• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to the technical field of robots for climbing poles, in particular a bionic robot for climbing poles, adopting a brand new idea that the climbing action is performed by the up and down movement of the drive assembly in cooperation with the opening and closing action the clamping arrangement on the upper housing and the clamping arrangement on the lower housing is achieved. In the present invention, the adjustment of the clamping force can be realized by adjusting the position of the clamping piece of the clamping component on the clamping assembly to accommodate rods of different diameters. In the present invention, by periodically interlocking the imperfect gears, the individual assemblies are controlled for coordinated movement, while automatic locking can be made possible in the area where there is no interlocking, so that the purpose of clamping is achieved, which is more economical and stable than the simple clamping by the driving force of the electric motor. Both the upper case and the lower case of the present invention can carry other working devices and meet various practical requirements of the project, which is more economical and reliable in satisfying real needs.
    公开号:BE1027345B1
    申请号:E20205442
    申请日:2020-06-17
    公开日:2021-06-01
    发明作者:Ping Liu；Manman Zhang；Dong Zhou；Guangjin Qin；Yusheng Guo
    申请人:Univ Anhui Sci & Technology；
    IPC主号:
    专利说明:

    Bionic robot for climbing poles
    TECHNICAL FIELD The present invention relates to the technical field of robots for climbing poles, in particular a bionic robot for climbing poles.
    BACKGROUND ART Robots are high-tech products obtained by integrating several technical fields including, for example, mechanics, electronics, cybernetics, computers, artificial intelligence, materials science and bionics, and so on. Mobile robots represent an important branch of robots, are widespread and have enormous development potential.
    As an important part of the field of mobile robots, the robots for climbing on poles have the main functions of reliably taking associated cleaning and maintenance equipment with them, overcoming gravity and on the surface of tall poles such as pipelines, telephone poles, lamp posts, sloping stems of bridges and lightning rods for To crawl substations so that instead of human labor they can safely, efficiently and inexpensively perform tasks such as cleaning, testing and maintenance. They extend the ground movement technology to the surface of the bar, which enriches the scope of the robot.
    Furthermore, using robots to climb poles will greatly reduce the cleaning and maintenance costs of pole-shaped high-rise buildings, improve the work environment for workers, and increase labor productivity, which will revolutionize the cleaning and maintenance industry.
    For this reason, a bionic pole climbing robot has been developed which can imitate humans or animals in climbing pole-shaped objects, and which can carry other work tools to meet the actual needs of various projects. CONTENT OF THE PRESENT INVENTION
    1. Technical problem The present invention aims to overcome the shortcomings of the prior art and to provide a bionic robot for climbing poles.
    2. Technical embodiment A bionic robot for climbing poles, comprising: - a clamping arrangement which is clamped onto a pole body for fastening the robot, - a drive arrangement for pulling an upper and a lower part of the robot in order to enable the robot to climb upwards, - an electric motor for providing motive power, - a transmission arrangement for the upper housing for transmitting the motive power of the electric motor to the clamping arrangement, the drive arrangement and a retractable transmission arrangement and for achieving a periodic movement of the individual arrangements, - a retractable transmission arrangement, which is used to receive the motive power of the transmission arrangement is designed for the upper housing and thus can move telescopically up and down, and is designed for the simultaneous transmission of this driving force to the transmission arrangement for the lower housing, - a transmission arrangement for the lower housing for receiving the T driving force of the retractable transmission arrangement and transferring this driving force to the clamping arrangement so that a periodic movement is realized, - an anti-tip device to prevent the robot from tipping over, and - a housing arrangement for fastening the individual arrangements.
    Preferably, the housing assembly comprises an end cover for upper housing, a bearing frame for upper housing, an upper housing, a lower housing, a bearing frame for lower housing, an end cover for lower housing, a mounting shaft for upper housing and a mounting shaft for lower housing upper case the end cover for upper case, inside the upper case
    Housing the bearing frame for the upper housing and at a front end of the upper housing the fastening shaft for the upper housing is fastened, the end cover for the lower housing on the lower housing, the bearing frame for the lower housing inside the lower housing and the lower housing at a front end of the lower housing Mounting shaft for lower housing is attached.
    Preferably, two sets of clamping assemblies are provided, each disposed on the upper housing and the lower housing and located on the same side, the clamping assembly having a jaw, a rubber claw, a main clamping link, a driven link, an auxiliary clamping link, a first connecting block, a clamping crank connecting rod, a clamping crank wheel, a first slide rail, a first slide, a clamping housing, a clamping cover, a tightening rod, a tightening spring and a clamping piece, wherein the rubber claws are nested in the clamping jaws, wherein the clamping jaws are arranged symmetrically, the clamping jaw with the clamping connecting rods and the clamping housing is articulated, with another end of the main clamping connecting rod being placed on the fastening shaft for the upper housing and the fastening shaft for the lower housing, the clamping cover being placed on the tightening rod, the tightening foot which and the clamping piece are attached, the clamping piece being fastened to the tightening rod at the same time and the fastening position being adjustable, the clamping cover being fastened to the clamping housing via a screw connection at the same time, a further end of the tightening rod being hinged to the main clamping connecting rod, the first connecting block being a triangle which is provided with three hinge ends, the auxiliary clamping connecting rod being hinged to the main clamping connecting rod, a further end of the auxiliary clamping connecting rod also being sheathed with the fastening shaft for the upper housing and the fastening shaft for the lower housing, one end of the first connecting block being hinged to the clamping crank connecting rod and the other two ends are each connected with two auxiliary clamping connecting rods,
    wherein another end of the auxiliary clamping link is hinged to the main clamping link, another end of the clamping crank connecting rod extending into the upper housing and the lower housing and being articulated to the clamping crank wheel, the first slide rail being secured within the upper housing and the lower housing, wherein the first slider is slidably connected in a sliding groove of the first slide rail with the clamping crank connecting rod passing through the first slider.
    Preferably, the running gear assembly comprises a barrel drive shaft, two running crank wheels, two connecting rods of the running crank wheels, two second sliders, two pairs of second slide rails, two second connecting blocks, two pairs of four auxiliary running connecting rods, two pairs of four upper running connecting rods and two pairs of four lower running connecting rods, wherein the barrel drive shaft is provided with a support seat which is fastened inside the upper housing, the two running crank wheels being symmetrically distributed and fixed at both ends of the running drive shaft, the top of the running crank connecting rod being articulated with the running crank wheels, with the running crank connecting rod being placed inside the second slide the lower end of which protrudes from the upper housing and is hinged to the second connection block, the second connection block being a triangle provided with three hinge ends, the upper ends n the two auxiliary barrel connecting rods are hinged to the other two ends of the second connecting block, with their lower end being hinged to a lower end of the upper barrel connecting rod and an upper end of the lower barrel connecting rod, an upper end of the upper barrel connecting rod being hinged to the bottom of the upper housing, wherein a lower end of the lower barrel link is hinged to the top of the lower housing, the second slide rail is secured within the upper housing and the lower housing, and the second slide is slidably connected in a slide groove of the second slide rail, the crank link rod through the second slide goes.
    The adaptable transmission arrangement comprises a rectangular input shaft, an end coupling, a rectangular input coupling, a rectangular output coupling,
    an intermediate body, a pressing plate of the output roller, a groove of the output roller, a roller, a rectangular output shaft, a groove of the input roller and a pressing plate of the input roller, wherein the rectangular input coupling is attached to an upper end of the rectangular input shaft and at the same time covered with an intermediate body which is hinged again with an upper end coupling, the upper end coupling being connected to a lower side of an output shaft of the upper housing, the groove of the input roller being fastened to a lower end of the rectangular input shaft, within which groove a roller is mounted which is fastened and pressed by the press plate of the input roller, the press plate of the input roller being fastened to the groove of the input roller, the groove of the output roller being fastened to a lower end of the rectangular output shaft, with a roller also being mounted inside the groove of the output roller, the is fastened and pressed by the press plate of the output roller, the press plate of the output roller being fastened to the groove of the output roller, the rectangular output coupling being put on and fastened to the lower end of the rectangular output shaft, the rectangular output coupling being sheathed at the same time with a further intermediate body which is connected to a lower end coupling connected to a top of the input shaft of the lower housing.
    Preferably, the upper case transmission assembly comprises an electric motor output gear, an upper case output gear, an upper transition gear, a first imperfect gear, a second imperfect gear, a third imperfect gear, a fourth imperfect gear, a helical gear to deflect, a helical gear the drive assembly, an output shaft for the upper housing, an upper transition shaft, a drive shaft of the clamping assembly for the upper housing and a pivot shaft, the electric motor being attached to the bearing frame for the upper housing, the output gear of the electric motor being mounted on the output shaft of the electric motor and meshes with the output gear for the upper case, the
    The output gear for the upper housing is mounted on the output shaft for the upper housing and meshes with the upper transition gear, at the same time the bottom of the output shaft for the upper housing is further connected to the upper end coupling of the retractable transmission assembly, with the upper transition gear on the upper transition shaft , the first imperfect gear and the second imperfect gear are assembled, the first imperfect gear meshing with the third imperfect gear mounted on the drive shaft of the clamping assembly for the upper housing, the drive shaft of the clamping assembly for the upper housing being coaxial with the clamping crank is connected in the upper clamping arrangement, the second imperfect gear being meshed with the fourth imperfect gear, which is mounted on the unlenkwelle, which is further provided with a helical gear for deflecting, the helical gear for deflecting with the Sch is toothed gear for driving the drive assembly, the helical gear for driving the drive assembly is mounted on the drive shaft, the drive shaft of the clamping assembly for the upper housing, the upper transition shaft, the output shaft for the upper housing are mounted on the bearing frame for the upper housing.
    Preferably, the transmission assembly for the lower housing comprises an input shaft for the lower housing, an input gear for the lower housing, a transition gear, a fifth imperfect gear, a sixth imperfect gear, a transition shaft and a drive shaft of the clamping arrangement for the lower housing, the input gear for the lower housing is mounted on the input shaft for the lower housing and meshes with the lower transition gear, the top of the input shaft for the lower housing being connected to a lower end coupling in the retractable transmission assembly with the fifth imperfect gear mounted on the transition shaft and is toothed with the sixth imperfect gear, the lower transition gear being mounted on the lower transition shaft, the sixth imperfect gear being mounted on the drive shaft for the lower housing, the drive shaft for the lower housing being coaxial is connected to the clamping crank wheel of the lower clamping assembly, the sixth imperfect gear, the transition shaft, the drive shaft of the
    Clamp assembly for the lower housing are mounted on the bearing frame for the lower housing. Preferably, the anti-tip device comprises a rubber hose and a closure part, the closure part being screwed to both ends of the rubber hose, at the same time the closure part being placed and fastened on the fastening shaft for the upper housing of the upper housing.
    3. Advantageous Effects The present invention provides a pole climbing bionic robot which can realize a process of gradual pole climbing adopting a brand new idea that the climbing action is performed by the up and down movement of the deck assembly in cooperation with the Opening and closing action of the clamping assembly on the upper housing and the clamping assembly on the lower housing is achieved. In the present invention, the adjustment of the clamping force can be realized by adjusting the position of the clamping piece of the clamping component on the clamping assembly to accommodate rods of different diameters. In the present invention, by periodically interlocking the imperfect gears, the individual assemblies are controlled for coordinated movement, while automatic locking can be made possible in the area where there is no interlocking, so that the purpose of clamping is achieved, which is more economical and stable than the simple clamping by the driving force of the electric motor. Both the upper case and the lower case of the present invention can carry other working devices and meet various practical requirements of the project, which is more economical and reliable in satisfying real needs.
    BRIEF DESCRIPTION OF THE DRAWINGS In order to explain the technical configurations of the exemplary embodiments of the present invention more clearly, the drawings required for describing the exemplary embodiments are briefly presented below. Obviously, in the following description, the drawings represent only a few exemplary embodiments of the present invention.
    For those of ordinary skill in the art, further drawings can be obtained on the basis of these drawings without having to do any inventive work.
    1 shows a structural view of the present invention from a perspective, FIG. 2 shows a structural view of the present invention after the housing assembly has been removed, FIG. 3 shows a structural view of the clamp assembly, FIG. 4 shows a structural view of clamping components on the clamp assembly, FIG Fig. 6 shows a structural view of the retractable transfer assembly, Fig. 7 shows a structural view of the interior of the retractable transfer assembly, Fig. 8 shows a structural view of the upper case transfer assembly, Fig. 9 shows a structural view of the upper transfer assembly Case from another perspective, Fig. 10 shows a structural view of the lower case transmission assembly, Fig. 11 shows a structural view of the anti-tip device, Fig. 12 shows a structural view of the interior of the upper case, Fig. 13 shows a structural view of the interior of the lower case, and Fig. 14 shows a structural view of the present invention from another perspective, reference numeral listing 1-case assembly, 2-clamp assembly, 3-retractable transfer assembly, 4-drive assembly, 5-upper case transfer assembly, 6-lower case transfer assembly, 7-anti-tip device, 8. FIG -Electric motor; 101-end cover for upper case, 102-bearing frame for upper case, 103-upper case, 104-lower case, 105-bearing frame for lower case, 106-end cover for lower case, 107-mounting shaft for top-case, 108-mounting shaft for lower Casing; 201 clamping jaw, 202 rubber claw, 203 main clamping connecting rod, 204- driven connecting rod, 205 auxiliary clamping connecting rod, 206-first connecting block, 207-clamping crank connecting rod, 208-clamping crank wheel, 209-first slide rail, 210-first slider, 211-clamping housing, 212- Clamping cover, 213 pull rod, 214 pull spring, 215 clamping piece; 401 crank drive shaft, 402 crank wheel, 403 crank wheel connecting rod, 404 second connecting block, 405 auxiliary barrel connecting rod, 406 upper barrel connecting rod, 407 lower barrel connecting rod; 301 rectangular input shaft, 302 end coupling, 303 rectangular input coupling, 304 rectangular output coupling, 305 intermediate body, 306 output roller press plate, 307 output roller groove, 308 roller, 309 rectangular output shaft, 310- input roller press plate, 311 groove of the input roller; 501-drive shaft of the clamping assembly for the upper housing, 502-upper transition shaft, 503-output shaft for the upper housing, 504-unlinking shaft, 505- input gear of the electric motor, 506-output gear for the upper housing, 507- first imperfect gear ,, 508- third imperfect gear, 509- helical gear for driving the drive assembly, 510-fourth imperfect gear, 511-second imperfect gear, 512-helical gear for deflection, 513- upper transition gear; 601-input shaft for the lower case, 602-lower transition shaft, 603- drive shaft of the clamping assembly for the lower case, 604-input gear for the lower case, 605-lower transition gear, 606-fifth imperfect gear, 607-sixth imperfect gear; 701 rubber hose, 702 closure part;
    DETAILED DESCRIPTION The technical configurations in the embodiments of the present invention will be clearly and fully described in conjunction with the drawings in the embodiments of the present invention. Obviously, the exemplary embodiments described are only a part of the exemplary embodiments, but not all exemplary embodiments of the present invention. Based on the exemplary embodiments of the present invention, all further exemplary embodiments which are obtained by a person skilled in the art without any inventive step fall within the scope of protection of the present invention.
    Referring to Figures 1 and 2, a bionic robot for climbing poles comprises: a clamp assembly 2 clamped on a pole body for fixing the robot, a carriage assembly 4 for pulling an upper and a lower part of the robot in order to climb up of the robot, - an electric motor 8 for providing driving force, - a transmission arrangement 5 for the upper housing for transmitting the driving force of the electric motor to the clamping arrangement 2, the drive arrangement 4 and a retractable transmission arrangement 4 and for achieving a periodic movement of the individual arrangements, - a retractable transmission arrangement 3, which is designed to receive the driving force of the transmission arrangement 5 for the upper housing and thus can move telescopically up and down, and is designed to simultaneously transmit this driving force to the transmission arrangement 6 for the lower housing, - a transmission arrangement 6 for lower it housing for receiving the driving force of the retractable transmission arrangement 3 and transmitting this driving force to the clamping arrangement 2 so that a periodic movement is realized, - a tilt protection device 7 to prevent the robot from tipping, and - a housing arrangement 1 for fastening the individual arrangements.
    Referring to Figures 12 and 13, the housing assembly 1 comprises an end cover 101 for upper housing, a bearing frame 102 for upper housing, an upper housing 103, a lower housing 104, a bearing frame 105 for lower housing, an end cover 106 for lower housing, a mounting shaft 107 for upper case and a mounting shaft 108 for lower case,
    the end cover 101 for the upper housing being fastened to the upper housing 103, the bearing frame 102 for the upper housing being fastened inside the upper housing and the fastening shaft 107 for the upper housing being fastened to a front end of the upper housing, the end cover 106 for the lower being fastened to the lower housing 104 Housing, inside the lower housing the bearing frame 105 for lower housing and at a front end of the lower housing the fastening shaft 108 for lower housing is fixed. In particular, the individual parts in the housing assembly 1 are connected to one another by screws which play a role in supporting other components and in sealing off dust.
    Referring to Figures 3 and 4, there are provided two sets of clamp assemblies, each disposed on the upper housing 103 and lower housing 104 and located on the same side, the clamping assembly 2 having a jaw 101, a rubber claw 202, a main clamp link 203, a driven connecting rod 204, an auxiliary clamping connecting rod 205, a first connecting block 206, a clamping crank connecting rod 207, a clamping crank wheel 208, a first slide rail 209, a first slide 210, a clamping housing 211, a clamping cover 212, a tightening rod 213, a tightening spring 214 and comprises a clamping piece 215, wherein the rubber claws 202 are nested in the clamping jaws 201, wherein the clamping jaws 201 are arranged symmetrically, wherein the clamping jaw is articulated with the clamping connecting rods 203 and the clamping housing 211, with another end of the main clamping connecting rod 203 on the fastening shaft 107 for upper case and the Fastening shaft 108 is placed on the lower housing, the clamping cover 212 being placed on the tightening rod 213, the clamping spring 214 and the clamping piece 215 being attached, the clamping piece 215 being fastened to the tightening rod 213 at the same time and the fastening position being adjustable, the clamping cover 212 at the same time is fastened via a screw connection to the clamping housing 211, wherein a further end of the tightening rod is hinged to the main clamping connecting rod 203, the first connecting block 206 being a triangle which is provided with three hinge ends, with the main clamping connecting rod 203 having the
    Auxiliary clamping connecting rod 205 is hinged, another end of the auxiliary clamping connecting rod 205 is also sheathed with the fastening shaft 107 for the upper housing and the fastening shaft 108 for the lower housing, one end of the first connecting block 206 being hinged to the clamping crank connecting rod 207 and the other two ends each with two auxiliary clamping connecting rods 204 are connected, with another end of the auxiliary clamping connecting rod 204 being hinged to the main clamping connecting rod 203, with another end of the clamping crank connecting rod 207 extending into the upper housing and the lower housing and being hinged to the clamping crank wheel 208, the first slide rail 209 is fixed within the upper housing 103 and the lower housing 104, the first slide 210 being slidably connected in a sliding groove of the first slide rail 209, the clamping crank connecting rod 207 being connected by the first slide 210 goes.
    In particular, during clamping, the clamping crank wheel 208 is driven and the clamping crank connecting rod 207 is pulled to move within the first slide 210, the range of motion being limited at the same time by the first slide 210, the first connecting block 206 also being moved and thus pulling both driven connecting rods 204 , the driven connecting rods 204 pulling the main clamping connecting rod 203, eventually reducing the distance between the two clamping jaws 201 so that the rubber claws 202 are clamped to the target rod body. Accordingly, when loosening, the clamping crank wheel 208 is driven and the clamping crank connecting rod 207 for movement within the first Slider 210 is pushed, wherein the first connecting block 206 is also moved and thus pushes the two driven connecting rods 204, the driven connecting rods 204 pushing the main clamping connecting rod 203 ben, whereby finally the distance between the two clamping jaws 201 is increased so that the rubber claws 202 are released from the target rod body.
    If the rubber claws 202 have been clamped during clamping and the clamping crank wheel 208 has not yet reached the clamping position, the tightening spring 214 is gradually tightened so that it acts as a buffer.
    Referring to Figure 5, the drive assembly 4 includes a track drive shaft 401, two track crank wheels 402, two connecting rods 403 of the track crank wheels, two second sliders 409, two pairs of second slide rails 408, two second connecting blocks 404, two pairs of four auxiliary track connecting rods 405, two pairs of four upper barrel connecting rods 406 and two pairs of four lower barrel connecting rods 407, the barrel drive shaft 401 being provided with a support seat which is fixed within the upper housing, the two running crank wheels 202 being symmetrically distributed and fixed at both ends of the barrel drive shaft 401, wherein the upper side of the running crank connecting rod 403 is hinged to the running crank wheels 402, the running crank connecting rod 403 being placed inside the second slide 409, the lower end of which protrudes from the upper housing 103 and is hinged to the second connecting block 404, the second connection ungsblock 206 is a triangle provided with three hinge ends, wherein the upper ends of the two auxiliary barrel connecting rods 405 are hinged to the other two ends of the second connecting block 404, with their lower end with a lower end of the upper barrel connecting rod 406 and an upper end of the lower barrel connecting rod 407, with an upper end of upper barrel connecting rod 406 being hinged to the bottom of upper housing 1036, with a lower end of lower barrel connecting rod 407 being hinged to the top of lower housing 404, with second slide rail 408 within upper housing 103 and the lower housing 104, and the second slide 409 is slidably connected in a sliding groove of the second slide rail 408, the crank link rod 403 passing through the second slide 409, the second slide 409 sliding only in the groove of the slide rail, whereby the range of movement of the a The crank connecting rod 403 placed on the slide 409 is restricted.
    In particular, when extending, the barrel drive shaft is driven in order to move the running crank connecting rod 403 upwards, as a result of which the auxiliary barrel connecting rod 405 is pulled through the second connecting block 404, with the upper barrel connecting rod 406 and the lower barrel connecting rod 407 being pulled inwards, so that the distance between the upper housing 103 and the lower case 104 is reduced. When drawing in, the
    Barrel drive shaft driven to move the crank link rod 403 downward, whereby the auxiliary barrel connecting rod 405 is pushed through the second connecting block 1404, finally sliding the upper barrel connecting rod 406 and the lower barrel connecting rod 407 outward, so that the distance between the upper housing 103 and the lower Housing 104 is enlarged.
    When the above process is cycled, the distance between the upper case 103 and the lower case 104 is continuously increased and decreased, the increase and decrease cooperating with synchronous tightening or releasing of the clamp assembly 2, thereby achieving the purpose of going up.
    Referring to Figures 6 and 7, the retractable transmission assembly 3 comprises a rectangular input shaft 301, an end coupling 202, a rectangular input coupling 303, a rectangular output coupling 304, an intermediate body 305, a press plate 306 of the output roller, a groove 307 of the output roller, a roller 308, a rectangular output shaft 309, a groove 311 of the input roller and a pressing plate 310 of the input roller, the rectangular input coupling 303 being fastened to an upper end of the rectangular input shaft 301 and at the same time being encased with an intermediate body 305 which again has an upper end coupling 302 is hinged, the upper end coupling 302 is connected to a lower side of an output shaft 503 of the upper housing, the groove 311 of the input roller is attached to a lower end of the rectangular input shaft 301, within this groove a roller 308 is mounted, which is supported by the Press plate 310 of the input roller be is fixed and pressed, the pressing plate 310 of the input roller being fastened to the groove 311 of the input roller, with the groove 307 of the output roller being fastened to a lower end of the rectangular output shaft 309, with a roller 308 also being mounted within the groove 307 of the output roller, which is fastened and pressed by the pressing plate 306 of the output roller, the pressing plate 306 of the output roller being fastened to the groove 307 of the output roller, with the rectangular output coupling 304 being put on and fastened to the lower end of the rectangular output shaft 309, with the rectangular output coupling 304 being attached at the same time with a further intermediate body 305 which is articulated with a lower end coupling 302 which is connected to an upper side of the input shaft 601 of the lower housing.
    In particular, due to geometric constraints, when the end coupling 302 rotates, the entire retractable transmission assembly 3 rotates. The end coupling 302, the intermediate body 305, the rectangular input coupling 303, the rectangular input shaft 301, the groove 311 of the input roller, the pressing plate 310 of the input roller and the Roller 308 are geometrically fixed as a whole, while the remaining parts are also geometrically fixed as a whole, which is why when pulling out or pulling in the upper and lower end couplings 302 the roller can roll within the groove, whereby the rectangular input shaft 301 and the rectangular output shaft 309 one makes relative movement, ultimately achieving the purpose of retractable transmission.
    Referring to Figures 8 and 9, the upper case transmission assembly 5 includes an electric motor output gear 505, an upper case output gear 506, an upper transition gear 513, a first imperfect gear 507, a second imperfect gear 511, a third imperfect gear 508, a fourth imperfect gear 510, a helical gear 512 for diverting, a helical gear 509 for driving the drive assembly, an output shaft 503 for the upper housing, an upper transition shaft 502, a drive shaft 501 of the clamping assembly for the upper housing, and an unsteering shaft 504, with the electric motor 8 is attached to the bearing frame 102 for the upper housing, the output gear 505 of the electric motor is mounted on the output shaft of the electric motor 8 and meshes with the output gear 506 for the upper housing, the output gear 506 for the upper housing on the output shaft 503 for the upper Housing is mounted and with d An upper transition gear 513 is splined, at the same time the bottom of the output shaft 503 for the upper housing is further connected to the upper end coupling 302 of the retractable transmission assembly, wherein on the upper transition shaft 502 the upper transition gear 513, the first imperfect gear 507 and the second imperfect gear 511 are mounted with the first imperfect gear 507 meshed with the third imperfect gear 508 which is mounted on the drive shaft 501 of the clamping assembly for the upper housing, the drive shaft 501 of the clamping assembly for the upper housing being coaxial with the clamping crank wheel 208 in the upper Clamping arrangement 2 is connected, the second imperfect gear 511 being toothed with the fourth imperfect gear 510, which is mounted on the unlenkwelle 504, which is further provided with a helical gear 512 for deflection, the helical gear 512 for deflecting with the helical gear 509 for Driving the Drive assembly is geared, the helical gear 509 for driving the drive assembly is mounted on the drive shaft 401, the drive shaft 501 of the clamping assembly for the upper housing, the upper transition shaft 502, the output shaft 503 for the upper housing are mounted on the bearing frame 102 for the upper housing .
    In particular, the gears are driven by meshing.
    When the first imperfect gear 507 meshes with the third imperfect gear 508 and the second imperfect gear 511 meshes with the fourth imperfect gear 510, the motion can be transmitted; if the above-mentioned imperfect gears are in a range in which no meshing occurs, the third imperfect gear 508 and fourth imperfect gear 510 are blocked.
    Referring to FIG. 10, the lower case transmission assembly 6 includes an input shaft 601 for the lower case, an input gear 604 for the lower case, a transition gear 605, a fifth imperfect gear 606, a sixth imperfect gear 607, a transition shaft 602, and a Drive shaft 603 of the clamping assembly for the lower housing, with the input gear 604 for the lower housing mounted on the input shaft 601 for the lower housing and meshing with the lower transition gear 605, with the top of the input shaft 601 for the lower housing having a lower end coupling 202 is connected in the retractable transmission assembly 3, with the fifth imperfect gear 606 mounted on the transition shaft 602 and meshing with the sixth imperfect gear 607, with the lower transition gear 605 mounted on the lower transition shaft 602, with the drive shaft 603 for the lower case the sixth ste imperfect gear 607 is mounted, wherein the drive shaft 603 for the lower housing is coaxially connected to the clamping crank wheel 208 of the lower clamping assembly 2,
    wherein the sixth imperfect gear 607, the transition shaft 602, the drive shaft 603 of the clamping assembly for the lower housing are mounted on the bearing frame 105 for the lower housing. In particular, as in the case of the transmission arrangement 5 for the upper housing, the gears are driven by mutual meshing. When the fifth imperfect gear 606 meshes with the sixth imperfect gear 607, the motion can be transmitted; if the above-mentioned imperfect gears are in a range in which no meshing occurs, the sixth imperfect gear 607 is blocked.
    Referring to FIG. 11, the anti-tip device 7 includes a rubber hose 701 and a closure part 702. The closure part 702 is screwed to both ends of the rubber hose 702, while the closure part 702 is fitted and fixed to the upper case mounting shaft 107 of the upper case 103.
    In particular, the rubber hose 701 passes through the target rod body at the rear thereof. When the device is tilted, the rubber hose 701 contacts the target rod body and is tightened, thereby tightening the locking member 702, and finally tightening the upper case 103 to prevent it from tilting.
    The above-mentioned electric motor 8 and its control method belong to the prior art. This is explained here to avoid cumbersome narratives. In the present description, the terms “an exemplary embodiment”, “example”, “specific example” etc. are understood to mean that the specific features, structures, materials or special features that are used in connection with this exemplary embodiment or Example will be included in at least one embodiment or example of the present invention. In the present description, a schematic formulation of the above terms does not necessarily refer to the same exemplary embodiment or example. In addition, the specific features, structures, materials or special features described can be combined in a suitable manner in one or more exemplary embodiments or examples.
    The preferred embodiments of the present invention disclosed above are only used to illustrate the present invention. The preferred embodiments do not describe all details in detail, nor do they limit the invention to the specific embodiments described herein.
    Obviously, many modifications and changes can be made in light of the content of the present description. The present description selects and specifically describes these exemplary embodiments in order to better explain the principle and practical application of the present invention so that those skilled in the art may well understand and use the present invention The present invention is to be limited only by the claims, their full scope, and their equivalents.
    权利要求:
    Claims (8)
    [1]
    A pole climbing bionic robot comprising: a clamp assembly clamped onto a pole body for securing the robot, a deck assembly for pulling an upper and a lower part of the robot to allow the robot to climb up, an electric motor for providing motive power, - a transmission arrangement for the upper housing for transmitting the motive force of the electric motor to the clamping arrangement, the drive arrangement and a retractable transmission arrangement and for achieving a periodic movement of the individual arrangements, - a retractable transmission arrangement, which is used to receive the motive force of the transmission arrangement for the upper Housing is designed and thus can move telescopically up and down, and is designed to simultaneously transmit this driving force to the transmission arrangement for lower housing, - a transmission arrangement for lower housing for receiving the driving force of the retractable exercise transmission arrangement and transmission of this driving force to the clamping arrangement so that a periodic movement is realized, - a tilt protection device to prevent the robot from tipping, and - a housing arrangement for fastening the individual arrangements.
    [2]
    2. Bionic robot for climbing on poles according to claim 1, characterized in that the housing assembly comprises an end cover for the upper housing, a bearing frame for the upper housing, an upper housing, a lower housing, a bearing frame for the lower housing, an end cover for the lower housing, an upper case mounting shaft and a lower case mounting shaft, the upper case end cover being fixed to the upper case, the upper case bearing frame being fixed inside the upper case, and the upper case mounting shaft being fixed to a front end of the upper case, wherein the end cover for the lower housing is fastened to the lower housing, the bearing frame for the lower housing is fastened inside the lower housing, and the fastening shaft for the lower housing is fastened to a front end of the lower housing.
    [3]
    3. Pole climbing bionic robot according to claim 2, characterized in that two sets of clamping assemblies are provided, respectively arranged on the upper housing and the lower housing and located on the same side, the clamping assembly having a jaw, a rubber claw , a main clamping connecting rod, a driven connecting rod, an auxiliary clamping connecting rod, a first connecting block, a clamping crank connecting rod, a clamping crank wheel, a first slide rail, a first slide, a clamping housing, a clamping cover, a tightening rod, a tightening spring and a clamping piece, the rubber claws in the Jaws are nested, the jaws being symmetrically arranged, the jaw being articulated to the clamp connecting rods and the clamping housing, another end of the main clamping connecting rod to the mounting shaft for upper housing and the mounting shaft for lower housing a ufetzt is, with the clamping cover placed on the tightening rod, the tightening spring and the clamping piece being attached, the clamping piece being fastened to the tightening rod at the same time and the fastening position being adjustable, the clamping cover being fastened to the clamping housing via a screw connection at the same time, with another end of the Tightening rod is hinged to the main clamping connecting rod, the first connecting block being a triangle provided with three hinge ends, the auxiliary clamping connecting rod being hinged to the main clamping connecting rod, a further end of the auxiliary clamping connecting rod also being encased with the fastening shaft for the upper housing and the fastening shaft for the lower housing , wherein one end of the first connecting block is articulated to the clamping crank connecting rod and the other two ends are each connected to two auxiliary clamping connecting rods, with another end of the auxiliary clamping connecting rod lanyard with the
    Main clamp connecting rod is hinged, with another end of the clamping crank connecting rod extending into the upper housing and the lower housing and is hinged to the clamping crank wheel, the first slide rail being fastened within the upper housing and the lower housing, the first slide in a sliding groove of the first Slide rail is slidably connected with the clamping crank connecting rod passing through the first slide.
    [4]
    4. Bionic robot for climbing on bars according to claim 3, characterized in that the drive arrangement has a running drive shaft, two running crank wheels, two connecting rods of the running crank wheels, two second discs, two pairs of second slide rails, two second connecting blocks, two pairs of four auxiliary running connecting rods, two Pairs of four upper barrel connecting rods and two pairs of four lower barrel connecting rods, the barrel drive shaft is provided with a support seat which is secured within the upper housing, the two barrel crank wheels are symmetrically distributed and attached to both ends of the barrel drive shaft, the top of the Running crank connecting rod is hinged to the running crank wheels, the running crank connecting rod being placed inside the second slide, the lower end of which protrudes from the upper housing and is hinged to the second connecting block, the second connecting block e in triangle provided with three hinge ends, the upper ends of the two auxiliary barrel connecting rods being hinged to the other two ends of the second connecting block, the lower end being hinged to a lower end of the upper barrel connecting rod and an upper end of the lower barrel connecting rod, wherein an upper end of the upper barrel connecting rod is hinged to the bottom of the upper housing, a lower end of the lower barrel connecting rod is hinged to the top of the lower housing, the second slide rail being secured within the upper housing and the lower housing, and the second slide in a slide groove the second slide rail is slidably connected with the crank link rod passing through the second slide.
    [5]
    5. Bionic robot for climbing on poles according to claim 4, characterized in that the retractable transmission arrangement has a rectangular input shaft, an end coupling, a rectangular input coupling, a rectangular output coupling, an intermediate body, a press plate of the output roller, a groove of the output roller, a roller, a rectangular output shaft, a groove of the input roller and a pressing plate of the input roller, wherein the rectangular input coupling is attached to an upper end of the rectangular input shaft and at the same time is encased with an intermediate body, which is again articulated with an upper end coupling, the upper end coupling with a Underside of an output shaft of the upper housing is connected, the groove of the input roller being fastened to a lower end of the rectangular input shaft, a roller being mounted within this groove which is fastened and pressed by the pressing plate of the input roller, w whether the pressing plate of the input roller is attached to the groove of the input roller, the groove of the output roller being attached to a lower end of the rectangular output shaft, a roller also being mounted within the groove of the output roller, which is fastened and pressed by the pressing plate of the output roller , wherein the pressure plate of the output roller is attached to the groove of the output roller, the rectangular output coupling is placed and fastened at the lower end of the rectangular output shaft, the rectangular output coupling being sheathed at the same time with a further intermediate body which is hinged to a lower end coupling which is connected to an upper side the input shaft of the lower housing is connected.
    [6]
    6. Bionic robot for climbing on poles according to claim 5, characterized in that the transmission arrangement for the upper housing an output gear of the electric motor, an output gear for the upper housing, an upper transition gear, a first imperfect gear, a second imperfect gear, a third imperfect A gear, a fourth imperfect gear, a helical gear for deflecting, a helical gear for driving the drive assembly, an output shaft for the upper housing, an upper transition shaft, a drive shaft of the clamping assembly for the upper housing and a return shaft,
    wherein the electric motor is fixed to the bearing frame for the upper case, the output gear of the electric motor being mounted on the output shaft of the electric motor and being meshed with the output gear for the upper case, the output gear for the upper case being mounted on the output shaft for the upper case and meshed with the upper transition gear, at the same time the bottom of the output shaft for the upper housing is further connected to the upper end coupling of the retractable transmission assembly, the upper transition shaft mounting the upper transition gear, the first imperfect gear and the second imperfect gear, the the first imperfect gear meshes with the third imperfect gear tooth mounted on the drive shaft of the clamp assembly for the upper housing, the drive shaft of the clamp assembly for the upper housing being coaxially connected to the clamp crank in the upper clamp assembly i st, wherein the second imperfect gear is toothed with the fourth imperfect gear, which is mounted on the unlenkwelle, which is further provided with a helical gear for deflecting, the helical gear for deflecting is toothed with the helical gear for driving the drive assembly, the helical gear for driving the drive assembly is mounted on the drive shaft, the drive shaft of the clamping assembly for the upper housing, the upper transition shaft, the output shaft for the upper housing being mounted on the bearing frame for the upper housing.
    [7]
    7. Bionic robot for climbing on poles according to claim 6, characterized in that the transmission arrangement for the lower housing, an input shaft for the lower housing, an input gear for the lower housing, a transition gear, a fifth imperfect gear, a sixth imperfect gear, a transition shaft and a drive shaft of the clamping assembly for the lower housing, the input gear for the lower housing being mounted on the input shaft for the lower housing and being meshed with the lower transition gear, the top of the input shaft for the lower housing having a lower end coupling in the retractable Transmission assembly is connected, wherein the fifth imperfect gear is mounted on the transition shaft and is toothed with the sixth imperfect gear, the lower transition gear is mounted on the lower transition shaft, with the sixth imperfect on the drive shaft for the lower housing A gear is mounted with the drive shaft for the lower housing being coaxially connected to the clamping crank wheel of the lower clamping assembly, the sixth imperfect gear, the transition shaft, the drive shaft of the clamping assembly for the lower housing being mounted on the bearing frame for the lower housing.
    [8]
    8. Bionic robot for climbing on poles according to claim 7, characterized in that the anti-tip device comprises a rubber hose and a closure part, the closure part being screwed to both ends of the rubber hose, the closure part being placed on the fastening shaft for the upper housing of the upper housing at the same time is attached.
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    同族专利:
    公开号 | 公开日
    CN110254547A|2019-09-20|
    BE1027345A1|2021-01-08|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    CN102689308A|2012-01-04|2012-09-26|河南科技大学|Mechanical arm climbing equipment|
    CN203127007U|2013-01-25|2013-08-14|深圳职业技术学院|Robot system and crawling robot thereof|
    CN203996531U|2014-07-08|2014-12-10|南京工程学院|A kind of electric transmission pole tower climbing robot|
    CN105253213A|2015-10-27|2016-01-20|昆明理工大学|Pole-climbing robot|
    CN110639865B|2019-09-27|2020-10-30|长安大学|Climbing type street lamp scrubbing robot and scrubbing method thereof|
    CN112336593B|2020-11-27|2022-02-01|河北众视明脑视觉科技有限公司|Children vision training instrument|
    CN112894854A|2021-02-02|2021-06-04|合肥工业大学|Bionic obstacle-crossing pole-climbing robot|
    法律状态:
    2021-07-15| FG| Patent granted|Effective date: 20210601 |
    优先权:
    申请号 | 申请日 | 专利标题
    CN201910568426.XA|CN110254547A|2019-06-27|2019-06-27|A kind of bionic type climbing level robot|
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