Robot for pole climbing operation

Abstract

The utility model provides a pole climbing operation robot which comprises a guide rail assembly, a first clamping assembly and a second clamping assembly, the first clamping assembly is installed on the upper side of the guide rail assembly in a sliding mode, the second clamping assembly is installed on the upper side of the guide rail assembly in a sliding mode, and the first clamping assembly is located on the front side of the second clamping assembly. Compared with the prior art, the robot has the advantages that the guide rail assembly, the first clamping assembly and the second clamping assembly are arranged, it is determined that the grabbing mode of the robot is a clamping mode, the crawling mode of the robot is a grabbing-type climbing mode according to the working environment and design requirements, and the driving mode is electric driving; the lifting operation of the whole robot is innovatively controlled through single motor and lead screw transmission, the lower ends of pressing pieces on the first clamping assembly and the second clamping assembly are made of rubber materials and matched with arc-shaped sliding plates, friction force can be effectively increased, and the robot can adapt to micro position errors.

Description

Technical Field

[0001] The utility model belongs to the technical field of pole climbing operation robots, in particular to a pole climbing operation robot. Background Art

[0002] With the continuous development of production activities, more and more high-altitude work scenes have emerged. Whether it is fruit picking and vegetation repair in agricultural production, or it is widely used in urban construction and power transmission scenes, such as street light poles, cable-stayed steel bridges, electric poles and other buildings. A large number of high-altitude work scenes are generated. At present, manual cleaning, maintenance and repair work occupies most of the maintenance of poles. Workers work in harsh environments and face safety hazards and heavy labor burdens, resulting in extremely low work efficiency. Considering the complexity and danger of high-altitude operations, it becomes particularly important to use pole climbing robots to perform these operations. The application of pole climbing robots can not only significantly reduce the cost of high-altitude operations and improve labor productivity, but also increase the safety of operations.

[0003] Pole climbing robots are a branch of the field of industrial robots. They are a type of mobile work platform for aerial work scenarios. The robot uses the friction generated by the contact between the clamping device and the pole to overcome its own gravity and load weight, and achieves pole holding and climbing actions. It uses different types of walking mechanisms to achieve lifting and lowering on the pole, thereby achieving the task of climbing the pole. Domestic and foreign scholars have conducted a lot of research in the field of pole climbing robots. According to the different clamping and attachment methods, these robots are divided into four categories: rolling, clamping, bionic, and adsorption.

[0004] 1. Currently, a considerable part of the design and research of robots remains at the theoretical stage.

[0005] 2. Robots with excellent performance are often complex in structure, high in cost and complex in control.

[0006] 3. The robot’s obstacle-crossing capability and load-carrying capacity are not balanced.

[0007] Therefore, we hope to design a pole-climbing robot with a new structure to solve this problem. Utility Model Content

[0008] In view of the deficiencies in the prior art, the purpose of the utility model is to provide a pole climbing robot to solve the problems raised in the above background technology.

[0009] The utility model is realized by the following technical scheme: a pole climbing robot comprises: a guide rail assembly, a clamping assembly 1 and a clamping assembly 2, wherein the clamping assembly 1 is slidably mounted on the upper side of the guide rail assembly, the clamping assembly 2 is fixedly mounted on the upper side of the guide rail assembly, and the clamping assembly 1 is located in front of the clamping assembly 2;

[0010] The guide rail assembly includes a slide table 1, a slide table 2 and a linear slide rail, wherein the slide table 1 is slidably mounted on the upper side of the linear slide rail, and the slide table 2 is fixedly mounted on the upper side of the linear slide rail, and the slide table 1 is placed in front of the slide table 2;

[0011] The clamping assembly 1 includes a right guide rail, a left guide rail and a pressure claw. The left side of the pressure claw is slidably connected to the left guide rail through an electric push rod, and the right side of the pressure claw is slidably connected to the right guide rail through an electric push rod.

[0012] As a preferred embodiment, the guide rail assembly also includes a screw rod and a mounting frame. The screw rod is rotatably installed inside the linear slide rail through a bearing seat, and a mounting frame is installed at the rear end of the linear slide rail. A stepper motor is installed on the rear side of the linear slide rail through the mounting frame. In actual use, the linear slide rail is connected to the clamping assembly 1 and the clamping assembly 2 through slide table 1 and slide table 2 to provide a guiding function, and the rotation of the screw rod is converted into a translational motion to drive the clamping assembly 1 and the clamping assembly 2 to realize the lifting function.

[0013] As a preferred embodiment, the specifications of slide 1 are the same as those of slide 2, and an arc-shaped slide plate is installed in the middle of the upper side of slide 1 and the middle of the upper side of slide 2.

[0014] As a preferred embodiment, the left guide rail is provided with a slide groove 1 on the side away from the pressure claw and the right guide rail is provided with a slide groove 2 on the side close to the pressure claw and the right guide rail is provided with a slide groove 1, and the slide groove 1 is connected to the slide groove 2.

[0015] As a preferred embodiment, an electric push rod is installed on the outer side of the left guide rail and the outer side of the right guide rail respectively, and the upper ends of the two electric push rods are fixedly connected to the left end and the right end of the pressure claw respectively, and a pressure sheet is installed on the lower side of the pressure claw;

[0016] An isosceles trapezoidal groove is opened upward at the lower end of the pressing plate, and the central axis of the isosceles trapezoidal groove is located directly above the central axis of the arc-shaped slide plate. A rubber layer is arranged at the lower end of the pressing plate, and a rubber layer is arranged on the upper side of the arc-shaped slide plate. In actual use, the clamping component 1 and the clamping component 2 are clamped and released by the extension and retraction of the electric push rod, ensuring that the clamping component 1 and the clamping component 2 can realize the function of the climbing rod.

[0017] As a preferred embodiment, the structure of the left guide rail is mirrored to the structure of the right guide rail, and the left guide rail and the right guide rail are mirrored and have the same size.

[0018] After adopting the above technical scheme, the beneficial effects of the utility model are as follows: the setting of the guide rail assembly, the clamping assembly 1 and the clamping assembly 2 determines the robot's gripping mode as a clamping mode according to the working environment and design requirements, the crawling mode is a gripping climbing mode, the driving mode adopts electric drive, and innovatively adopts a single motor and a screw drive to control the lifting operation of the entire robot. The lower ends of the pressure plates on the clamping assembly 1 and the clamping assembly 2 are made of rubber material with an arc-shaped slide plate, which can effectively increase the friction and can adapt to slight position errors;

[0019] The linear guide rail is connected with the clamping assembly 1 and the clamping assembly 2 through the slide table 1 and the slide table 2 to provide a guiding function, and the rotation of the screw rod is converted into a translational motion to drive the clamping assembly 1 and the clamping assembly 2 to realize the lifting function;

[0020] The clamping assembly 1 and the clamping assembly 2 are clamped and loosened by the extension and retraction of the electric push rod, so that the clamping assembly 1 and the clamping assembly 2 can realize the function of climbing the pole. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0022] Figure 1 The figure is a schematic diagram of the overall structure of the pole climbing robot of the present utility model.

[0023] Figure 2 It is a schematic diagram of the connection structure between the pole climbing robot and the pole member of the utility model.

[0024] Figure 3 It is a schematic diagram of the upper structure of the guide rail assembly of the pole climbing robot of the utility model.

[0025] Figure 4 It is a schematic diagram of the lower side of the pole climbing robot of the present invention.

[0026] Figure 5 It is a schematic diagram of a structure of a clamping assembly of the pole climbing robot of the utility model.

[0027] In the figure, 100-guide rail assembly, 110-slide table 2, 111-arc slide plate, 120-slide table 1, 130-linear slide rail, 140-screw rod, 150-mounting frame;

[0028] 200-clamping assembly 1, 210-right guide rail, 211-slideway 1, 220-electric push rod, 230-pressing claw, 240-pressing sheet, 250-left guide rail, 251-slideway 2;

[0029] 300-Clamping assembly two. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0031] See also Figures 1 to 5 The utility model provides a technical solution: a pole climbing robot, comprising: a guide rail assembly 100, a clamping assembly 1 200 and a clamping assembly 2 300, wherein the clamping assembly 1 200 is slidably mounted on the upper side of the guide rail assembly 100, the clamping assembly 2 300 is fixedly mounted on the upper side of the guide rail assembly 100, and the clamping assembly 1 200 is located in front of the clamping assembly 2 300;

[0032] The guide rail assembly 100 includes a slide 120, a slide 2 110 and a linear slide 130. The slide 120 is slidably mounted on the upper side of the linear slide 130. The slide 2 110 is fixedly mounted on the upper side of the linear slide 130. The slide 120 is placed in front of the slide 2 110.

[0033] The clamping assembly 200 includes a right guide rail 210, a left guide rail 250 and a pressure claw 230. The left side of the pressure claw 230 is slidably connected to the left guide rail 250 through an electric push rod 220, and the right side of the pressure claw 230 is slidably connected to the right guide rail 210 through an electric push rod 220.

[0034] See also Figures 1 to 5 The guide rail assembly 100 also includes a screw rod 140 and a mounting bracket 150. The screw rod 140 is rotatably mounted inside the linear guide rail 130 through a bearing seat. The mounting bracket 150 is mounted on the rear end of the linear guide rail 130. A stepper motor is mounted on the rear side of the linear guide rail 130 through the mounting bracket 150.

[0035] The specifications of the slide 120 are the same as those of the slide 2 110 , and an arc-shaped slide plate 111 is installed in the middle of the upper side of the slide 120 and the middle of the upper side of the slide 2 110 .

[0036] A slide groove 1 211 is provided on the side of the left guide rail 250 away from the pressure claw 230 and the side of the right guide rail 210 away from the pressure claw 230 , and a slide groove 251 is provided on the side of the left guide rail 250 close to the pressure claw 230 and the side of the right guide rail 210 close to the pressure claw 230 , and the slide groove 1 211 is connected to the slide groove 251 .

[0037] As the first embodiment of the utility model, the four electric push rods 220 are first extended to the limit length. The two electric push rods 220 on the clamping assembly 1 200 and the clamping assembly 2 300 are synchronous electric push rods 220, which can perform telescopic movements synchronously. After the clamping assembly 1 200 and the clamping assembly 2 300 are installed, the four electric push rods 220 on the clamping assembly 1 200 and the clamping assembly 2 300 are retracted to hold the rod tightly as shown in the attached manual. Figure 1 As shown in the figure, the control system installed in the external PLC control box controls the two electric push rods 220 on the clamping component 200 to extend, and the stepper motor rotates forward to drive the screw 140 to rotate forward through the coupling, and the clamping component 200 climbs upward, and after reaching the limit position, it triggers the sensor 1. The sensor 1 can be a product already available on the market, and its installation position can be set according to needs. The motor stops, and the control system installed in the external PLC control box controls the two electric push rods 220 on the clamping component 200 to retract and clamp the rod. The two electric push rods 220 on the clamping component 200 clamp the rod After the components are moved, the control system installed in the external PLC control box controls the two electric push rods 220 on the clamping component 2 300 to extend, and the forward transmission of the stepper motor drives the lead screw 140 to rotate forward through the coupling. At this time, the guide rail component 100 together with the clamping component 2 300 moves upward, and after reaching the limit position, it triggers sensor 2. Sensor 2 can be an existing product on the market, and its installation position can be set according to needs. The motor stops, and the control system installed in the external PLC control box controls the two electric push rods 220 on the clamping component 2 300 to retract and clamp the rod, thus completing a complete climbing action.

[0038] See also Figures 1 to 5 An electric push rod 220 is installed on the outer side of the left guide rail 250 and the outer side of the right guide rail 210 respectively. The upper ends of the two electric push rods 220 are fixedly connected to the left end and the right end of the pressing claw 230 respectively, and a pressing sheet 240 is installed on the lower side of the pressing claw 230;

[0039] An isosceles trapezoidal groove is formed upward at the lower end of the pressing sheet 240 , and the central axis of the isosceles trapezoidal groove is located directly above the central axis of the arc-shaped slide plate 111 . A rubber layer is provided at the lower end of the pressing sheet 240 , and a rubber layer is provided on the upper side of the arc-shaped slide plate 111 .

[0040] The structure of the left guide rail 250 is mirror-imaged to that of the right guide rail 210 . The left guide rail 250 and the right guide rail 210 are mirror-imaged and have the same size.

[0041] As a second embodiment of the present utility model, based on the above first embodiment, the linear guide rail 130 is connected with the clamping assembly 1 200 and the clamping assembly 2 300 through the slide 1 120 and the slide 2 110 to provide a guiding function, and the rotation of the screw rod 140 is converted into a translational motion to drive the clamping assembly 1 200 and the clamping assembly 2 300 to realize the lifting function;

[0042] The clamping assembly 1 200 and the clamping assembly 2 300 are clamped and loosened by the extension and retraction of the electric push rod 220, so as to ensure that the clamping assembly 1 200 and the clamping assembly 2 300 can realize the function of climbing the pole.

[0043] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. Pole climbing robot, including: A guide rail assembly (100), a clamping assembly one (200) and a clamping assembly two (300), characterized in that the clamping assembly one (200) is slidably mounted on the upper side of the guide rail assembly (100), the clamping assembly two (300) is fixedly mounted on the upper side of the guide rail assembly (100), and the clamping assembly one (200) is located in front of the clamping assembly two (300); The guide rail assembly (100) comprises a slide table 1 (120), a slide table 2 (110) and a linear slide rail (130), wherein the slide table 1 (120) is slidably mounted on the upper side of the linear slide rail (130), the slide table 2 (110) is fixedly mounted on the upper side of the linear slide rail (130), and the slide table 1 (120) is placed in front of the slide table 2 (110); The clamping assembly 1 (200) comprises a right guide rail (210), a left guide rail (250) and a pressure claw (230); the left side of the pressure claw (230) is slidably connected to the left guide rail (250) via an electric push rod (220), and the right side of the pressure claw (230) is slidably connected to the right guide rail (210) via an electric push rod (220).

2. The pole-climbing robot according to claim 1, characterized in that: The guide rail assembly (100) further comprises a screw rod (140) and a mounting frame (150); the screw rod (140) is rotatably mounted inside the linear guide rail (130) via a bearing seat; the mounting frame (150) is mounted at the rear end of the linear guide rail (130); and a stepping motor is mounted on the rear side of the linear guide rail (130) via the mounting frame (150).

3. The pole-climbing robot according to claim 2, characterized in that: The specifications of the slide 1 (120) are the same as those of the slide 2 (110), and an arc-shaped slide plate (111) is installed in the middle of the upper side of the slide 1 (120) and the middle of the upper side of the slide 2 (110).

4. The pole-climbing robot according to claim 3, characterized in that: A first slide groove (211) is provided on the side of the left guide rail (250) away from the pressing claw (230) and a second slide groove (251) is provided on the side of the right guide rail (210) away from the pressing claw (230). A second slide groove (251) is provided on the side of the left guide rail (250) close to the pressing claw (230) and a second slide groove (251) is provided on the side of the right guide rail (210) close to the pressing claw (230). The first slide groove (211) is connected to the second slide groove (251).

5. The pole-climbing robot according to claim 4, characterized in that: An electric push rod (220) is respectively installed on the outside of the left guide rail (250) and the outside of the right guide rail (210), and the upper ends of the two electric push rods (220) are respectively fixedly connected to the left end and the right end of the pressure claw (230), and a pressure sheet (240) is installed on the lower side of the pressure claw (230); An isosceles trapezoidal groove is formed upward at the lower end of the pressing sheet (240), the central axis of the isosceles trapezoidal groove is located directly above the central axis of the arc-shaped slide plate (111), a rubber layer is provided at the lower end of the pressing sheet (240), and a rubber layer is provided on the upper side of the arc-shaped slide plate (111).

6. The pole-climbing robot according to claim 5, characterized in that: The structure of the left guide rail (250) is arranged in a mirror image with the structure of the right guide rail (210); the left guide rail (250) and the right guide rail (210) are distributed in a mirror image and have the same size.

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