A wheeled pole climbing robot

Abstract

The present application relates to the technical field of mechanical equipment, more particularly to a wheeled pole climbing robot, comprising a clamping assembly, a pole holding assembly and a wheel climbing assembly, two groups of the pole holding assembly being connected with the clamping assembly, the wheel climbing assembly being arranged on the pole holding assembly, the pole holding assembly comprising a first swing arm and a second swing arm, the first swing arm and the second swing arm being rotationally connected with the output end of the clamping assembly, an elastic member with adjustable stretching amount being connected between the first swing arm and the second swing arm, a plurality of the pole holding assemblies in the same group being arranged along the vertical direction, the wheel climbing assembly being arranged on the first swing arm and the second swing arm, the included angle of the first swing arm and the second swing arm in different height pole holding assemblies being able to be different, the first swing arm and the second swing arm of different height pole holding assemblies being able to hold pole surfaces with different diameters, so that the robot is able to move on pole bodies with varying diameters and has certain adaptability to pole surface obstacles.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical equipment, more particularly, to a wheeled pole climbing robot. BACKGROUND

[0002] Various pole-shaped buildings in cities, such as power poles, monitoring poles, street lamp poles, advertising vertical poles, and bridge cable-stayed cables, are developing rapidly. The cross sections of these poles are usually circular or regular polygonal, and most of the poles are perpendicular to the ground, and some are inclined or horizontally arranged. The current traditional pole climbing method completely relies on manual work, and has the problems of high risk coefficient and low efficiency. Therefore, people begin to seek to apply robots to pole climbing and work in order to improve work efficiency, reduce cost, and improve work safety. The existing pole climbing robots have poor adaptability to poles with varying diameters. SUMMARY

[0003] The present application aims to overcome the problem of poor adaptability to poles with varying diameters in the prior art, and provides a wheeled pole climbing robot capable of climbing poles with varying diameters.

[0004] To solve the above technical problems, the technical solution adopted by the present application is:

[0005] A wheeled pole climbing robot is provided, comprising a clamping assembly, a pole holding assembly, and a wheel climbing assembly. Two groups of the pole holding assemblies are connected to the clamping assembly, and the wheel climbing assembly is arranged on the pole holding assembly. The pole holding assembly comprises a first swing arm and a second swing arm, both of which are rotationally connected to the output end of the clamping assembly. An elastic member with adjustable stretching amount is connected between the first swing arm and the second swing arm. Several pole holding assemblies in the same group are arranged in the vertical direction, and the wheel climbing assembly is arranged on the first swing arm and the second swing arm.

[0006] The pole climbing robot of the present application makes the pole to be climbed between two groups of pole holding assemblies, the clamping assembly drives the two groups of pole holding assemblies to move towards each other, so that the included angle of the first swing arm and the second swing arm is reduced, the wheel climbing assembly is close to the pole, the stretching amount of the elastic member is adjusted, the distance between the first swing arm and the second swing arm is further reduced, and the wheel climbing assembly is pressed on the pole, the clamping assembly is further controlled to be closed until the tangential force caused by the wheel climbing assembly on the pole is balanced, the stable holding of the robot on the pole is realized, the wheel climbing assembly is started to make the robot move on the pole; the movements of the pole holding assemblies in the same group do not interfere with each other, the included angles of the first swing arm and the second swing arm in the pole holding assemblies of different heights can be different, the first swing arm and the second swing arm of the pole holding assemblies of different heights can hold the pole surface of different diameters, when the robot moves on the pole with changing diameter, the clamping assembly and the elastic member cooperate to make the first swing arm and the second swing arm always press the pole surface and maintain the holding state, so that the robot can move on the pole with changing diameter and has certain adaptability to the pole surface obstacles.

[0007] Further, the elastic member includes a spring and a pre-tightening mechanism, the spring is connected between the first swing arm and the second swing arm, and the pre-tightening mechanism is installed on the first swing arm or the second swing arm and connected with one end of the spring.

[0008] Further, the two groups of pole holding assemblies are mirror-symmetric, the heights of the first swing arm and the second swing arm are equal, and the rotation axes of the first swing arm and the second swing arm are parallel, so that it is easier to achieve force balance when holding the pole, the operation difficulty is reduced, and the work of the robot is more reliable.

[0009] Further, the clamping assembly includes a first driving mechanism and a first transmission mechanism for controlling the two groups of pole holding assemblies to move towards each other, the output end of the first driving mechanism is connected with the input end of the first transmission mechanism, and the output end of the first transmission mechanism is connected with the pole holding assemblies. When the clamping assembly is controlled to be closed, the first transmission mechanism drives the first transmission mechanism to move, thereby driving the two groups of pole holding assemblies to move towards each other, and realizing the holding of the pole.

[0010] Further, the first transmission mechanism includes a body, a worm, a worm gear and a worm gear connecting rod, the shaft center of the worm is fixedly connected with the output end of the first driving mechanism, the side surface of the worm is engaged with the worm gear, the worm gear is fixedly connected with the worm gear connecting rod, the worm gear connecting rod is connected with the pole holding assemblies, and the shaft center of the worm gear is rotationally connected with the body. The first driving mechanism drives the worm to rotate, the worm drives the worm gear engaged therewith to rotate, thereby driving the worm gear connecting rod to rotate and making the pole holding assemblies move towards each other; the worm and worm gear transmission has self-locking property, so that the clamping assembly still maintains the original clamping state in the power-off state, and the robot will not fall due to holding failure.

[0011] Furthermore, the pole-holding assembly also includes a connector, and the first transmission mechanism further includes a driven link. The driven link is rotatably connected to the machine body, and the driven link and the worm gear link are rotatably connected to the connector. The connector is rotatably connected to the first swing arm and the second swing arm. The connector makes the installation of the pole-holding assembly more convenient. By selecting connectors of different shapes and sizes, the relative positions between the pole-holding assemblies can be flexibly changed to adapt to poles of different sizes. The worm gear link, the driven link, and the connector form an approximately parallelogram-shaped transmission structure. The worm gear link and the driven link together restrict the position of the connector, making the movement trajectory of the connector determined and improving the stability of the pole-holding assembly's movement.

[0012] Furthermore, the wheel-climbing assembly includes a second drive mechanism, a second transmission mechanism, and a drive wheel. The second drive mechanism, the second transmission mechanism, and the drive wheel are all mounted on the first swing arm or the second swing arm, and are sequentially connected. The second drive mechanism drives the second transmission mechanism to move, causing the drive wheel to rotate, thereby enabling the robot to move on the pole.

[0013] Furthermore, the second drive mechanism is a worm gear reducer motor, and the second transmission mechanism includes a large pulley, a small pulley, and a synchronous belt. The large pulley and the small pulley are internally connected to the synchronous belt. The axis of the small pulley is fixedly connected to the output end of the second drive mechanism, and the axis of the large pulley is fixedly connected to the drive wheel. The worm gear reducer motor drives the small pulley to rotate, which in turn drives the large pulley to rotate via the synchronous belt, thereby causing the drive wheel to rotate and moving the robot. The worm gear reducer motor has a self-locking function; in the event of a power outage, the drive wheel will be locked and unable to rotate, preventing it from rolling spontaneously due to the robot's gravity. The worm gear reducer motor also has the function of increasing torque. The belt drive method, where the small pulley drives the large pulley, can further increase the output torque of the worm gear reducer motor and transmit it to the drive wheel, improving the robot's driving capability and load capacity.

[0014] Furthermore, it also includes a driven wheel, which, along with the driving wheel, is respectively mounted on the first swing arm and the second swing arm, or the driven wheel and the driving wheel are respectively mounted on the second swing arm and the first swing arm. Providing a driven wheel without a separate power source reduces energy consumption while assisting the driving wheel in moving the robot.

[0015] Furthermore, both the drive wheel and the driven wheel are Mecanum wheels. Mecanum wheels are easy to move in all directions, have good stability, strong load-bearing capacity, and strong grip. The tilt direction of the roller is simply referred to as the oblique direction. By adjusting the rotation direction of Mecanum wheels with different oblique directions at different positions, the robot can switch between axial, circumferential, and helical motion modes on the circular rod, improving the robot's working flexibility and expanding its application range.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] The wheeled pole-climbing robot of the present invention, by setting up several layers of pole-holding components that can rotate independently, can climb poles with varying diameters or obstacles on the pole surface, and can meet the needs of climbing a variety of different poles. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the wheeled pole-climbing robot of the present invention;

[0019] Figure 2 This is a schematic diagram of the pole-holding assembly of the wheeled pole-climbing robot of the present invention.

[0020] Figure 3 This is a schematic diagram of the pre-tensioning mechanism of the wheeled pole-climbing robot of the present invention;

[0021] Figure 4 This is a first structural schematic diagram of the clamping assembly of the wheeled pole-climbing robot of the present invention;

[0022] Figure 5 This is a schematic diagram of the second structure of the clamping assembly of the wheeled pole-climbing robot of the present invention;

[0023] Figure 6 This is a schematic diagram of the third structure of the clamping assembly of the wheeled pole-climbing robot of the present invention;

[0024] Figure 7 This is a schematic diagram of the drive wheel structure of the wheeled pole-climbing robot of the present invention;

[0025] Figure 8 This is a schematic diagram of the driven wheel of the wheeled pole-climbing robot of the present invention;

[0026] Figure 9 This is a schematic diagram of the wheel-climbing component of the wheeled pole-climbing robot of the present invention being clamped onto the pole.

[0027] Figure 10 This is a first force analysis diagram of the wheel-climbing component of the wheeled pole-climbing robot of the present invention;

[0028] Figure 11This is a second force analysis diagram of the wheel-climbing component of the wheeled pole-climbing robot of the present invention;

[0029] Figure 12 This is a third force analysis diagram of the wheel-climbing component of the wheeled pole-climbing robot of the present invention;

[0030] Figure 13 This is a schematic diagram of the first step of the wheeled pole-climbing robot of the present invention being clamped onto a circular pole;

[0031] Figure 14 This is a schematic diagram of the second step of the wheeled pole climbing robot of the present invention being clamped onto a circular pole;

[0032] Figure 15 This is a schematic diagram of the third step of mounting the wheeled pole-climbing robot of the present invention on a circular pole;

[0033] Figure 16 This is a schematic diagram of the fourth step of the wheeled pole-climbing robot of the present invention being clamped onto a circular pole;

[0034] Figure 17 This is a schematic diagram of the wheeled pole-climbing robot of the present invention being mounted on a square pole;

[0035] Figure 18 This is a schematic diagram of the wheeled pole-climbing robot of the present invention being mounted on a regular octagonal pole;

[0036] In the attached diagram: 1. Clamping assembly; 11. First drive mechanism; 111. Disc motor; 112. Rigid coupling; 113. Harmonic reducer; 114. Output disc; 12. First transmission mechanism; 121. Worm gear; 122. Worm gear connecting rod; 123. Worm gear bearing; 124. Driven connecting rod; 125. Worm; 126. Worm bearing; 127. Machine body; 1271. Upper cover; 1272. Lower cover; 1273. Worm gear bearing cover; 1274. Worm bearing cover; 1275. Rear cover; 2. Holding rod assembly; 21. First swing arm; 22. Second swing arm; 221. Spring support; 23. Elastic element; 231. Spring; 23 2. Pre-tightening mechanism; 2321. Hinged bolt; 2322. Flange nut; 2323. Nut cover plate; 24. Connecting part; 241. Swing arm pin; 242. Connecting rod pin; 3. Wheel climbing assembly; 31. Second drive mechanism; 311. Motor bracket; 32. Second transmission mechanism; 321. Small pulley; 322. Synchronous belt; 323. Large pulley; 33. Drive wheel; 331. First pulley; 332. Second pulley; 333. Third pulley; 334. Fourth pulley; 34. First bearing seat; 35. Drive shaft; 36. Drive coupling; 37. Driven wheel; 38. Second bearing seat; 39. Driven shaft; 310. Driven coupling. Detailed Implementation

[0037] The present invention will be further described below with reference to specific embodiments. The accompanying drawings are for illustrative purposes only, representing schematic diagrams rather than actual physical objects, and should not be construed as limiting the scope of this patent. To better illustrate the embodiments of the present invention, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0038] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0039] Example 1

[0040] like Figures 1 to 3 The first embodiment of the wheeled pole-climbing robot of the present invention is shown, including a clamping assembly 1, a pole-holding assembly 2, and a wheel-climbing assembly 3. Two sets of pole-holding assemblies 2 are connected to the clamping assembly 1, and the wheel-climbing assembly 3 is disposed on the pole-holding assembly 2. The pole-holding assembly 2 includes a first swing arm 21 and a second swing arm 22. The first swing arm 21 and the second swing arm 22 are rotatably connected to the output end of the clamping assembly 1. An elastic element 23 with adjustable tension is connected between the first swing arm 21 and the second swing arm 22. A plurality of pole-holding assemblies 2 in the same group are arranged in a vertical direction, and the wheel-climbing assembly 3 is disposed on the first swing arm 21 and the second swing arm 22.

[0041] The wheeled pole-climbing robot of the present invention positions the pole to be climbed between two sets of pole-holding assemblies 2, such as... Figure 13 and Figure 14 As shown; the clamping assembly 1 drives the two sets of pole-holding assemblies 2 to move towards each other, thereby reducing the angle between the first swing arm 21 and the second swing arm 22, causing the wheel-climbing assembly 3 to approach the pole body, as shown. Figure 15 As shown; adjust the tension of the elastic element 23 to further reduce the distance between the first swing arm 21 and the second swing arm 22, and press the wheel-climbing assembly 3 tightly onto the rod, further controlling the closure of the clamping assembly 1 until the tangential force exerted by the wheel-climbing assembly 3 on the rod is balanced, thus achieving a stable grip of the rod by the robot, as shown. Figure 16As shown; activating the wheel-climbing assembly 3 enables the robot to move on the pole; since the pole-grabbing assemblies 2 in the same group are independent of each other, the included angles of the first swing arm 21 and the second swing arm 22 in pole-grabbing assemblies 2 of different heights can be different. The first swing arm 21 and the second swing arm 22 in pole-grabbing assemblies 2 of different heights can hold pole surfaces of different diameters, enabling the robot to move on poles with a certain taper and to have a certain adaptability to pole surface obstacles. In addition, the robot can be applied to round poles and some regular polygonal poles, such as... Figures 16 to 18 As shown, it can also be applied to tapered rods.

[0042] In this embodiment, the wheel climbing components 3 installed on each set of pole-mounting components 2 are centrally symmetrical. Each set of pole-mounting components 2 includes two pole-mounting components 2. Each pole-mounting component 2 includes a first swing arm 21 and a second swing arm 22. The first swing arm 21 is close to the clamping component 1, and the second swing arm 22 is away from the clamping component 1. The opposite surfaces of the two sets of pole-mounting components 2 are the front surfaces, and the surfaces that are far apart from each other are the back surfaces. The back surface of the first swing arm 21 is provided with a step, and a circular groove is provided on the step surface. A through hole is provided on the circular groove surface. A threaded hole is provided through the second swing arm 22.

[0043] The elastic element 23 includes a spring 231 and a pre-tensioning mechanism 232. The spring 231 is connected between the first swing arm 21 and the second swing arm 22. The pre-tensioning mechanism 232 is mounted on the first swing arm 21 or the second swing arm 22 and is connected to one end of the spring 231. In this embodiment, the pre-tensioning mechanism 232 is mounted on the first swing arm 21, and the front of the second swing arm 22 is provided with a spring 231 support 221. The spring 231 is connected between the pre-tensioning mechanism 232 and the spring 231 support 221.

[0044] The pre-tensioning mechanism 232 includes a hinge bolt 2321 for hooking the spring 231, a screwable flange nut 2322, and a nut cover plate 2323. The flange portion of the flange nut 2322 is placed in a stepped circular groove on the back of the first rocker arm 21. The nut cover plate 2323 is fixed to the stepped surface on the back of the first rocker arm 21 by screws, thus limiting the axial movement of the flange nut 2322. The hinge bolt 2321 passes through a through hole in the first rocker arm 21 and is threadedly engaged with the flange nut 2322. Tightening the flange nut 2322 allows the hinge bolt 2321 to move axially, thereby pulling the spring 231 and changing the length of the spring 231. Figure 3 As shown.

[0045] Spring support 221 includes a notched stud and a hexagonal nut for hooking spring 231. The notched stud engages with the threaded hole of the second rocker arm 22, and the hexagonal nut provides restraint and prevents loosening, forming a fixed connection. Figure 2 As shown.

[0046] The two sets of gripping rod assemblies 2 are mirror-symmetrical, with the first swing arm 21 and the second swing arm 22 having equal heights and parallel rotation axes. This makes it easier to achieve force balance when gripping the rod, reduces operational difficulty, and makes the robot's operation more reliable.

[0047] After the pole-holding assembly 2 surrounds the pole, the pre-tensioning mechanism 232 is adjusted. In the pre-tensioned state, the spring 231 causes the first swing arm 21 and the second swing arm 22 of the hooks at both ends to rotate in opposite directions. The wheel-climbing assembly 3 is pressed onto the pole, applying a certain normal force and tangential force to the pole. At the same time, under the control of the clamping assembly 1, the pole-holding assembly 2 closes further, causing the wheel-climbing assembly 3 to apply a greater normal force to the pole and a tangential force in the opposite direction to the tangential force generated by the spring 231, so that the two tangential forces cancel each other out, realizing the robot's effective gripping of the pole surface.

[0048] Example 2

[0049] This embodiment is the second embodiment of the wheeled pole-climbing robot of the present invention. This embodiment is similar to the first embodiment, except that the clamping assembly 1 includes a first drive mechanism 11 and a first transmission mechanism 12 for controlling the opposing movement of the pole-holding assemblies 2. The output end of the first drive mechanism 11 is connected to the input end of the first transmission mechanism 12, the first transmission mechanism 12 moves in the opposite direction, and its output end is connected to the pole-holding assembly 2. When the clamping assembly 1 is closed, the first transmission mechanism 12 drives the first transmission mechanism 12 to move, thereby causing the two sets of pole-holding assemblies 2 to move towards each other, thus achieving the gripping of the pole. Figure 4 As shown.

[0050] The first drive mechanism 11 includes a disc motor 111, a rigid coupling 112, a harmonic reducer 113, and an output disc 114. The disc motor 111 is connected to the output disc 114 via the rigid coupling 112. The rigid coupling 112 passes through the center of the harmonic reducer 113. The rigid coupling 112 and the harmonic reducer 113 are connected by a key. The output disc 114 is fixedly connected to a worm gear 125. Figure 5 As shown.

[0051] The first transmission mechanism 12 includes a body 127, a worm 125, a worm wheel 121, and a worm wheel connecting rod 122. The axis of the worm 125 is fixedly connected to the output end of the first drive mechanism 11. The side of the worm 125 meshes with the worm wheel 121. The worm wheel 121 is fixedly connected to the worm wheel connecting rod 122. The worm wheel connecting rod 122 is connected to the gripping rod assembly 2. The axis of the worm wheel 121 is rotatably connected to the body 127. The first drive mechanism 11 drives the worm 125 to rotate, which in turn drives the meshing worm wheel 121 to rotate, thereby driving the worm wheel connecting rod 122 to rotate, causing the gripping rod assembly 2 to move towards each other. The worm gear transmission has self-locking properties, ensuring that the gripping assembly 1 maintains its original gripping state even when the power is off, preventing the robot from falling due to gripping failure. Figure 4 As shown.

[0052] The machine body 127 includes a worm gear bearing cover 1273, an upper cover 1271, a lower cover 1272, a worm bearing cover 1274, and a rear cover 1275. The worm bearing cover 1274 is sleeved on the end of the output disc 114 that is connected to the worm 125. The worm gear bearing cover 1273 is installed on the top of the upper cover 1271. The lower cover 1272 is fixedly connected to the bottom of the upper cover 1271. The first transmission mechanism 12 is installed inside the lower cover 1272. The rear cover 1275 is fixedly connected to the lower cover 1272. The machine body 127 serves to support, connect components, and prevent dust.

[0053] The first transmission mechanism 12 also includes a worm bearing 126 and a worm wheel bearing 123. The worm bearing 126 is sleeved on the end of the worm 125 that connects to the output disk 114 and abuts against the worm bearing cover 1273. The worm wheel bearing 123 is installed between the worm wheel 121 and the worm wheel bearing cover 1273 to reduce the frictional resistance experienced by the worm 125 and the worm wheel 121 during rotation. Figure 5 As shown.

[0054] The pole-holding assembly 2 also includes a connector 24, and the first transmission mechanism 12 also includes a driven link 124. The driven link 124 is rotatably connected to the body 127. The driven link 124 and the worm gear link 122 are rotatably connected to the connector 24. The connector 24 is rotatably connected to the first swing arm 21 and the second swing arm 22. The connector 24 makes the installation of the pole-holding assembly 2 more convenient. By selecting connectors 24 of different shapes and sizes, the relative positions between the pole-holding assemblies 2 can be flexibly changed to adapt to poles of different sizes. The worm gear link 122, the driven link 124, and the connector 24 form an approximately parallelogram-shaped transmission structure. The worm gear link 122 and the driven link 124 together restrict the position of the connector 24, making the movement trajectory of the connector 24 determined and improving the stability of the movement of the pole-holding assembly 2.

[0055] The connector 24 has two rocker arm pins 241 at each end, and the first rocker arm 21 and the second rocker arm 22 are hinged to the connector 24 through the rocker arm pins 241; the connector 24 is also provided with a connecting rod pin 242, and the worm gear connecting rod 122 and the driven connecting rod 124 are hinged to the connector 24 through the connecting rod pin 242, such as Figure 2 , Figure 4 and Figure 5 As shown.

[0056] Example 3

[0057] This embodiment is the third embodiment of the wheeled pole-climbing robot of the present invention. This embodiment is similar to Embodiment Two, except that the wheel-climbing component 3 includes a second drive mechanism 31, a second transmission mechanism 32, and a drive wheel 33. The second drive mechanism 31, the second transmission mechanism 32, and the drive wheel 33 are all mounted on the first swing arm 21 or the second swing arm 22, and are connected sequentially. The second drive mechanism 31 drives the second transmission mechanism 32 to move, causing the drive wheel 33 to rotate, thereby enabling the robot to move on the pole.

[0058] The second drive mechanism 31 is a worm gear reducer motor, and the second transmission mechanism 32 includes a large pulley 323, a small pulley 321, and a synchronous belt 322. The large pulley 323 and the small pulley 321 are internally connected in the synchronous belt 322. The axis of the small pulley 321 is fixedly connected to the output end of the second drive mechanism 31, and the axis of the large pulley 323 is fixedly connected to the drive wheel 33. The worm gear reducer motor drives the small pulley 321 to rotate, which in turn drives the large pulley 323 to rotate via the synchronous belt 322, thereby causing the drive wheel 33 to rotate and moving the robot. The worm gear reducer motor has a self-locking function; in the absence of power, the drive wheel 33 will be locked and cannot rotate, preventing it from rolling spontaneously due to the robot's gravity. The worm gear reducer motor also has the function of increasing torque. The belt drive method, where the small pulley 321 drives the large pulley 323, can further increase the output torque of the worm gear reducer motor and transmit it to the drive wheel 33, improving the robot's driving capability and load capacity.

[0059] It also includes a driven wheel 34, which and the drive wheel 33 are respectively mounted on the first swing arm 21 and the second swing arm 22, or the driven wheel 34 and the drive wheel 33 are respectively mounted on the second swing arm 22 and the first swing arm 21. The inclusion of a driven wheel 34 without a separate power source reduces energy consumption while assisting the drive wheel 33 in moving the robot.

[0060] The first swing arm 21 or the second swing arm 22 is also equipped with a first seated bearing 34, a drive coupling 36, and a drive shaft 35. Taking the first swing arm 21, which is equipped with a drive wheel 33, as an example, Figure 7As shown, the drive wheel 33 is installed between two first bearings 34. One end of the drive coupling 36 is fixedly connected to the shaft of the drive wheel 33, and the other end is fixedly connected to the drive shaft 35. The drive shaft 35 passes through the first bearings 34 and is fixedly connected to the shaft of the large pulley 323. The first swing arm 21 or the second swing arm 22 is also provided with a second bearing 38, a driven coupling 310, and a driven shaft 39. Taking the first swing arm 21 with the driven wheel 37 installed as an example, as... Figure 8 As shown, the driven wheel 37 is installed between two second bearings 38. One end of the driven coupling 310 is fixedly connected to the shaft of the driven wheel 37, and the other end is fixedly connected to the driven shaft 39. The driven shaft 39 is rotatably connected to the second bearings 38.

[0061] The number and position of the drive wheels 33 and driven wheels 34 can be adjusted according to different needs. In scenarios with high load capacity and drive capability requirements, a maximum of eight-wheel drive can be adopted, that is, drive wheels 33 are installed on all first swing arms 21 and second swing arms 22, and driven wheels 34 are not installed; when the load capacity and drive capability requirements are not high, and the weight of the robot needs to be reduced, the number of drive wheels 33 can be reduced and the number of driven wheels 34 can be increased.

[0062] Both drive wheel 33 and driven wheel 34 are Mecanum wheels. Mecanum wheels are easy to move in all directions, have good stability, strong load-bearing capacity, and strong grip. The tilt direction of the roller is simply referred to as the oblique direction. By adjusting the rotation direction of Mecanum wheels with different oblique directions at different positions, the robot can switch between axial, circumferential, and helical motion modes on the circular rod, improving the robot's working flexibility and expanding its application range.

[0063] Based on the structural design and force characteristics of the Mecanum wheel, the force on a single Mecanum wheel during pole climbing can be decomposed into an axial force and a tangential force. The axial force generates an axial motion tendency, while the tangential force generates a circumferential motion tendency. Therefore, the sum of the axial force and circumferential force formed by combining multiple Mecanum wheels can enable the robot to form different motion states.

[0064] For ease of explanation, the directions mentioned below will be defined as follows: the Mecanum wheel will be referred to as the Mecanum wheel for short; the oblique direction is divided into left oblique and right oblique; the roller tilting from the upper right to the lower left is left oblique, and the roller tilting from the upper left to the lower right is right oblique; the direction of the wheel drive required when the wheel climbs up the rod is forward rotation, and the direction of the wheel drive required when climbing down is reverse rotation; the direction of the robot's circumferential movement is determined by the top view and is divided into counterclockwise and clockwise.

[0065] Assuming the four reels are four drive wheels 33 arranged at the same height, and are numbered counterclockwise as first reel 331, second reel 332, third reel 333, and fourth reel 334, with first reel 331 and third reel 333 angled to the left, and second reel 332 and fourth reel 334 angled to the right, as follows: Figure 9 As shown, the force and motion analysis of three motion forms—axial motion, helical motion, and spiral motion—are as follows:

[0066] When performing axial movement, assuming all four drive wheels 33 rotate clockwise, the tangential forces on the first and third wheels 331 will cause the robot to tend to move clockwise in a circumferential direction, while the second and fourth wheels 332 will tend to move counterclockwise in a circumferential direction. Thus, the tangential forces are canceled out, and the axial forces on the four wheels cause the robot to climb upwards. Figure 10 As shown;

[0067] When performing circumferential motion, assuming the first and third pulleys 331 rotate in reverse, and the second and fourth pulleys 332 rotate clockwise, the axial force is canceled out, and the tangential force causes the robot to perform counterclockwise circumferential motion. Figure 11 As shown;

[0068] When performing spiral motion, assuming the first and third reels 331 and 333 are not driven, and the second and fourth reels 332 and 334 rotate clockwise, the tangential force generates a counterclockwise circumferential motion, and the axial force generates an upward crawling motion. These two motions coexist and thus combine to form spiral motion. Figure 12 As shown.

[0069] Based on the above examples and analysis, we can similarly deduce the implementation methods and principles of axial motion, circumferential motion, and helical motion in other directions.

[0070] In addition, it should be noted that the robot of the present invention has a two-layer structure. The drive wheels 33 can be arranged in either the upper or lower layer. The oblique direction and arrangement of the drive wheels 33 listed in this embodiment are not intended to limit the present invention.

[0071] In the specific embodiments described above, the technical features can be combined in any non-contradictory way. For the sake of brevity, not all possible combinations of the technical features are described. However, as long as the combinations of these technical features are not contradictory, they should be considered within the scope of this specification. Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A wheeled pole climbing robot, characterized by, The utility model provides a kind of crane, including clamping assembly (1), derrick assembly (2) and wheel crawl assembly (3), two groups of the derrick assembly (2) are connected with the clamping assembly (1), the wheel crawl assembly (3) is arranged on the derrick assembly (2), the derrick assembly (2) includes first swing arm (21) and second swing arm (22), the first swing arm (21) and the second swing arm (22) are rotatably connected with the output end of the clamping assembly (1), the first swing arm (21) and the second swing arm (22) are connected with adjustable elastic member (23) of the amount of stretch, several derrick assemblies (2) of same group are arranged along vertical direction, the wheel crawl assembly (3) is arranged on the first swing arm (21) and the second swing arm (22);The elastic member (23) includes spring (231) and pre-tightening mechanism (232), the spring (231) is connected between the first swing arm (21) and the second swing arm (22), the pre-tightening mechanism (232) is installed on the first swing arm (21) or the second swing arm (22), and is connected with one end of the spring (231);The clamping assembly (1) includes first drive mechanism (11) and be used for controlling the first transmission mechanism (12) of two groups of the derrick assembly (2) relative motion, the output end of the first drive mechanism (11) is connected with the input end of the first transmission mechanism (12), and the output end of the first transmission mechanism (12) is connected with the derrick assembly (2);The first transmission mechanism (12) includes body (127), worm (125), worm wheel (121) and worm wheel connecting rod (122), the first drive mechanism (11) is installed on the body (127), the worm (125) is fixedly connected with the output end of the first drive mechanism (11), the worm (125) is engaged with the worm wheel (121), the worm wheel (121) is fixedly connected with the worm wheel connecting rod (122), the worm wheel connecting rod (122) is connected with the derrick assembly (2), and the worm wheel (121) is rotatably connected with the body (127);The derrick assembly (2) further includes connecting piece (24), and the first transmission mechanism (12) further includes driven connecting rod (124), the driven connecting rod (124) is rotatably connected with the body (127), the driven connecting rod (124) and the worm wheel connecting rod (122) are rotatably connected with the connecting piece (24), and the connecting piece (24) is rotatably connected with the first swing arm (21), the second swing arm (22).

2. The wheeled pole climbing robot of claim 1, wherein, Two groups of the derrick assembly (2) are mirror image symmetry, the height of the first swing arm (21) and the second swing arm (22) is equal, and the rotation axis of the first swing arm (21) and the second swing arm (22) is parallel.

3. The wheeled pole climbing robot of claim 1, wherein, The wheel climbing assembly (3) comprises a second driving mechanism (31), a second transmission mechanism (32) and a driving wheel (33), the second driving mechanism (31), the second transmission mechanism (32) and the driving wheel (33) are all mounted on the first swing arm (21) or the second swing arm (22), and the second driving mechanism (31), the second transmission mechanism (32) and the driving wheel (33) are sequentially connected.

4. The wheeled pole climbing robot of claim 3, wherein, The second driving mechanism (31) is a worm gear deceleration motor, the second transmission mechanism (32) comprises a large belt pulley (323), a small belt pulley (321) and a synchronous belt (322), the large belt pulley (323) and the small belt pulley (321) are inscribed in the synchronous belt (322), the axis of the small belt pulley (321) is fixedly connected with the output end of the second driving mechanism (31), and the axis of the large belt pulley (323) is fixedly connected with the driving wheel (33).

5. The wheeled pole climbing robot of claim 3, wherein, Further comprising a driven wheel (34), the driven wheel (34) and the driving wheel (33) are respectively mounted on the first swing arm (21) and the second swing arm (22), or the driven wheel (34) and the driving wheel (33) are respectively mounted on the second swing arm (22) and the first swing arm (21).

6. The wheeled pole climbing robot of claim 5, wherein, The driving wheel (33) and the driven wheel (34) are all Mecanum wheels.

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