[0041] In order to make the objectives, technical solutions, and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present invention and are not intended to limit the present invention. That is, the embodiments described herein are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and illustrated in the drawings herein may be arranged and designed in various different configurations.

[0042] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but is merely intended to represent selected embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative work are within the scope of protection of the present invention.

[0043] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

[0044] The features and performance of the present invention are further described in detail below with reference to the embodiments.

[0045] Specific embodiment 1 of the pole-climbing robot with an adaptive mounting frame of the present invention:

[0046] like Figures 1 to 3 As shown, the pole-climbing robot with an adaptive mounting frame includes a walking unit 1 and a telescopic connecting member 2. In this embodiment, there are three walking units 1. Any two adjacent walking units 1 are connected by a telescopic connecting member 2. In this embodiment, the three walking units 1 and the three telescopic connecting members 2 together form a triangular frame structure. The interior of the frame structure forms a passage for the rod 7 to pass through. During use, the frame structure is wrapped around the outside of the rod 7, allowing the walking units 1 to move up and down along the rod 7.

[0047] The telescopic connecting member 2 includes two sleeves 201 that are inserted into each other and an elastic member installed in the sleeve 201. The two ends of the elastic member are respectively connected to the inner walls of the sleeve 201 on both sides. In particular, in this embodiment, the elastic member is a gas spring. In other embodiments, the elastic member can be a tension spring, an elastic belt, etc.

[0048] The walking unit 1 includes a walking frame 101, a wheel frame 102 mounted on the walking frame 101, a walking wheel 103 rotatably mounted on the wheel frame 102, and a main drive motor that drives the walking wheel 103 to rotate. During the movement of the walking unit 1 up and down along the rod body 7, the telescopic connecting member 2 is telescopically adjusted to make the walking wheel 103 close to the rod body 7, so that there is sufficient friction between the walking wheel 103 and the rod body 7 to ensure that the pole climbing robot does not slip off the rod body 7. In addition, the frame-shaped enclosing structure is a telescopic connecting member openable and closable structure. When the telescopic connecting member openable and closable structure is opened, an opening is formed for the rod body 7 to enter the channel.

[0049] Specifically, the walking frame 101 of a walking unit 1 is respectively fixedly connected to two telescopic connection members 2 located on both sides of the walking unit 1. Among the two telescopic connection members 2, one end of the telescopic connection member 2 is fixedly connected to the walking unit 1, and the other end is connected to the other walking unit 1 via a hinge. The other end of the telescopic connection member 2 is fixedly connected to the walking unit 1, and the other end is detachably connected to the other walking unit 1 via a lock. The two telescopic connection members 2 and the walking unit 1 connected in the middle form a telescopic connection member openable and closable structure of a frame-shaped enclosed structure. There are many variations in the implementation of the telescopic connection member openable and closable structure, which will not be repeated here.

[0050] like Figure 1 As shown, the pole-climbing robot also includes an adaptive mounting frame 3. The adaptive mounting frame 3 can carry heavy objects and move up and down via the walking unit 1, reducing the workload of the operator. The adaptive mounting frame 3 includes a frame-shaped support 4, which defines a central aisle for the pole body 7 to pass through. In this embodiment, the frame-shaped support 4 is circular. In other embodiments, the frame-shaped support can be square, oval, or other shapes.

[0051] The frame bracket 4 also includes a connecting rod 5 movably configured between the frame bracket 4 and the walking unit 1. In this embodiment, one end of the connecting rod 5 is hinged to the frame bracket 4, and the other end is hinged to the walking frame 101 of the walking unit 1. When the telescopic connecting member 2 is telescopically adjusted, the end of the connecting rod 5 connected to the walking unit 1 swings relative to the other end.

[0052] In this embodiment, there are three connecting rods 5 , and the three connecting rods 5 correspond to the three walking units 1 one by one. The three connecting rods 5 are connected to the frame-shaped bracket 4 so that the bearing capacity of the frame-shaped bracket 4 is improved.

[0053] The frame-shaped bracket 4 has a retractable frame-shaped structure. When the retractable frame-shaped structure is opened, an opening is formed for the rod body 7 to enter the central aisle. Specifically, the frame-shaped bracket 4 includes two sub-brackets 401. The retractable frame-shaped structure is disposed between the two sub-brackets 401. The retractable frame-shaped structure includes a magnetic member 8. In this embodiment, the sub-brackets 401 are arc-shaped brackets. The magnetic members 8 are magnets at both ends of the sub-brackets 401. The two sub-brackets 401 are connected by adsorption through the magnetic members 8.

[0054] When the pole-climbing robot moves up and down, the telescopic connecting member 2 will be adjusted to expand and contract according to the diameter of the rod body 7 so that the walking wheel 103 is close to the rod body 7. In particular, each telescopic connecting member 2 will be expanded and contracted synchronously to make each connecting rod 5 move synchronously, so that the frame bracket 4 maintains the original posture of the frame bracket 4 during the movement of the walking unit 1 relative to the frame bracket 1, that is, the frame bracket 4 will not frequently tilt and shake, thereby improving the safety of the object on the adaptive mounting frame 3.

[0055] The installation process of the pole-climbing robot with an adaptive mounting frame of the present invention is as follows: open the telescopic connecting member openable and closable structure of the frame-shaped enclosing structure and the frame-shaped bracket openable and closable structure of the frame-shaped bracket 4, so that the rod body 7 enters the channel of the frame-shaped enclosing structure and the central aisle of the frame-shaped bracket 4, and then close the telescopic connecting member openable and closable structure of the frame-shaped enclosing structure and the frame-shaped bracket openable and closable structure of the frame-shaped bracket 4, and the telescopic connecting member 2 contracts to make the walking wheel 103 close to the rod body 7. At this time, the installation process of the pole-climbing robot is completed.

[0056] Specific embodiment 2 of the pole climbing robot with an adaptive mounting frame of the present invention is as follows Figure 4 、 Figure 5 As shown, unlike the embodiment 1 described above, the connecting rod 5 is in a guided sliding cooperation with the walking unit 1. Specifically, the walking unit 1 is provided with a guide sliding groove 6, in which the connecting rod 5 is slidably assembled, and one end of the connecting rod 5 is fixed to the frame bracket 4. More specifically, in this embodiment, the guide sliding groove 6 is a dovetail groove, and the setting of the dovetail groove can prevent the connecting rod 5 from escaping from the notch of the guide sliding groove 6. During the up and down movement of the pole climbing robot, each telescopic connecting member 2 is synchronously extended and retracted to make the guide sliding groove 6 and the connecting rod 5 slide synchronously, so that the frame bracket 4 maintains its original posture.

[0057] Specific embodiment 3 of the pole-climbing robot with an adaptive mounting frame of the present invention is different from embodiment 2 introduced above in that the slide groove is a C-shaped groove.

[0058] Specific embodiment 4 of the pole-climbing robot with an adaptive mounting frame of the present invention is different from embodiment 1 introduced above in that not all walking units are connected with connecting rods. In this embodiment, there are two connecting rods, which are arranged between any two walking units and the frame bracket.

[0059] Specific embodiment 5 of the pole climbing robot with an adaptive mounting frame of the present invention is as follows Figure 6 As shown, different from the embodiment 1 described above, each traveling unit 1 is connected to two connecting rods 5, and the two connecting rods 5 are arranged at intervals. In other embodiments, each traveling unit can be connected to three, four or more connecting rods.

[0060] Specific embodiment 6 of the pole-climbing robot with an adaptive mounting frame of the present invention is different from embodiment 1 introduced above in that two connecting rods connected head to tail are provided between the walking unit and the frame-shaped bracket. The two connecting rods are hinged to each other, and the connecting rod at the head end is hinged to the frame-shaped bracket, and the connecting rod at the tail end is hinged to the walking unit.

[0061] Specific embodiment 7 of the pole-climbing robot with an adaptive mounting frame of the present invention is different from embodiment 1 introduced above in that magnets are provided at both ends of one of the two sub-brackets, and the sub-bracket provided with the magnets is directly adsorbed and connected to the other sub-bracket.

[0062] Specific embodiment 8 of the pole climbing robot with an adaptive mounting frame of the present invention is as follows Figure 7 As shown, different from the embodiment 1 described above, there are two walking units 1, and the two walking units 1 are connected by a telescopic connecting member 2. In other embodiments, there may be four, five or more walking units.

[0063] Specific embodiment 9 of the pole climbing robot with an adaptive mounting frame of the present invention is as follows Figure 8 As shown, different from the embodiment 1 introduced above, the frame-shaped bracket 4 includes two sub-brackets 401, and the frame-shaped bracket openable and closable structure is arranged between adjacent sub-brackets 401. The frame-shaped bracket openable and closable structure includes connecting sub-and female buckles 9. Specifically, the sub-bracket 401 is an arc-shaped bracket, and one of the two sub-brackets 401 is provided with sub-buckles 901 at both ends, and the other sub-bracket 401 is provided with female buckles 902 at both ends. After the sub-buckles 901 and the female buckles 902 of the two sub-brackets 401 are buckled with each other, the pin shaft 903 is used to pass through the pin holes on the buckled sub-buckles 901 and the female buckles 902, so as to realize the detachable connection of the two sub-brackets 401.

[0064] Specific embodiment 10 of the pole-climbing robot with an adaptive mounting frame of the present invention is different from embodiment 9 introduced above in that after the sub-buckles and the female buckles of the two sub-brackets are buckled together, bolts are used to pass through the bolt holes on the buckled sub-buckles and the female buckles to achieve a detachable connection between the two sub-brackets.

[0065] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. The scope of patent protection of the present invention shall be based on the claims. Any equivalent structural changes made using the description and drawings of the present invention shall be included in the scope of protection of the present invention.

Claims

1. A pole-climbing robot with an adaptive mounting frame, comprising: There are two or more walking units (1), and the walking units (1) include walking wheels (103) and a main drive motor that drives the walking wheels (103) to rotate; A telescopic connecting member (2), wherein any two adjacent walking units (1) are connected via the telescopic connecting member (2), the walking units (1) and the telescopic connecting member (2) together form a frame-shaped enclosing structure and a passage for the rod body (7) to pass through is formed inside the frame-shaped enclosing structure, a portion of the frame-shaped enclosing structure is a telescopic connecting member openable and closable structure, and when the telescopic connecting member openable and closable structure is opened, an opening is formed for the rod body (7) to enter the passage; During the movement of the walking unit (1) along the rod body (7), each telescopic connecting member (2) is synchronously telescoped and adjusted so that the walking wheel (103) is in close contact with the rod body (7); The pole-climbing robot is characterized in that the pole-climbing robot further includes an adaptive mounting frame (3), the adaptive mounting frame (3) includes a frame-shaped bracket (4), the frame-shaped bracket (4) encloses a central aisle for the rod body (7) to pass through, the frame-shaped bracket (4) has a frame-shaped bracket retractable structure, and when the frame-shaped bracket retractable structure is opened, an opening is formed for the rod body (7) to enter the central aisle; The adaptive mounting frame (3) further includes a connecting rod (5) movably arranged between the frame-shaped support (4) and the walking unit (1), wherein at least two connecting rods (5) are provided. When the telescopic connecting member (2) is telescopically adjusted, the connecting rod (5) can cause the walking unit (1) to move relative to the frame-shaped support (4), thereby causing the frame-shaped support (4) to maintain its original posture.

2. The pole-climbing robot with an adaptive mounting frame according to claim 1, wherein: One end of the connecting rod (5) is hinged to the frame bracket (4), and the other end is hinged to the walking unit (1). When the telescopic connecting member (2) is telescopically adjusted, the end of the connecting rod (5) connected to the walking unit (1) swings relative to the other end.

3. The pole-climbing robot with an adaptive mounting frame according to claim 1, wherein: The frame-shaped bracket (4) is connected to at least three connecting rods (5).

4. The pole-climbing robot with an adaptive mounting frame according to claim 1, wherein: The connecting rod (5) is in guiding sliding cooperation with the traveling unit (1).

5. The pole-climbing robot with an adaptive mounting frame according to claim 4, wherein: A guide sliding groove (6) is provided on the walking unit (1), the connecting rod (5) is slidably assembled in the guide sliding groove (6), and one end of the connecting rod (5) is fixed to the frame bracket (4).

6. The pole-climbing robot with an adaptive mounting frame according to claim 5, wherein: The guide sliding groove (6) is a dovetail groove.

7. The pole-climbing robot with an adaptive mounting frame according to any one of claims 1 to 6, characterized in that: The walking units (1) are all connected to the connecting rod (5).

8. The pole-climbing robot with an adaptive mounting frame according to any one of claims 1 to 6, characterized in that: The telescopic connecting member (2) comprises two sleeves (201) that are inserted into each other and an elastic member installed in the sleeves (201), with both ends of the elastic member respectively connected to the inner walls of the sleeves (201) on both sides.

9. The pole-climbing robot with an adaptive mounting frame according to any one of claims 1 to 6, characterized in that: The frame-shaped bracket (4) comprises at least two sub-brackets (401), the frame-shaped bracket retractable structure is provided between adjacent sub-brackets (401), the frame-shaped bracket retractable structure comprises a magnetic member (8), and adjacent sub-brackets (401) are adsorbed and connected via the magnetic member (8).

10. The pole-climbing robot with an adaptive mounting frame according to any one of claims 1 to 6, characterized in that: The frame-shaped bracket (4) comprises at least two sub-brackets (401), and the frame-shaped bracket retractable structure is arranged between adjacent sub-brackets (401). The frame-shaped bracket retractable structure comprises connecting sub-and-sub buckles (9), and the connecting sub-and-sub buckles (9) comprise sub-buckles (901) and sub-buckles (902) respectively arranged on adjacent sub-brackets (401). The sub-buckles (901) and sub-buckles (902) are detachably connected.

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