Pole-climbing robot

Abstract

The utility model discloses a pole-climbing robot which comprises at least two pole-climbing units capable of forming a ring shape, each pole-climbing unit comprises connecting rings which are vertically arranged at intervals, at least one supporting rod is vertically arranged between the two connecting rings, and each supporting rod is provided with a pole-climbing assembly. The pole climbing assembly comprises a moving assembly capable of moving up and down along the outside of the pole body and a pressing assembly capable of judging whether the moving assembly makes contact with the pole body or not, and the pressing assembly is of a connecting rod structure and is arranged between the supporting rod and the moving assembly. The pressing assembly of a connecting rod structure is arranged, contact between the moving assembly and the rod body can be effectively guaranteed, so that the diameter of the rod body can be changed, meanwhile, the first connecting rod assembly in the pressing assembly has a self-adaption function, and the second connecting rod assembly has a length adjusting function, so that the pressing assembly can adapt to circular run-out of the rod body; stable force transmission during climbing is facilitated, the flexibility and the stability are improved, and power transmission and posture adjustment can be better achieved under different working conditions.

Description

Technical Field

[0001] This utility model belongs to the field of industrial robot technology, specifically relating to a pole-climbing robot. Background Technology

[0002] Currently, there is an increasing number of pole-climbing robots that can replace human operators. Most pole-climbing robots are only suitable for situations where the outer diameter of the pole does not change. A small number of pole-climbing robots can be used when the outer diameter of the pole changes, but they usually achieve the change of pole diameter through the tension of springs. For example, an adaptive pole diameter pole-climbing robot disclosed in Chinese Patent CN109955924A has telescopic rods set between the frames and elastic elements set between the frames. The overall application range is limited, and when the elastic elements are used for a long time and over a wide area, the elastic elements are prone to damage and need to be replaced frequently, thereby increasing maintenance costs. Utility Model Content

[0003] This invention proposes a pole-climbing robot that not only ensures overall load-bearing capacity but is also suitable for situations where the pole diameter varies significantly.

[0004] Therefore, the technical solution adopted by this utility model is as follows: a pole-climbing robot, comprising at least two pole-climbing units that can form a ring, wherein each pole-climbing unit includes connecting rings spaced apart vertically, and at least one support rod is vertically arranged between the two connecting rings, and each support rod is provided with a pole-climbing assembly; the pole-climbing assembly includes a moving component that can move up and down along the outside of the pole and a clamping component that can determine whether the moving component is in contact with the pole, wherein the clamping component adopts a linkage structure and is arranged between the support rod and the moving component.

[0005] As a preferred embodiment of the above scheme, the moving component includes a pole-climbing track, the main body of which is mounted on a clamping assembly, and the pole-climbing track is equipped with a drive motor for driving its movement.

[0006] Further preferably, the clamping assembly includes a clamping cylinder extending vertically on a support rod. The support rod is provided with a clamping groove, and a clamping slider connected to the output end of the clamping cylinder is provided in the clamping groove. A first connecting rod assembly with an adaptive function is hinged to the clamping slider. The other end of the first connecting rod assembly is hinged to a moving assembly. A second connecting rod assembly with a length adjustment function is hinged between the moving assembly and the support rod, and the second connecting rod assembly is located on the side of the first connecting rod assembly away from the clamping cylinder. When the clamping cylinder is working, it can drive the clamping slider to move toward or away from the clamping cylinder. Through the action of the first connecting rod assembly and the second connecting rod assembly, the moving assembly can move toward or away from the rod.

[0007] Further preferably, two sets of the first link assembly and the second link assembly are symmetrically arranged relative to the support rod.

[0008] Further preferably, the first linkage assembly includes an upper first linkage, which includes an upper first half-rod hinged at one end to a pressing slider and an upper second half-rod hinged at one end to a moving assembly. The other end of the upper second half-rod is provided with an upper insertion groove for the upper first half-rod to be inserted into, and the other end of the upper second half-rod is provided with an upper limit groove communicating with the upper insertion groove. An upper limit post fixed to the upper first half-rod is provided in the upper limit groove, and an upper retaining spring is sleeved on the other end of the upper first half-rod, which is located between the upper first half-rod and the upper second half-rod.

[0009] Further preferably, the first linkage assembly further includes a lower first linkage and an auxiliary rod. One end of the lower first linkage is hinged to the pressing slider, and the other end is hinged to the middle of the auxiliary rod. One end of the auxiliary rod is hinged to the moving component, and the other end is hinged to the support rod.

[0010] Further preferably, the lower first connecting rod includes a lower first half rod with one end hinged to the pressing slider and a lower second half rod with one end hinged to the auxiliary rod. The other end of the lower second half rod is provided with a lower insertion groove for the lower first half rod to be inserted into. The other end of the lower second half rod is provided with a lower limiting groove communicating with the lower insertion groove. A lower limiting post fixed to the lower first half rod is provided in the lower limiting groove. A lower retaining spring is sleeved on the other end of the lower first half rod. The lower retaining spring is located between the lower first half rod and the lower second half rod.

[0011] More preferably, the auxiliary rod includes two auxiliary half-rods that are hinged to each other, and the lower first link is hinged to the auxiliary half-rod that is hinged to the moving component.

[0012] Further preferably, the second linkage assembly includes a lower second rod hinged at one end to a support rod and an upper second rod hinged at one end to a movable component, and an adjustment structure for adjusting the length of the second linkage assembly is provided between the upper second rod and the lower second rod.

[0013] Further preferably, the adjustment structure includes an adjustment motor mounted on an adjustment bracket, an insertion groove for the insertion of the upper second rod at the other end of the lower second rod, a movable inclined surface that mates with the insertion groove at the other end of the upper second rod, a movable lead screw screwed to the other end of the upper second rod, a driven bevel gear at the other end of the movable lead screw, a driving bevel gear at the output end of the adjustment motor, a dovetail-shaped movable slide groove on the lower second rod for the adjustment bracket to move along the lower second rod, and a movable engagement protrusion on the adjustment bracket that mates with the movable slide groove.

[0014] The beneficial effects of this utility model are as follows: The clamping assembly with a linkage structure can effectively ensure the contact between the moving assembly and the rod, thereby enabling the rod diameter to change. At the same time, the first linkage assembly in the clamping assembly has an adaptive function, and the second linkage assembly has a length adjustment function, which can adapt to the circular jump of the rod. This not only facilitates stable force transmission during climbing, but also increases flexibility and stability, enabling it to better transmit power and adjust posture under different working conditions. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the present invention.

[0016] Figure 2 This is a schematic diagram of the climbing pole unit in this utility model.

[0017] Figure 3 This is a schematic diagram of the climbing pole assembly in this utility model.

[0018] Figure 4 This is a schematic diagram of the upper first connecting rod in this utility model.

[0019] Figure 5 This is a schematic diagram of the lower first connecting rod and the auxiliary rod in this utility model.

[0020] Figure 6 This is a schematic diagram of the second linkage assembly in this utility model. Figure 1 .

[0021] Figure 7 This is a schematic diagram of the second linkage assembly in this utility model. Figure 2 (No adjustment bracket).

[0022] Figure 8 This is a schematic diagram of the second rod in this utility model.

[0023] Figure 9 This is a schematic diagram of the present invention installed outside the rod body.

[0024] Reference numerals: Connecting ring-1, Support rod-2, Pressing groove-2a, Climbing track-3, Drive motor-4, Pressing cylinder-5, Pressing slider-6, Upper first connecting rod-7, Upper first half rod-7a, Upper second half rod-7b, Upper insertion groove-7c, Upper limit groove-7d, Upper limit post-7e, Upper retaining spring-7f, Lower first connecting rod-8, Lower first half rod-8a, Lower second half rod-8b, Lower insertion groove-8c, Lower limit groove-8d, Lower limit post-8e, Lower retaining spring-8f, Auxiliary rod-9, Auxiliary half rod-9a, Lower second rod-10, Insertion inclined groove-10a, Moving groove-10b, Upper second rod-11, Moving inclined surface-11a, Adjusting bracket-12, Moving mating protrusion-12a, Adjusting motor-13, Moving lead screw-14, Driven bevel gear-15, Driving bevel gear-16. Detailed Implementation

[0025] The present invention will be further described below with reference to embodiments and accompanying drawings:

[0026] like Figures 1-9 As shown, a pole-climbing robot mainly consists of at least two pole-climbing units, and all pole-climbing units can be combined to form a ring fitted around the outside of a pole. Each pole-climbing unit includes connecting rings 1 spaced vertically apart, and at least one support rod 2 vertically positioned between two connecting rings 1. Each support rod 2 is equipped with a pole-climbing assembly. The pole-climbing assembly includes a movable component that can move vertically along the outside of the pole and a clamping component that determines whether the movable component contacts the pole. The clamping component adopts a linkage structure and is positioned between the support rod 2 and the movable component. Two adjacent pole-climbing units are connected by a bolt assembly.

[0027] The moving component includes a pole-climbing track 3, the main body of which is mounted on a clamping assembly. The pole-climbing track 3 is equipped with a drive motor 4 to propel its movement, ensuring the overall load-bearing capacity. Preferably, the track is made of rubber with a tread pattern on its surface to increase friction and ensure close contact between the track and the pole.

[0028] The clamping assembly includes a clamping cylinder 5 extending vertically onto a support rod 2. A clamping groove 2a is provided on the support rod 2. A clamping slider 6, connected to the output end of the clamping cylinder 5, is disposed within the clamping groove 2a. A first connecting rod assembly with an adaptive function is hinged to the clamping slider 6, and the other end of the first connecting rod assembly is hinged to a moving assembly. A second connecting rod assembly with a length adjustment function is hinged between the moving assembly and the support rod, and the second connecting rod assembly is located on the side of the first connecting rod assembly away from the clamping cylinder 5. To better support the track with the drive motor, two sets of both the first and second connecting rod assemblies are symmetrically arranged relative to the support rod 2.

[0029] When the clamping cylinder 5 is working, it can drive the clamping slider 6 to move toward or away from the clamping cylinder 5. Through the action of the first connecting rod assembly and the second connecting rod assembly, the moving component moves toward or away from the rod body, thereby achieving the clamping of the moving component with the rod body. At the same time, through the adjustment of the clamping cylinder, the overall device can adapt to a large range of changes in the outer diameter of the rod body (such as the change in the outer diameter of a tapered rod body with a smaller upper diameter and a larger lower diameter).

[0030] The first linkage assembly includes an upper first linkage 7, wherein the upper first linkage 7 includes an upper first half-rod 7a with one end hinged to the pressing slider 6 and an upper second half-rod 7b with one end hinged to the moving assembly. An upper insertion groove 7c is provided at the other end of the upper second half-rod 7b for the upper first half-rod 7a to be inserted. An upper limit groove 7d communicating with the upper insertion groove 7c is provided at the other end of the upper second half-rod 7b, and an upper limit post 7e fixed to the upper first half-rod 7a is provided in the upper limit groove 7d. An upper retaining spring 7f is sleeved at the other end of the upper first half-rod 7a, and the upper retaining spring 7f is located between the upper first half-rod 7a and the upper second half-rod 7b. The upper limit post ensures that the first half of the upper bar will not detach from the second half. The upper retaining spring design not only ensures that the second half of the upper bar will always be in contact with the bar when there are small changes in the diameter of the bar (such as changes caused by the dimensional deviation of the bar itself, i.e., the circular jump of the bar), preventing it from falling, but also has a cushioning and shock absorption effect, thus ensuring the overall climbing effect.

[0031] The first linkage assembly also includes a lower first linkage 8 and an auxiliary linkage 9. One end of the lower first linkage 8 is hinged to the pressing slider 6, and the other end is hinged to the middle of the auxiliary linkage 9. One end of the auxiliary linkage 9 is hinged to the moving component, and the other end is hinged to the support rod 2. By providing the first linkage assembly with upper and lower linkages, it can distribute forces in different directions and withstand more complex loads, thereby effectively increasing the flexibility and stability of the structure and enabling it to better transmit power and adjust its posture under different working conditions. The auxiliary linkage 9 includes two mutually hinged auxiliary half-links 9a, and the lower first linkage 8 is hinged to the auxiliary half-link hinged to the moving component.

[0032] The structure of the lower first link is similar to that of the upper first link. Specifically, the lower first link 8 includes a lower first half-rod 8a with one end hinged to the pressing slider 6 and a lower second half-rod 8b with one end hinged to the auxiliary rod. A lower insertion groove 8c is provided at the other end of the lower second half-rod 8b for the lower first half-rod 8a to be inserted. A lower limiting groove 8d is provided at the other end of the lower second half-rod 8b and communicates with the lower insertion groove 8c. A lower limiting post 8e is provided in the lower limiting groove 8d and fixed on the lower first half-rod 8a. A lower retaining spring 8f is sleeved at the other end of the lower first half-rod 8a and is located between the lower first half-rod 8a and the lower second half-rod 8b.

[0033] The second linkage assembly includes a lower second rod 10 hinged at one end to the support rod 2 and an upper second rod 11 hinged at one end to the movable assembly. An adjustment structure for adjusting the length of the second linkage assembly is provided between the upper second rod 11 and the lower second rod 10, so that the upper second rod can effectively push the movable assembly against the outside of the rod body.

[0034] The adjustment structure includes an adjustment motor 13 mounted on an adjustment bracket 12, an insertion groove 10a for inserting an upper second rod 11 at the other end of the lower second rod 10, a movable inclined surface 11a that cooperates with the insertion groove 10a at the other end of the upper second rod 11, a movable lead screw 14 screwed onto the other end of the upper second rod 11, and a driven bevel gear 15 at the other end of the movable lead screw 14, and an active bevel gear 16 that enables the driven bevel gear 15 to rotate at the output end of the adjustment motor 13.

[0035] When the diameter of the rod changes slightly (such as due to dimensional deviations of the rod itself), the motor is adjusted to rotate. Through the meshing of the driving bevel gear and the driven bevel gear, the moving lead screw is rotated. Since the moving lead screw is screwed to the upper second rod, it can drive the upper second rod to move along the mating surface of the insertion groove and the moving inclined surface, thereby changing the distance between the upper second rod and the lower second rod, that is, changing the length of the second link assembly, thus ensuring that the second link assembly can effectively press one end of the moving assembly against the rod.

[0036] To ensure that the driven bevel gear and the driving bevel gear are always in mesh, a dovetail-shaped sliding groove 10b is provided on the lower second rod 10, which allows the adjusting bracket 12 to move along the lower second rod. A sliding engagement protrusion 12a is provided on the adjusting bracket 12, which can cooperate with the sliding groove. This allows the adjusting bracket to drive the adjusting motor to move along with the upper second rod when the upper second rod and the lower second rod move relative to each other, thereby ensuring that the driven bevel gear and the driving bevel gear are always in mesh. At the same time, a lead screw limiting groove is provided on the lower second rod for the movement of the lead screw.

Claims

1. A pole climbing robot, characterized by: The application relates to a pole climbing device, which comprises at least two pole climbing units capable of forming a ring, the pole climbing units comprising upper and lower connecting rings (1) vertically arranged at intervals, at least one supporting rod (2) vertically arranged between the two connecting rings (1), and a pole climbing assembly arranged on each supporting rod (2); the pole climbing assembly comprises a moving assembly capable of moving up and down along the outer surface of the pole body and a pressing assembly capable of realizing whether the moving assembly is in contact with the pole body, the pressing assembly adopts a connecting rod structure and is arranged between the supporting rod (2) and the moving assembly.

2. The pole climbing robot of claim 1, wherein: The moving assembly comprises a pole climbing track (3), the main body of the pole climbing track (3) is arranged on the pressing assembly, and the pole climbing track (3) is provided with a driving motor (4) for driving the movement of the pole climbing track (3).

3. The pole climbing robot of claim 1, wherein: The pressing assembly comprises a pressing cylinder (5) vertically arranged on the supporting rod (2), the supporting rod (2) is provided with a pressing sliding groove (2a), the pressing sliding groove (2a) is provided with a pressing sliding block (6) connected with the output end of the pressing cylinder (5), the pressing sliding block (6) is hingedly connected with a first connecting rod assembly with an adaptive function, the other end of the first connecting rod assembly is hingedly connected with the moving assembly, a second connecting rod assembly with a length adjusting function is hingedly connected between the moving assembly and the supporting rod, and the second connecting rod assembly is located on the side of the first connecting rod assembly away from the pressing cylinder (5); when the pressing cylinder (5) works, the pressing sliding block (6) can be driven to move towards or away from the pressing cylinder (5), and through the action of the first connecting rod assembly and the second connecting rod assembly, the moving assembly can be driven to move towards or away from the pole body.

4. The pole climbing robot of claim 3, wherein: The first connecting rod assembly and the second connecting rod assembly are symmetrically provided with two sets relative to the supporting rod (2).

5. The pole climbing robot of claim 3, wherein: The first connecting rod assembly comprises an upper first connecting rod (7), the upper first connecting rod (7) comprises an upper first half rod (7a) hingedly connected with the pressing sliding block (6) and an upper second half rod (7b) hingedly connected with the moving assembly, the other end of the upper second half rod (7b) is provided with an upper insertion slot (7c) for inserting the upper first half rod (7a), the other end of the upper second half rod (7b) is provided with an upper limiting slot (7d) in communication with the upper insertion slot (7c), the upper limiting slot (7d) is provided with an upper limiting column (7e) fixed on the upper first half rod (7a), and the other end of the upper first half rod (7a) is sleeved with an upper retaining spring (7f), and the upper retaining spring (7f) is located between the upper first half rod (7a) and the upper second half rod (7b).

6. The pole climbing robot of claim 5, wherein: The first connecting rod assembly further comprises a lower first connecting rod (8) and an auxiliary rod (9), one end of the lower first connecting rod (8) is hingedly connected with the pressing sliding block (6), the other end is hingedly connected with the middle part of the auxiliary rod (9), one end of the auxiliary rod (9) is hingedly connected with the moving assembly, and the other end is hingedly connected with the supporting rod (2).

7. The pole climbing robot of claim 6, wherein: The lower first connecting rod (8) comprises a lower first half rod (8a) hinged at one end to the pressing slider (6) and a lower second half rod (8b) hinged at one end to the auxiliary rod, the other end of the lower second half rod (8b) is provided with a lower insertion slot (8c) for inserting the lower first half rod (8a), the other end of the lower second half rod (8b) is provided with a lower limiting slot (8d) in communication with the lower insertion slot (8c), the lower limiting slot (8d) is provided with a lower limiting column (8e) fixed on the lower first half rod (8a), the other end of the lower first half rod (8a) is sleeved with a lower retaining spring (8f), and the lower retaining spring (8f) is located between the lower first half rod (8a) and the lower second half rod (8b).

8. The pole climbing robot of claim 6, wherein: The auxiliary rod (9) comprises two auxiliary half rods (9a) hinged to each other, and the lower first connecting rod (8) is hinged to the auxiliary half rod hinged to the moving assembly.

9. The pole climbing robot of claim 3, wherein: The second connecting rod assembly comprises a lower second rod (10) hinged at one end to the supporting rod (2) and an upper second rod (11) hinged at one end to the moving assembly, and a adjusting structure for adjusting the length of the second connecting rod assembly is arranged between the upper second rod (11) and the lower second rod (10).

10. The pole climbing robot of claim 9, wherein: The adjusting structure comprises an adjusting motor (13) arranged on an adjusting support (12), the other end of the lower second rod (10) is provided with an insertion inclined slot (10a) for inserting the upper second rod (11), the other end of the upper second rod (11) is provided with a moving inclined surface (11a) matched with the insertion inclined slot (10a), the other end of the upper second rod (11) is screwed with a moving screw rod (14), the other end of the moving screw rod (14) is provided with a driven bevel gear (15), the output end of the adjusting motor (13) is provided with a driving bevel gear (16) capable of rotating the driven bevel gear (15), the lower second rod (10) is provided with a moving sliding groove (10b) of dovetail type capable of moving along the lower second rod for the adjusting support (12), and the adjusting support (12) is provided with a moving matching protrusion (12a) capable of matching with the moving sliding groove.

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