CN111824282A - Climbing method of foldable climbing robot - Google Patents
Climbing method of foldable climbing robot Download PDFInfo
- Publication number
- CN111824282A CN111824282A CN202010735547.1A CN202010735547A CN111824282A CN 111824282 A CN111824282 A CN 111824282A CN 202010735547 A CN202010735547 A CN 202010735547A CN 111824282 A CN111824282 A CN 111824282A
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- power box
- climbing
- climbing robot
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- 230000009194 climbing Effects 0.000 title claims abstract description 86
- 238000000034 method Methods 0.000 title claims abstract description 16
- 239000003638 chemical reducing agent Substances 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims description 4
- 230000002493 climbing effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 12
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 3
- 229910052742 iron Inorganic materials 0.000 description 3
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000010248 power generation Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a climbing method of a foldable climbing robot, which comprises the following steps of 1) assembling the climbing robot; 1a) providing a control box, a power box and a bearing box, wherein the bearing box can carry people and goods; 1b) fixing the control box on the power box; 1c) the power box is arranged on the power box in a foldable manner, and the bearing box is arranged on the power box in a foldable manner; 2) the climbing robot climbs on the HSS guide rail. The climbing method of the foldable climbing robot realizes the functions of folding and climbing, and has the advantages of convenience in carrying and good climbing effect.
Description
Technical Field
The invention relates to the field of climbing robots, in particular to a climbing method of a foldable climbing robot.
Background
The aluminum alloy rails produced by the swiss hss (high step systems) are made of anodized aluminum alloy and can be put into use for a long time under severe weather conditions. Such a complex appearing guide rail is strong and durable and can withstand loads of up to 12 tonnes per 6 metres. The guide rails successfully survived the tests on high ground, snow, ice and bad sea climate. The guide rail is generally maintenance-free, is very strong and still bendable, and can be bent freely according to the shape of a building at a use place. The wind power generation tower is widely applied to the aspects of transmission line iron towers, wind power generation towers, building industries, communication towers, fire rescue and the like.
The existing climbing equipment based on the HSS guide rail is roughly divided into two types, one is a climbing device based on manpower climbing, and the other is a climbing device realized through electric driving. However, the existing climbing device realized by electric power has the disadvantages of complex structure, high cost and inconvenient disassembly, assembly and carrying.
Therefore, the skilled person is working to develop a climbing method of the foldable climbing robot.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the technical problem to be solved by the present invention is to provide a climbing method for a foldable climbing robot.
In order to achieve the above objects, the present invention provides a climbing method of a foldable climbing robot, comprising the following steps,
1) assembled climbing robot
1a) Providing a control box, a power box and a bearing box, wherein the bearing box can carry people and goods;
1b) fixing the control box on the power box;
1c) the power box is arranged on the power box in a foldable manner, and the bearing box is arranged on the power box in a foldable manner;
2) climbing robot in HSS guide rail climbing
2a) A driving motor, a speed reducer and a driving gear which are connected in sequence are arranged on the power box;
2b) meshing the driving gear with the rack of the HSS guide rail;
2c) the power box is matched on the HSS guide rail in a rolling way, and the power box is tightly held to the HSS guide rail;
2d) the power box provides power for a driving motor of the power box; meanwhile, the control box controls the power output of the power box;
2e) when the control box controls the power box to output power for the power box, the driving motor drives the driving gear to move on the rack of the HSS guide rail, and then the bearing box is driven to climb on the HSS guide rail.
Preferably, step 1 d) is provided after step 1 c) to enable the carrying box to stand stably when the power box and the carrying box are folded.
The invention has the beneficial effects that: the climbing method of the foldable climbing robot realizes the functions of folding and climbing, and has the advantages of convenience in carrying and good climbing effect.
Drawings
Fig. 1 is a schematic structural diagram of a foldable climbing robot according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a power box in the foldable climbing robot according to an embodiment of the invention.
Fig. 3 is a schematic structural diagram of a frame of a power box in a foldable climbing robot according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a holding device of a power box in a foldable climbing robot according to an embodiment of the invention.
Fig. 5 is a schematic structural diagram of a housing of a holding device in a foldable climbing robot according to an embodiment of the present invention.
Fig. 6 is a bottom view of fig. 5.
Fig. 7 is a schematic view of a connection structure between a button and a combined pin of a holding device in a foldable climbing robot according to an embodiment of the present invention.
Fig. 8 is a schematic structural diagram of a combined pin of a holding device in a foldable climbing robot according to an embodiment of the present invention.
Fig. 9 is a schematic structural diagram of an eccentric shaft of a clasping device in a foldable climbing robot according to an embodiment of the present invention.
Fig. 10 is a schematic view of a connection structure of an eccentric shaft and a clasping wheel of a clasping device in a foldable climbing robot according to an embodiment of the present invention.
Fig. 11 is a schematic structural diagram of a clasping wheel of a clasping device in a foldable climbing robot according to an embodiment of the present invention.
Fig. 12 is a schematic structural diagram of a control box in the foldable climbing robot according to an embodiment of the present invention.
Fig. 13 is a schematic structural diagram of a power box in the foldable climbing robot according to an embodiment of the present invention.
Fig. 14 is a schematic structural diagram of a carrying box in the foldable climbing robot according to an embodiment of the present invention.
Fig. 15 is a front view of fig. 14.
Fig. 16 is a schematic structural view of a slide rail connector of a carrying case in the foldable climbing robot according to an embodiment of the present invention.
Fig. 17 is a schematic structural view of a footrest of a carrying case in a foldable climbing robot according to an embodiment of the present invention.
Fig. 18 is a schematic structural view of a gripper of a carrier box in a foldable climbing robot according to an embodiment of the present invention.
Fig. 19 is a front view of fig. 18.
Figure 20 is a schematic diagram of a climbing structure in accordance with an embodiment of the present invention.
Fig. 21 is an enlarged view of a portion P in fig. 20.
Fig. 22 is an enlarged view of a portion Q of fig. 20.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and examples, wherein the terms "upper", "lower", "left", "right", "inner", "outer", and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings, which is for convenience and simplicity of description, and does not indicate or imply that the referenced devices or components must be in a particular orientation, constructed and operated in a particular manner, and thus should not be construed as limiting the present invention. The terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
A climbing method of a foldable climbing robot comprises the following steps,
1) assembled climbing robot
1a) Providing a control box, a power box and a bearing box, wherein the bearing box can carry people and goods;
1b) fixing the control box on the power box;
1c) the power box is arranged on the power box in a foldable manner, and the bearing box is arranged on the power box in a foldable manner;
1d) when the power box and the bearing box are folded, the bearing box can stand stably.
2) Climbing robot in HSS guide rail climbing
2a) A driving motor, a speed reducer and a driving gear which are connected in sequence are arranged on the power box;
2b) meshing the driving gear with the rack of the HSS guide rail;
2c) the power box is matched on the HSS guide rail in a rolling way, and the power box is tightly held to the HSS guide rail;
2d) the power box provides power for a driving motor of the power box; meanwhile, the control box controls the power output of the power box;
2e) when the control box controls the power box to output power for the power box, the driving motor drives the driving gear to move on the rack of the HSS guide rail, and then the bearing box is driven to climb on the HSS guide rail.
As shown in fig. 1-19, the climbing method can be realized by a foldable climbing robot; the foldable climbing robot comprises a control box 100, a power box 200, a power box 300 and a bearing box 400 which are arranged from top to bottom in sequence; the control box 100 is fixedly connected to the power box 200; the power box 300 is hinged on the power box 200; the bearing box 400 is hinged on the power box 300;
in the embodiment, a hinge structure is adopted between a power box and a power box of the climbing robot; not only can play a role of connection, but also can do relative motion; the hinge structure comprises a pin shaft 261, an upper shaft sleeve 262, a lower shaft sleeve 340 and a shaft locking nut 263; when the climbing robot is assembled, the pin shaft is inserted into the shaft sleeves of the power box and the power box, and two ends of the pin shaft are fixedly locked through the shaft locking nuts. The hinge structure is also adopted between the bearing box and the power supply box.
The control box 100 and the power box 200 are electrically connected with the power box 300; the control box 100 can control the power box 200 to drive the carrying box 400 to climb on the HSS guide rail.
The bottom of the carrying case 400 is provided with a supporting position 420.
The climbing robot can fold the power box, the power box and the bearing box into a C shape through folding, or fold the power box, the power box and the bearing box together; by folding, the length can be reduced by about 50%. The climbing robot can be placed into the draw-bar box after being folded, and the climbing robot can be folded and unfolded manually without the help of external tools during the folding process. After folding, the supporting position at the bottom of the bearing box is used as a supporting point so that the bearing box can stand stably after being folded.
The power box 200 comprises a frame 210, two driving motors 211 symmetrically arranged on the frame 210, a speed reducer 212 connected to the output ends of the driving motors 211 and a driving gear 213; the drive gear 213 may mesh with a rack of the HSS rail;
a rotary guide module is arranged on the frame 210; the rotary guide module comprises a rolling wheel 220 which can be matched with the front surface of the HSS guide rail and a holding device 230 which can hold the HSS guide rail tightly; the rotary guide module can be connected with the HSS guide rail, rolls along the HSS guide rail and bears bending moment when the equipment runs.
The clasping device 230 comprises a shell 231 hinged on the frame 210, an eccentric shaft 232 fixedly connected on the shell 231, and a clasping wheel 233 arranged on the eccentric shaft 232; the clasping wheels 233 can be matched with the back of the HSS guide rail; the eccentric structure is arranged, so that the clasping device 230 can be conveniently installed on the HSS guide rail.
Two ends of the shell 231 are provided with corresponding limiting holes 234, and the limiting holes 234 are internally provided with keys 235 and combined pin shafts 236; the combined pin shaft 236 comprises a supporting block 236a, a limiting block 236b arranged on the supporting block 236a, and a linkage pin 236 c; the linkage pin 236c at one end of the shell 231 passes through the supporting block 236a at the other end of the shell 231 and is fixedly connected with the key 235 at the other end of the shell 231;
a return spring 237 is arranged between the supporting block 236a and the key 235;
a convex limiting boss 240 is arranged on the frame 210; a hinge shaft 241 is arranged on the limit boss 240 in a penetrating way; a hinge 231a slidably engaged with the hinge shaft 241 is provided at both ends of the housing 231; when the two supporting blocks 236a move towards each other, the limiting block 236b can abut against the limiting boss 240;
when the key 235 of the rotary guide module is pressed, the stopper 236b retracts (open position), and the rack 210 can be taken off from the HSS rail; when the key 235 of the rotary guide module is not pressed, the limit block 236b pops up (closed position) to form a limit position, so that the rack 210 can be fixed on the HSS rail.
A brake 250 with a manually releasable lever is provided on one of the drive motors 211. The stopper is normal close formula stopper, opens when the circular telegram, and the operation of climbing robot is automatic closing when climbing robot need stop, plays the braking action. The manual release driving lever is when climbing robot outage suddenly or the trouble can not move, can manually open the stopper, utilizes the action of gravity, lets equipment slowly descend for personnel descend to ground safety position.
Another rotation guide module is provided on the carrying case 400. It is ensured that the carrier box 400 does not come off the HSS rail.
The control box 100 includes a control box body 110 fixedly connected to the power box 200, a display screen 120 provided on the control box body 110, a status selection switch 130, an emergency brake switch 140, an operation lever 150, and a handle 160. In this embodiment, the control box may be additionally provided with a network camera; real-time image transmission in the running process can be realized; or observing the specified target when the equipment reaches the specified position; and recorded. The display screen displays the electric quantity, the speed, the height, the load capacity and the like of the battery; the display screen adopts a tablet personal computer, so that a password protection starting mode or functions of face recognition and fingerprint recognition can be realized; the public network is utilized to realize the GPS positioning function; an independent communication system is developed, a cloud conversation mode is realized, the connection between the ground, a base station (a substation) and an operator is facilitated, and data of an online monitoring device installed on an iron tower can be collected.
The power box 300 includes a power box body 310, a battery disposed on the power box body 310, a charging plug 320, and an aviation plug 330 connected to the power box 200. The power box is mainly characterized in that a lithium battery is arranged in a power box body to provide a power source for equipment; the power box is provided with an aviation plug, and an electric circuit between the power box and the power box is connected and quickly connected through the aviation plug.
The carrying case 400 comprises a carrying case body 430 and a clamping piece 450 which clamps two pedal sheets 440;
the bearing box body 430 is provided with a slide rail connecting piece 431; two foot pedals 440 are slidably fitted on the slide rail connection 431;
a limiting groove 431a is arranged on the sliding rail connecting piece 431; the pedal sheet 440 is provided with a limit plunger 441 matched with the limit groove 431 a; when the pedal sheet 440 is used, the pedal sheet 440 is inserted into the sliding rail connecting piece 431, and the limiting plunger 441 ensures that the pedal sheet 440 is connected stably and does not slide off.
The clamp 450 includes two relatively rotatable links 451; the link 451 is provided with a positioning groove 451a into which the pedal 440 is inserted.
As shown in fig. 20-22, a climbing structure includes an HSS rail 500; the HSS guide rail 500 is provided with the foldable climbing robot; the HSS rail 500 is provided with stoppers 510 at both ends. Through stopper 510 and the contact of climbing robot, prevent to climb robot mound ground or towards the top.
When the climbing structure is used; an operator needs to open the rotary guide module on the climbing robot; fixing the climbing robot on an HSS guide rail; ensure the meshing of the driving gear and the rack on the HSS guide rail. An operator needs to stand on the pedal sheet on the bearing box with feet; fastening a safety belt; the handle on the control box is held by two hands; the climbing robot can be operated up and down through the operating rod. In the event of an emergency; the emergency brake switch on the control box can be immediately pressed; stopping the equipment; after the fault is cleared; emergency braking is cancelled; and recovering the running state.
The climbing robot is provided with a power supply; the device is convenient to install and use in field areas without power supplies. The climbing robot and the HSS guide rail are interchangeable, and the climbing robot is detachable; one climbing robot can meet the maintenance and overhaul requirements of a multi-base iron tower. The climbing robot is integrally designed in a folding mode; after use; can be folded for transportation; and can also be disassembled according to modules. The climbing robot is convenient to install and compact in structure. The climbing robot has various transportation modes; the method can adapt to various road conditions of the power transmission line. The climbing robot can be integrally loaded and transported; can also be disassembled for transportation.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (2)
1. A climbing method of a foldable climbing robot is characterized by comprising the following steps,
1) assembled climbing robot
1a) Providing a control box, a power box and a bearing box, wherein the bearing box can carry people and goods;
1b) fixing the control box on the power box;
1c) the power box is arranged on the power box in a foldable manner, and the bearing box is arranged on the power box in a foldable manner;
2) climbing robot in HSS guide rail climbing
2a) A driving motor, a speed reducer and a driving gear which are connected in sequence are arranged on the power box;
2b) meshing the driving gear with the rack of the HSS guide rail;
2c) the power box is matched on the HSS guide rail in a rolling way, and the power box is tightly held to the HSS guide rail;
2d) the power box provides power for a driving motor of the power box; meanwhile, the control box controls the power output of the power box;
2e) when the control box controls the power box to output power for the power box, the driving motor drives the driving gear to move on the rack of the HSS guide rail, and then the bearing box is driven to climb on the HSS guide rail.
2. The climbing method of the foldable climbing robot according to claim 1, wherein the carrying box is stable when the power box and the carrying box are folded in step 1 d) after step 1 c).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010735547.1A CN111824282A (en) | 2020-07-28 | 2020-07-28 | Climbing method of foldable climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010735547.1A CN111824282A (en) | 2020-07-28 | 2020-07-28 | Climbing method of foldable climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111824282A true CN111824282A (en) | 2020-10-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010735547.1A Pending CN111824282A (en) | 2020-07-28 | 2020-07-28 | Climbing method of foldable climbing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113184764A (en) * | 2021-04-27 | 2021-07-30 | 北京雅利多创新科技有限公司 | Integral type climbing equipment and climbing structure |
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| CN201665256U (en) * | 2010-01-08 | 2010-12-08 | 李国志 | Self-climbing type multi-functional wall robot |
| CN201951575U (en) * | 2010-11-24 | 2011-08-31 | 河南省电力公司洛阳供电公司 | Full-automatic electric screen cabinet ladder work vehicle |
| US20120137862A1 (en) * | 2010-11-30 | 2012-06-07 | Reconrobotics, Inc. | Robotic payload delivery device |
| CN205034206U (en) * | 2015-10-25 | 2016-02-17 | 龚雷锋 | Novel but combination formula corner wall climbing robot |
| CN105460850A (en) * | 2016-01-12 | 2016-04-06 | 宁波天弘电力器具有限公司 | Safe lifting appliance |
| US20170088205A1 (en) * | 2015-09-25 | 2017-03-30 | California Institute Of Technology | Puffer: pop-up flat folding explorer robot |
-
2020
- 2020-07-28 CN CN202010735547.1A patent/CN111824282A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201665256U (en) * | 2010-01-08 | 2010-12-08 | 李国志 | Self-climbing type multi-functional wall robot |
| CN201951575U (en) * | 2010-11-24 | 2011-08-31 | 河南省电力公司洛阳供电公司 | Full-automatic electric screen cabinet ladder work vehicle |
| US20120137862A1 (en) * | 2010-11-30 | 2012-06-07 | Reconrobotics, Inc. | Robotic payload delivery device |
| US20170088205A1 (en) * | 2015-09-25 | 2017-03-30 | California Institute Of Technology | Puffer: pop-up flat folding explorer robot |
| CN205034206U (en) * | 2015-10-25 | 2016-02-17 | 龚雷锋 | Novel but combination formula corner wall climbing robot |
| CN105460850A (en) * | 2016-01-12 | 2016-04-06 | 宁波天弘电力器具有限公司 | Safe lifting appliance |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113184764A (en) * | 2021-04-27 | 2021-07-30 | 北京雅利多创新科技有限公司 | Integral type climbing equipment and climbing structure |
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Application publication date: 20201027 |
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| RJ01 | Rejection of invention patent application after publication |