A foot-clip-like pole-climbing robot

Abstract

The present invention discloses a foot-clip-like pole-climbing robot, comprising a main frame and a hip joint frame, a thigh frame, a knee joint frame, a calf frame, an ankle frame, a foot frame, and foot buckles symmetrically mounted on either side of the main frame. The hip joint frames are symmetrically fixed to either side of the main frame. A fixed shaft is fixed to the hip joint frames, a fixed gear is fixed to the fixed shaft, and the thigh frames are connected to the fixed shaft via a bearing. A first motor is fixed to the thigh frames, the output shaft of which is fixed to a first driving gear, which meshes with a fixed gear. A second motor is fixed to the thigh frames, the output shaft of which is fixed to a second driving gear. The side of the thigh frame away from the hip joint frame is connected to a rotating shaft via a bearing. A driven gear is fixed to the rotating shaft, which meshes with the driven gear. Both ends of the rotating shaft are fixed to the knee joint frames. The foot-clip-like pole-climbing robot can climb poles and traverse obstacles, and is used to transport equipment to the top of a utility pole.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a foot-button-like pole-climbing robot. Background Art

[0002] As people's living standards continue to improve, electricity demand is increasing. The safe and stable operation of power lines and the uninterrupted and reliable power supply to power users have become increasingly important. Distribution network inspection and maintenance have become a key task for power supply companies. Electricians climbing utility poles is an essential step in power maintenance, but the process presents multiple risks, including falls and electric shock. Currently, pole-climbing robots are often used to assist manual climbing operations. However, few robots offer both efficiency and the flexibility to navigate obstacles. Therefore, a robot that can both climb poles and navigate obstacles is needed. Summary of the Invention

[0003] The object of the present invention is to provide a foot-clip-like pole-climbing robot, which can climb poles and overcome obstacles and is used to transport tools to the top of utility poles.

[0004] In one aspect, the present invention provides a foot buckle-like pole climbing robot. According to an embodiment of the present invention, the robot comprises a main frame and a hip joint frame, a thigh frame, a knee joint frame, a calf frame, an ankle frame, a foot frame, and foot buckles symmetrically mounted on both sides of the main frame.

[0005] The hip joint frame is symmetrically fixed on both sides of the main frame, a fixed shaft is fixed on the hip joint frame, a fixed gear is fixed on the fixed shaft, the thigh frame is connected to the fixed shaft through a bearing, a motor 1 is fixed on the thigh frame, the output shaft of the motor 1 is fixed to the driving gear 1, and the driving gear 1 is meshed with the fixed gear;

[0006] The thigh frame is fixed with a second motor, the output shaft of the second motor is fixed with a second driving gear, the side of the thigh frame away from the hip joint frame is connected to the rotating shaft through a bearing, a driven gear is fixed on the rotating shaft, the second driving gear is meshed with the driven gear, and both ends of the rotating shaft are respectively fixed to the knee joint frame;

[0007] The lower end of the knee joint frame is fixed with a motor three, the output shaft of the motor three is fixed to the upper end of the calf frame, the ankle frame is fixed to the lower end of the calf frame, the foot frame is installed on the ankle frame, and the foot buckle is fixed to the foot frame.

[0008] In addition, the foot-clip-like pole-climbing robot according to the above embodiment of the present invention may also have the following additional technical features:

[0009] In some embodiments of the present invention, the main frame includes a box body and a shell cover, a battery, a controller, and a storage plate are installed in the box body, a hollow shaft is installed in the box body, and both ends of the hollow shaft are respectively fixed to the side walls of the box body where the hip joint frame is installed.

[0010] In some embodiments of the present invention, the hip joint frame includes two symmetrically arranged cross beams and a semicircular fixed clamping plate, the upper and lower ends of the cross beams are respectively fixed with triangular plates, the two triangular plates located above and the two triangular plates located below are respectively fixed by connecting rods, the cross beam close to the main frame is fixed to the two triangular plates of another cross beam through two oblique rods, the two triangular plates close to the main frame and the cross beam are respectively fixed with bosses, the main frame is provided with boss positioning grooves corresponding to the bosses, the end of the cross beam away from the triangular plate is provided with a semicircular arc groove, the semicircular fixed clamping plate is fixed to the cross beam, and the fixed shaft is fixed in the circular hole formed by the semicircular arc groove and the semicircular fixed clamping plate through a key connection.

[0011] In some embodiments of the present invention, the thigh rack includes two symmetrically arranged thigh plates, the two thigh plates are fixed by two reinforcing plates, and a plurality of mounting holes are provided on the thigh plates.

[0012] In some embodiments of the present invention, the knee joint frame is composed of two groups of symmetrical half frames, the half frames include half mounting cylinders, the upper and lower ends of the half mounting cylinders are respectively fixed with an upper cover plate and a mounting ring, the upper end of the upper cover plate is fixed with an L-shaped plate, the L-shaped plate is fixed on the rotating shaft, and the motor three is installed in the two half mounting cylinders.

[0013] In some embodiments of the present invention, a calf reinforcement tube is further included, wherein the calf reinforcement tube is fixed to the mounting ring, and the calf frame is rotatably mounted in the calf reinforcement tube.

[0014] In some embodiments of the present invention, the calf rack includes a hollow column, the output shaft of the motor three is fixed to the flange, a concave-convex plate adapted to the flange is fixed to the upper end of the hollow column, and the concave-convex plate is fixed to the flange.

[0015] In some embodiments of the present invention, the ankle rack includes an ankle column, two vertical plates are symmetrically fixed to the lower end of the ankle column, ankle holes are provided on the vertical plates, an ankle shaft is installed between the two vertical plates, and both ends of the ankle shaft respectively extend into the ankle holes and are connected to the ankle holes through bearings.

[0016] In some embodiments of the present invention, both ends of the ankle axis pass through the foot frame and are fixed to the foot frame by locking nuts. The ankle axis and the foot frame are connected by a key. A torsion spring is provided on the ankle axis and located between the vertical plates.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1) Simulating the action of workers using foot buckles to climb a pole, a pole-climbing robot was designed by combining the foot buckles with a robotic arm.

[0019] 2) The robot of the present invention is designed as an eight-degree-of-freedom multi-joint robotic arm with two functions: climbing poles and crossing obstacles. The joint angles can be adjusted according to the size and shape of the obstacle to achieve flexible obstacle crossing.

[0020] 3) The joints of the present invention use an indirect drive method, and after the knee joint and hip joint output torque, a single-stage gear transmission is used to reduce and expand the torque, thereby improving the carrying capacity of the pole climbing robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic structural diagram of a foot-clip-like pole-climbing robot according to an embodiment of the present invention;

[0022] Figure 2 yes Figure 1 Enlarged view of point A in the middle;

[0023] Figure 3 yes Figure 1 Enlarged view of point B in the middle;

[0024] Figure 4 1 is a top view of a foot-clip-like pole-climbing robot according to an embodiment of the present invention;

[0025] Figure 5 This is a cross-sectional view of a partial structure of a foot-clip-like pole climbing robot according to an embodiment of the present invention;

[0026] Figure 6 yes Figure 5 Enlarged view of point C in the middle;

[0027] Figure 7 This is a schematic diagram of a climbing pole of a foot-clip-like climbing pole robot according to an embodiment of the present invention. Figure 1 ;

[0028] Figure 8 This is a schematic diagram of a climbing pole of a foot-clip-like climbing pole robot according to an embodiment of the present invention. Figure 2 ;

[0029] Figure 9 This is a schematic structural diagram of a foot buckle according to an embodiment of the present invention;

[0030] In the figure, 1, main frame, 101, box, 102, hollow shaft, 103, boss positioning groove, 2, hip joint frame, 201, crossbeam, 202, triangle plate, 203, semicircular fixing card plate, 204, boss, 205, semicircular arc groove, 206, connecting rod, 207, oblique rod, 3, thigh frame, 301, thigh plate, 302, reinforcement plate, 4, knee joint frame, 401, half installation cylinder, 402, upper cover plate, 403, installation ring, 404, L-shaped plate, 5, small Leg frame, 501, hollow column, 502, concave-convex plate, 6, ankle frame, 601, ankle column, 602, vertical plate, 603, ankle shaft, 604, torsion spring, 605, locking nut, 7, foot frame, 8, foot buckle, 9, calf reinforcement tube, 10, fixed shaft, 11, fixed gear, 12, motor one, 13, driving gear one, 14, motor two, 15, driving gear two, 16, rotating shaft, 17, driven gear, 18, motor three, 19, flange, 20, telephone pole. DETAILED DESCRIPTION

[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0032] See also Figure 1-9 As shown, a foot-clip-like pole climbing robot includes a main frame 1 and a hip joint frame 2, a thigh frame 3, a knee joint frame 4, a calf frame 5, an ankle frame 6, a foot frame 7, a foot buckle 8, and a calf reinforcement tube 9 symmetrically installed on both sides of the main frame 1.

[0033] like Figure 4 As shown, the main frame 1 includes a housing 101 and a cover (not shown). The housing 101 is made of steel and contains a hollow shaft 102. The ends of the hollow shaft 102 are fixed to the side walls of the housing 101, where the hip joint frame 2 is mounted. Compared to a solid shaft, the hollow shaft 102 not only reduces weight but also can withstand greater torque. The housing 101 contains a battery, a controller, and a storage plate. The battery provides power and is electrically connected to the equipment requiring power. The controller controls the operation of the robot's various components. The storage plate is used to store equipment required for maintenance.

[0034] like Figure 2As shown, the hip joint frame 2 is symmetrically fixed on both sides of the main frame 1. The hip joint frame 2 includes two symmetrically arranged crossbeams 201 and two semicircular fixing clamps 203. A triangular plate 202 is fixed to the upper and lower ends of the crossbeam 201. The two triangular plates 202 located above the crossbeam 201 and the two triangular plates 202 located below the crossbeam 201 are respectively fixed by connecting rods 206. The crossbeam 201 close to the main frame 1 is fixed to the two triangular plates 202 of the other crossbeam 201 by two diagonal rods 207. Bosses 204 are respectively fixed to the two triangular plates 202 and the crossbeam 201 close to the main frame 1. The main frame 1 is provided with a boss positioning groove 103 corresponding to the boss 204. The main frame 1 and the hip joint frame 2 are positioned by the boss 204 and the boss positioning groove 103, and then fastened by bolts. A semicircular groove 205 is provided at one end of the beam 201 away from the triangular plate 202 , and the semicircular fixing plate 203 is fixed to the beam 201 by bolts. The semicircular groove 205 and the semicircular fixing plate 203 form a complete circular hole.

[0035] like Figure 4 As shown, a fixed shaft 10 is fixed to the hip joint frame 2. Fixed shaft 10 is keyed into the circular hole formed by the semicircular slot 205 and the semicircular fixed clamp 203. A fixed gear 11 is fixed to fixed shaft 10, and the thigh frame 3 is connected to fixed shaft 10 via a bearing. A motor 12 is fixed to the thigh frame 3. The output shaft of motor 12 is fixed to driving gear 13, which is meshed with fixed gear 11. When motor 12 is started, motor 12 drives driving gear 13 to rotate around fixed gear 11, which in turn drives the thigh frame 3 to rotate around the center of fixed gear 11.

[0036] like Figure 4 As shown, the thigh frame 3 comprises two symmetrically arranged thigh plates 301, which are connected to the fixed shaft 10 via bearings. The thigh plates 301 are secured together by two reinforcing plates 302. Each thigh plate 301 is provided with multiple mounting holes for mounting the fixed shaft 10, the rotating shaft 16, and the like. Motor 2 14 is secured to the sidewalls of the thigh plates 301. The output shaft of motor 2 14 is secured to driving gear 2 15, which is positioned between the thigh plates 301. The side of the thigh frame 3 facing away from the hip joint frame 2 is connected to the rotating shaft 16 via bearings. A driven gear 17 is secured to the rotating shaft 16, which meshes with the driven gear 17. Both ends of the rotating shaft 16 extend beyond the thigh frame 3 and are secured to the knee joint frame 4. Motor 2 14 drives driving gear 2 15, which in turn drives driven gear 17, which in turn drives the rotating shaft 16 and the knee joint frame 4.

[0037] like Figure 1 、 5As shown in Figures 6 and 7, the knee joint frame 4 is composed of two symmetrical half-frames, each including a half-mounting cylinder 401, secured together by bolts. An upper cover plate 402 and a mounting ring 403 are secured to the upper and lower ends of each half-mounting cylinder 401, respectively. The upper cover plate 402, mounting ring 403, and half-mounting cylinder 401 form an integrally formed structure. An L-shaped plate 404 is secured to the upper end of the upper cover plate 402, with the vertical plate 602 of the L-shaped plate 404 secured to the rotating shaft 16. Motor 3 18 is secured within the cavity enclosed by the two half-mounting cylinders 401, with the output shaft of motor 3 18 secured to flange 19.

[0038] like Figure 6 As shown, the shank reinforcement tube 9 is fixed to the mounting ring 403 by bolts. The shank frame 5 is rotated within the shank reinforcement tube 9. The shank frame 5 includes a hollow column 501. The upper end of the hollow column 501 is fixed with a concave-convex plate 502 that matches the flange 19. The concave-convex plate 502 is fixed to the flange 19, thereby fixing the output shaft of the motor 3 18 to the upper end of the shank frame 5. The motor 3 18 can drive the shank frame 5 to rotate. The robot leg has to withstand a large torque. If the shank frame 5 is directly connected to the knee joint frame 4, the shank frame 5 will twist axially, which will inevitably cause large axial and radial forces on the motor 3 18 and damage the motor 3 18. The shank reinforcement tube 9 is used to disperse the force of the robot leg mainly between the knee joint frame 4 and the shank frame 5, and the motor 3 18 is not subjected to axial and radial forces. In order to allow the calf to bear axial force and rotate axially relative to the knee joint, a thrust bearing can be installed in the calf reinforcement tube 9, so that the hollow column 501 is connected to the calf reinforcement tube 9 through the bearing.

[0039] like Figure 3 As shown, the ankle frame 6 is fixed to the lower end of the calf frame 5. The ankle frame 6 includes an ankle column 601 fixed to the lower end of the hollow column 501. Two vertical plates 602 are symmetrically fixed to the lower end of the ankle column 601. The vertical plates 602 are provided with ankle holes. An ankle shaft 603 is installed between the two vertical plates 602. The two ends of the ankle shaft 603 extend into the ankle holes and are connected to the ankle holes through bearings. A sliding bearing sleeve is installed between the ankle shaft 603 and the ankle holes to reduce wear. The two ends of the ankle shaft 603 respectively pass through the foot frame 7 and are fixed to the foot frame 7 by a locking nut 605. The locking nut 605 can achieve axial fixation of the ankle shaft 603. The ankle shaft 603 and the foot frame 7 are connected by a key to achieve circumferential fixation of the ankle shaft 603. A torsion spring 604 is mounted on the ankle shaft 603 and between the vertical plates 602. This allows the foot frame 7 to remain stable in a horizontal position when the calf frame 5 is lifted, allowing the calf frame 5 to smoothly lift the foot buckle 8. Limiting plates are fixed to the upper end of the foot frame 7 and to the front and rear sides of the ankle column 601 to prevent the ankle frame 6 from rotating backward.

[0040] like Figure 9As shown, the foot buckle 8 is fixed on the foot frame 7. The foot buckle 8 is a prior art, and the foot buckle 8 includes a buckle belt, a pedal, a buckle body, and an anti-slip rubber. In order to make the foot frame 7 and the foot buckle 8 reliably connected, the pedal of the foot buckle 8 can be welded to the foot frame 7.

[0041] Working principle: When the pole climbing robot needs to climb the pole, Figure 8 As shown, two foot buckles 8 are installed on the telephone pole 20, one high and one low, with the self-locking point of the higher foot buckle 8 and the telephone pole 20 as the bearing point, and then the motor three 18 is used to drive the calf frame 5 to rotate, and then the calf frame 5 drives the foot frame 7 to rotate, so that the lower foot buckle 8 leaves the telephone pole 20, and then the motor one 12 is used to drive the thigh frame 3 to be lifted, and the motor two 14 is used to lift the calf frame 5 to a suitable position, and then the motor three 18 is used to drive the calf frame to rotate and re-lock the foot buckle 8 on the telephone pole 20, even if the lower foot buckle 8 first passes over the higher foot buckle 8, and then the initial lower foot buckle 8 is lifted to a suitable position above the higher foot buckle 8, according to the above action cycle, the robot can complete the pole climbing action.

[0042] When encountering an obstacle, a staff member first uses Motor 3 18 to remove the foot buckle 8 from the pole 20. Then, Motor 1 12 and Motor 2 14 work together to retract the knee joint frame 4 on the same side of the obstacle, preventing the knee joint frame 4 and the calf frame 5 from contacting the obstacle during the subsequent lifting process. Motor 1 12 and Motor 2 14 then use the thigh frame 3 on the side away from the obstacle to lift the box 101, raising it along with the thigh frame 3, and raising the joint frames on the obstacle side together, thus overcoming the obstacle.

[0043] The above content is merely an example and explanation of the structure of the present invention. Those skilled in the art may make various modifications or additions to the described specific embodiments or replace them in a similar manner. As long as they do not deviate from the structure of the present invention or exceed the scope defined by the claims, they should all fall within the scope of protection of the present invention.

Claims

1. A foot-clip-like pole-climbing robot, characterized in that: It includes a main frame and a hip joint frame, a thigh frame, a knee joint frame, a calf frame, an ankle frame, a foot frame and a foot buckle which are symmetrically installed on both sides of the main frame; The hip joint frame is symmetrically fixed on both sides of the main frame, a fixed shaft is fixed on the hip joint frame, a fixed gear is fixed on the fixed shaft, the thigh frame is connected to the fixed shaft through a bearing, a motor 1 is fixed on the thigh frame, the output shaft of the motor 1 is fixed to the driving gear 1, and the driving gear 1 is meshed with the fixed gear; The thigh frame is fixed with a second motor, the output shaft of the second motor is fixed with a second driving gear, the side of the thigh frame away from the hip joint frame is connected to the rotating shaft through a bearing, a driven gear is fixed on the rotating shaft, the second driving gear is meshed with the driven gear, and both ends of the rotating shaft are respectively fixed to the knee joint frame; The lower end of the knee joint frame is fixed with a motor 3, the output shaft of the motor 3 is fixed to the upper end of the calf frame, the ankle frame is fixed to the lower end of the calf frame, the foot frame is installed on the ankle frame, and the foot buckle is fixed to the foot frame; The knee joint frame is composed of two sets of symmetrical half frames, each of which includes a half-mounting cylinder, with an upper cover plate and a mounting ring fixed to the upper and lower ends of the half-mounting cylinder respectively, an L-shaped plate fixed to the upper end of the upper cover plate, and the L-shaped plate fixed to the rotating shaft. The motor 3 is installed in the two half-mounting cylinders; it also includes a calf reinforcement cylinder, which is fixed to the mounting ring, and the calf frame is rotatably installed in the calf reinforcement cylinder; The calf frame includes a hollow column, the output shaft of the motor three is fixed to the flange, and a concave-convex plate adapted to the flange is fixed to the upper end of the hollow column, and the concave-convex plate is fixed to the flange.

2. The foot-clip-like pole-climbing robot according to claim 1, characterized in that: The main frame includes a box body and a shell cover. A battery, a controller, and a storage plate are installed in the box body. A hollow shaft is installed in the box body, and both ends of the hollow shaft are respectively fixed to the side walls of the box body where the hip joint frame is installed.

3. The foot-clip-like pole-climbing robot according to claim 1, characterized in that: The hip joint frame includes two symmetrically arranged cross beams and a semicircular fixed card plate, the upper end and the lower end of the cross beam are respectively fixed with a triangular plate, the two triangular plates located above and the two triangular plates located below are respectively fixed by connecting rods, the cross beam close to the main frame is fixed to the two triangular plates of the other cross beam through two oblique rods, the two triangular plates close to the main frame and the cross beam are respectively fixed with bosses, the main frame is provided with a boss positioning groove corresponding to the boss, the end of the cross beam away from the triangular plate is provided with a semicircular arc groove, the semicircular fixed card is fixed to the cross beam, and the fixed shaft is fixed in the circular hole formed by the semicircular arc groove and the semicircular fixed card through a key connection.

4. The foot-clip-like pole-climbing robot according to claim 1, characterized in that: The thigh frame includes two symmetrically arranged thigh plates, which are fixed by two reinforcing plates, and a plurality of mounting holes are provided on the thigh plates.

5. The foot-clip-like pole-climbing robot according to claim 1, characterized in that: The ankle rack includes an ankle column, two vertical plates are symmetrically fixed to the lower end of the ankle column, ankle holes are provided on the vertical plates, an ankle shaft is installed between the two vertical plates, and both ends of the ankle shaft respectively extend into the ankle holes and are connected to the ankle holes through bearings.

6. The foot-clip-like pole-climbing robot according to claim 5, characterized in that: The two ends of the ankle shaft respectively pass through the foot frame and are fixed to the foot frame through locking nuts. The ankle shaft and the foot frame are connected through a key. A torsion spring is sleeved on the ankle shaft and located between the vertical plates.

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