Wheel type-clamping climbing mechanism

Abstract

The wheel type-clamping climbing mechanism comprises a main trunk which is a concave plate, a climbing device is fixedly installed on the inner side of the main trunk, and connecting columns are arranged on the upper portion and the lower portion of the main trunk and used for being connected with telescopic rods; every two telescopic rods are combined and placed at the upper end and the lower end of the trunk, and one section is connected with the clamping device; the tail end of the clamping device is connected and combined with the climbing device through a supporting column; clamping force is provided for the clamping device through the telescopic rod, so that the climbing device can be attached to a climbing object, and the climbing function is achieved. The mechanism is simple in structure, the wheels can move left and right through movable connection of the supporting columns and the wheel frames to be matched with the grabbing and clamping force provided by the telescopic rods, and the mechanism can adapt to climbing objects with different diameters.

Description

Technical Field

[0001] This invention belongs to the field of special robot technology, specifically relating to a wheeled-grip climbing mechanism suitable for climbing tree trunks, utility poles, pipes and other similar structures. Background Technology

[0002] Existing climbing mechanisms are mainly divided into two categories: pure clamping type and pure wheel type, but they all have obvious defects in terms of adaptability, energy consumption and climbing efficiency.

[0003] Pure gripping climbing mechanisms typically employ rigid mechanical claws or gripping arms, relying on continuous clamping force to fix themselves to the surface of the object being climbed (such as utility poles, pipes, etc.). While this structure can adapt to a certain range of diameter variations, the need to maintain a large clamping force at all times leads to high energy consumption. Furthermore, the frequent clamping-and-release actions during climbing result in poor motion continuity and low climbing efficiency. In addition, pure gripping mechanisms are prone to slipping on smooth or wet surfaces, exhibiting insufficient stability.

[0004] Pure wheeled climbing mechanisms rely on friction to move by having drive wheels (such as friction wheels or tracks) contact the surface of the object being climbed. While this structure enables continuous and efficient climbing, its adaptability is poor, typically only suitable for objects with a fixed diameter or regular shape. When the diameter of the object being climbed varies significantly, wheeled mechanisms struggle to maintain stable contact pressure, easily slipping or even detaching due to insufficient friction, thus limiting their practical applications.

[0005] To address the aforementioned problems, this invention proposes a wheeled clamping climbing mechanism. By dynamically adjusting the clamping force through a telescopic rod and combining it with a laterally adjustable wheeled climbing device, the mechanism can adapt to climbing objects of different diameters like a clamping mechanism, while also achieving efficient and continuous climbing motion like a wheeled mechanism. Specifically, the telescopic rod automatically adjusts the gripping tightness of the clamping device according to the object's diameter to ensure stable attachment; simultaneously, the wheeled climbing device adjusts the wheel spacing laterally to maintain optimal contact pressure and reduce the risk of slippage. This design not only improves climbing efficiency and adaptability but also reduces energy consumption, making it suitable for various scenarios such as power line inspection, high-altitude operations, and pipeline maintenance. Summary of the Invention

[0006] To address the above shortcomings, this invention provides a variable-path intelligent obstacle-avoiding tree-climbing robot, which can solve the problems of existing climbing... Tree robots are not suitable for problems involving tree trunks with obstacles.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: A wheeled clamping climbing mechanism, characterized in that it includes, The main body (1) has connecting columns on its upper and lower sides, which are used to connect the telescopic rod and the clamping device, respectively. The clamping device (2) is located on both sides of the main body (1) and connected by a pivot pin to realize the clamping function of the mechanism; The climbing device (3) is located at the end of the clamping device (2) and achieves the climbing function of the mechanism by driving the tires to rotate through the drive motor.

[0008] Furthermore, the wheeled clamping climbing mechanism is characterized in that, The main trunk (1) includes The connecting column (101) is located in the middle of the upper and lower sides of the main body and is used to fix one end of the two telescopic rods. Connecting columns (102) are located at the ends of both sides of the main body, both above and below, and are used to fix the clamping device.

[0009] Furthermore, the wheeled clamping climbing mechanism is characterized in that, The clamping device (2) includes, Telescopic rods (201) are arranged in pairs on the upper and lower sides of the main body (1). One end is fixed to the center of the main body (1) through the connecting column (101), and the other end is connected to the clamping claw (202) through the shaft pin. The clamping claws (202) are located on both sides of the main body (1), and the upper and lower two are connected by a support rod to form a whole clamping claw on one side; The support rod (203) is located at the turning point of the outer end of the clamping claw and serves to connect, support and reinforce it; The end support rod (204) is located at the end of the gripper claw, serving as a connection, support, and reinforcement, and is connected to the wheel frame of the climbing device (3) so that it can move left and right;

[0010] Furthermore, the wheeled clamping climbing mechanism is characterized in that, The climbing device (3) includes: The wheel frame (301) is located at the end of the clamping device (2) and connected to the end support rod (204), and can move left and right; The drive motor (302) is a dual-shaft motor, which is mounted on the wheel rim (301). Its output shaft is connected to the tire core (303) to drive the tire to rotate. Tire core (303); Tires (304);

[0011] Compared with the prior art, the beneficial effects of the present invention are: 1. The U-shaped main body integrates wheel-type movement and clamping functions; 2. The telescopic rod adaptively adjusts the clamping force, and works in conjunction with the lateral movement of the wheel rim to adapt to different diameters; 3. The modular design facilitates the expansion of multiple clamping units. Attached Figure Description

[0012] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will describe the technologies used in the embodiments. The accompanying diagram is briefly described. Figure 1 is a schematic diagram of the wheeled clamping climbing mechanism of the present invention from one perspective; Figure 2 is a schematic diagram of the wheeled clamping climbing mechanism of the present invention from another perspective; Figure 3 is a schematic diagram of the main body device of the present invention from one perspective; Figure 4 is a schematic diagram of the clamping device of the present invention from one perspective; Figure 5 is a structural schematic diagram of the climbing device of the present invention from one perspective. The markings shown in the figure are: 1—Main body; 2—Clamping device; 3—Climbing device; 101—Intermediate connecting column; 102—Two-sided connecting columns; 201—Telescopic rod; 202—Clamping claw; 203—Support rod; 204—End support rod; 301—Wheel rim; 302—Drive motor; 303—Tire core; 304—Tire; Detailed Implementation

[0013] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0014] In the description of this invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this 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, they should not be construed as limitations on this invention.

[0015] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. Furthermore, the technical features involved in the different embodiments of this invention described below can be combined with each other as long as they do not conflict with each other. Example 1

[0016] like Figure 1 , 2 As shown in this embodiment, a wheeled clamping climbing mechanism includes a main body (1) with connecting columns on its lower two sides for connecting a telescopic rod and a clamping device, respectively; a clamping device (2) located on both sides of the main body (1) and connected by axle pins to realize the clamping function of the mechanism; and a climbing device (3) located at the end of the clamping device (2) and driven by a drive motor to rotate the tires to realize the climbing function of the mechanism.

[0017] like Figure 3 As shown, the wheel-type clamping climbing mechanism is characterized in that the main body (1) includes a connecting column (101) which is located in the middle of the upper and lower sides of the main body and is used to fix one end of the two telescopic rods; the connecting column (102) is located at the ends of both sides of the main body, both at the top and bottom, and is used to fix the clamping device.

[0018] like Figure 4 As shown, the wheel-type clamping climbing mechanism is characterized in that the clamping device (2) includes: a telescopic rod (201), which is arranged in pairs on the upper and lower sides of the main body (1), one end of which is fixed to the center of the main body (1) through the connecting column (101), and the other end is connected to the clamping claw (202) through the shaft pin; the clamping claw (202) is arranged on both sides of the main body (1), and the upper and lower two are connected by the support rod to form a clamping claw on one side; the support rod (203) is arranged at the turning point of the outer end of the clamping claw, which plays the role of connection, support and reinforcement; the end support rod (204) is arranged at the end of the clamping claw, which plays the role of connection, support and reinforcement, and connects to the wheel frame of the climbing device (3) so that it can move left and right;

[0019] like Figure 5As shown, the wheeled clamping climbing mechanism is characterized in that the climbing device (3) includes a wheel frame (301), which is disposed at the end of the clamping device (2) and connected to the end support rod (204), and can move left and right; and a drive motor (302), which is a dual-axis motor, which is disposed on the wheel frame (301), and its output shaft is connected to the tire core (303), thereby driving the tire to rotate; The specific implementation method is as follows:

[0020] Organizational structure and connections like Figure 1-5 As shown, this embodiment provides a wheeled clamping climbing mechanism, which mainly includes three parts: the main body (1), the clamping device (2), and the climbing device (3). The connection relationship and function of each part are as follows: Main body (1): Made of high-strength aluminum alloy, with a U-shaped structure, and multiple connecting columns (101, 102) on the upper and lower sides for fixing telescopic rod (201) and clamping claw (202). The clamping device (2) consists of a telescopic rod (201), a clamping claw (202), a support rod (203) and an end support rod (204), which is responsible for providing clamping force so that the mechanism is stably attached to the climbing object. Climbing device (3): It consists of a wheel frame (301), a drive motor (302) and a tire (303), and is responsible for driving the mechanism to move along the surface of the object being climbed.

[0021] Specific implementation steps (1) Initial state (mechanism not clamped) The telescopic rod (201) is in the extended state, the gripper (202) is in the open position, the wheel rim (301) is on the outermost side, and the tire (303) is not in contact with the surface of the object to be climbed. The drive motor (302) is in standby mode, and the tire (303) is stationary. (2) Clamping stage (the mechanism holds the climbing object tightly) 1. Telescopic pole retraction: Control the telescopic pole (201) to retract, pull the clamping claw (202) closer to the center, so that the arc-shaped inner surface of the clamping claw (202) fits against the climbing object (such as a utility pole). 2. Adaptive adjustment: If the diameter of the object to be climbed is large, the telescopic rod (201) continues to retract, causing the gripper (202) to tighten further, ensuring stable gripping. If the diameter of the object to be climbed is small, the telescopic rod (201) stops retracting, and the wheel rim (301) slides inward along the end support rod (204) to keep the tire (303) in contact pressure. 3. Locking clamping force: The telescopic rod (201) maintains a certain pressure to ensure that the clamping claw (202) will not loosen due to vibration or load.

[0022] Climbing phase (the mechanism moves upward) Drive wheel rotation: Start the drive motor (302) to drive the tire (303) to rotate. As the tire (303) contacts the surface of the climbing object, friction is generated, which pushes the entire mechanism upward.

[0023] Adaptable to objects of different diameters Large-diameter objects (such as pipes with a diameter of 300mm): The telescopic rod (201) is fully retracted, the clamping claw (202) is fully extended, and the wheel rim (301) slides outward to ensure that the tire (303) has sufficient contact pressure. Small-diameter objects (such as a 100mm diameter utility pole): The telescopic rod (201) partially retracts, the clamping claw (202) tightens, and the wheel rim (301) slides inward to prevent the tire (303) from slipping.

[0024] Descending or stopping Descent: The drive motor (302) reverses direction, the tire (303) rotates in the opposite direction, and the mechanism descends along the climbing object. Stop: The drive motor (302) is de-energized, and the telescopic rod (201) maintains the current pressure, fixing the mechanism in the current position.

[0025] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A wheeled clamping climbing mechanism, characterized in that, Including, The main body (1) has connecting columns on its upper and lower sides, which are used to connect the telescopic rod and the clamping device, respectively. The clamping device (2) is located on both sides of the main body (1) and connected by a pivot pin to realize the clamping function of the mechanism; The climbing device (3) is located at the end of the clamping device (2) and achieves the climbing function of the mechanism by driving the tire to rotate through the drive motor.

2. The wheeled clamping climbing mechanism according to claim 1, characterized in that, The main trunk (1) includes The intermediate connecting column (101) is located in the middle of the upper and lower sides of the main body and is used to fix one end of the two telescopic rods. The two connecting columns (102) are located at the ends of both sides of the main body, both above and below, and are used to fix the clamping device.

3. The wheeled clamping climbing mechanism according to claim 1, characterized in that, The clamping device (2) includes, Telescopic rods (201) are arranged in pairs on the upper and lower sides of the main body (1). One end is fixed to the center of the main body (1) through the connecting column (101), and the other end is connected to the clamping claw (202) through the shaft pin. The clamping claws (202) are located on both sides of the main body (1), and the upper and lower two are connected by a support rod to form a whole clamping claw on one side; The support rod (203) is located at the turning point of the outer end of the clamping claw and serves to connect, support and reinforce it; The end support rod (204) is located at the end of the gripper and serves to connect, support and reinforce it. It is also connected to the wheel frame of the climbing device (3) so that it can move left and right.

4. The wheeled clamping climbing mechanism according to claim 1, characterized in that, The climbing device (3) includes: The wheel frame (301) is located at the end of the clamping device (2) and connected to the end support rod (204), and can move left and right; The drive motor (302) is a dual-shaft motor, which is mounted on the wheel rim (301). Its output shaft is connected to the tire core (303) to drive the tire to rotate. Tire core (303); Tires (304).

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