阅读说明：本技术 一种爬杆机构 (Pole-climbing mechanism ) 是由 潘新安 王洪光 孙海涛 张�诚 于 2020-04-28 设计创作，主要内容包括：本发明涉及移动机器人技术领域,特别涉及一种爬杆机构。包括框架组件及多组爬行轮组件,其中框架组件为环形结构且可打开或闭合；多组爬行轮组件沿周向设置于框架组件上,用于实现爬行机构在杆上的爬行运动；环形框架组件上沿周向设有多个用于安装爬行轮组件的爬行轮基座,各爬行轮基座上设有上、下布置的两组爬行轮组件。本发明具有运动效率高、运动速度快、结构简单、适应能力强等特点,可在柱形或类似柱形杆上爬行。(The invention relates to the technical field of mobile robots, in particular to a pole-climbing mechanism. The crawler belt crawler comprises a frame assembly and a plurality of groups of crawling wheel assemblies, wherein the frame assembly is of an annular structure and can be opened or closed; the plurality of groups of crawling wheel assemblies are circumferentially arranged on the frame assembly and are used for realizing crawling motion of the crawling mechanism on the rod; the annular frame component is provided with a plurality of crawling wheel bases used for installing the crawling wheel components along the circumferential direction, and each crawling wheel base is provided with two groups of crawling wheel components which are arranged up and down. The invention has the characteristics of high movement efficiency, high movement speed, simple structure, strong adaptability and the like, and can crawl on a cylindrical or similar cylindrical rod.)

1. A climbing rod mechanism is characterized by comprising a frame component and a plurality of groups of climbing wheel components (4), wherein the frame component is of an annular structure and can be opened or closed;

a plurality of crawling wheel bases (6) are arranged on the frame assembly along the circumferential direction;

the multiple groups of crawling wheel assemblies (4) are respectively arranged on the crawling wheel bases (6) and are used for realizing crawling motion of the crawling mechanism on the rod.

2. The climbing rod mechanism according to claim 1, wherein two sets of climbing wheel assemblies (4) are arranged up and down on each of the climbing wheel bases (6).

3. The climbing rod mechanism according to claim 1 or 2, wherein the climbing wheel assembly (4) comprises a compression spring (41), a telescopic bracket (42), a roller (43) and a roller driving motor (44), wherein the roller (43) and the roller driving motor (44) are arranged at one end of the telescopic bracket (42), and the roller (43) is connected with the output end of the roller driving motor (44) and is driven by the roller driving motor (44) to rotate;

the other end of the telescopic bracket (42) is connected with the frame component in a sliding way along the radial direction; the compression spring (41) is located between the telescopic bracket (42) and the frame assembly and provides thrust for the telescopic bracket (42).

4. The climbing pole mechanism according to claim 3, wherein the axis of the roller (43) is perpendicular to the centerline of the frame assembly.

5. The climbing rod mechanism according to claim 3, wherein the climbing wheel base (6) is provided with a sliding groove (7) along the radial direction, and the other end of the telescopic bracket (42) is connected with the sliding groove (7) in a sliding manner; the compression spring (41) is accommodated in the sliding chute (7), and two ends of the compression spring are respectively abutted against the bottom of the sliding chute (7) and the telescopic bracket (42).

6. The climbing rod mechanism according to claim 5, wherein a limit structure for limiting the telescopic stroke of the telescopic bracket (42) is arranged between the telescopic bracket (42) and the sliding chute (7).

7. The climbing pole mechanism according to claim 6, wherein the limiting structure comprises a cover plate (5), a boss (45) arranged on the side surface of the telescopic bracket (42) and a limiting groove (8) arranged on the side wall of the sliding groove (7), and the boss (45) is in sliding fit with the limiting groove (8); the cover plate (5) is arranged on the outer side of the sliding groove (7), and the cover plate (5) plays a limiting role in sliding of the boss (45).

8. The climbing pole mechanism according to claim 1, wherein the frame assembly comprises a first frame (1), a second frame (3) and an opening and closing motor (2), wherein one end of the first frame (1) and one end of the second frame (3) are connected through a rotating shaft, the rotating shaft is fixed relative to the first frame (1), the opening and closing motor (2) is arranged on the second frame (3), and an output end of the opening and closing motor is connected with the rotating shaft, and is used for driving the rotating shaft and the first frame (1) to rotate;

the other ends of the first frame (1) and the second frame (3) are open-close ends.

9. The climbing pole mechanism according to claim 8, wherein the first frame (1) and the second frame (3) are each a semicircular ring structure.

10. The climbing rod mechanism according to claim 9, wherein the climbing wheel assemblies (4) are four groups and are evenly distributed on the first frame (1) and the second frame (3).

Technical Field

The invention relates to the technical field of mobile robots, in particular to a pole-climbing mechanism.

Background

The pole climbing mechanism is a commonly used mobile robot mechanism which can crawl on a cylindrical pole or a similar cylindrical pole to provide a mobile carrier for other operations or equipment, such as a cement telegraph pole, a wood telegraph pole, a bridge mast and the like, so as to detect the environment around the pole or perform certain operation operations. The movement performance of the pole-climbing mechanism determines whether the pole-climbing robot can work normally, and the pole-climbing mechanism has important practical application value.

At present, the climbing rod mechanism is divided into a creeping type, a continuous motion type (wheel type or crawler type) or a multi-link type according to the moving working principle. Among them, the peristaltic motion has the characteristics of simple principle, good adaptability, etc., but the defects are obvious, namely the motion efficiency is too low and the motion stability is poor. The continuous motion type mainly comprises a wheel type and a crawler type, can realize motion through rolling contact of wheels or the crawler type and the rods, has the advantages of continuous motion, high motion efficiency, high crawling speed and good motion stability, but has the defects of poor adaptability to the rods or complex structure and the like. The multi-link type mainly realizes the specific motion track of the tail end of the output link through the motion of the multi-link mechanism, thereby realizing the simulation of the tree climbing action of animals.

Therefore, the development of a pole-climbing mechanism with high movement efficiency, high movement speed, simple structure and strong adaptability becomes one of key technologies for limiting whether the pole-climbing robot can have practical value.

Disclosure of Invention

In view of the above problems, an object of the present invention is to provide a climbing mechanism, which has the characteristics of high movement efficiency, high movement speed, simple structure, strong adaptability, etc., and can climb on a cylindrical or similar cylindrical rod.

In order to achieve the purpose, the invention adopts the following technical scheme:

a climbing rod mechanism comprises a frame component and a plurality of groups of climbing wheel components, wherein the frame component is of an annular structure and can be opened or closed;

a plurality of crawling wheel bases are arranged on the frame assembly along the circumferential direction;

the multiple groups of crawling wheel assemblies are respectively arranged on the crawling wheel bases and used for realizing crawling motion of the crawling mechanism on the rod.

Two groups of crawling wheel assemblies which are arranged up and down are arranged on each crawling wheel base.

The crawling wheel assembly comprises a compression spring, a telescopic bracket, a roller and a roller driving motor, wherein the roller and the roller driving motor are arranged at one end of the telescopic bracket, and the roller is connected with the output end of the roller driving motor and driven by the roller driving motor to rotate;

the other end of the telescopic bracket is connected with the frame assembly in a sliding manner along the radial direction; the compression spring is positioned between the telescopic support and the frame assembly and provides thrust for the telescopic support.

The axis of the roller is perpendicular to the center line of the frame assembly.

A sliding groove is formed in the crawling wheel base in the radial direction, and the other end of the telescopic support is connected with the sliding groove in a sliding mode; the compression spring is accommodated in the sliding groove, and two ends of the compression spring are respectively abutted to the bottom of the sliding groove and the telescopic bracket.

And a limiting structure used for limiting the telescopic stroke of the telescopic bracket is arranged between the telescopic bracket and the sliding groove.

The limiting structure comprises a cover plate, a boss arranged on the side face of the telescopic support and a limiting groove arranged on the side wall of the sliding groove, and the boss is in sliding fit with the limiting groove; the cover plate is arranged on the outer side of the sliding groove and plays a limiting role in sliding of the boss.

The frame assembly comprises a first frame, a second frame and an opening and closing motor, wherein one end of the first frame is connected with one end of the second frame through a rotating shaft, the rotating shaft is relatively fixed with the first frame, the opening and closing motor is arranged on the second frame, and the output end of the opening and closing motor is connected with the rotating shaft and used for driving the rotating shaft and the first frame to rotate;

the other ends of the first frame and the second frame are open-close ends.

The first frame and the second frame are both semi-circular ring structures.

The crawling wheel assemblies are four groups and are uniformly distributed on the first frame and the second frame.

The invention has the advantages and beneficial effects that:

the invention has great adaptability to the shape of the rod and can adapt to the change of the diameter of the rod within a certain range, whether the rod is provided with a bulge or a pit or not, the bending of the rod within a certain range and the like.

The pole-climbing mechanism has the advantages of simple structure, few types of parts, convenient maintenance and a large number of recycled parts, thereby being convenient for reducing the cost and popularizing and manufacturing.

The invention realizes the crawling on the pole by the synchronous motion of the four crawling wheels on the upper layer and the lower layer, has high crawling efficiency and stable motion, can randomly advance or retreat in the motion direction, and can adapt to the vertical posture or the horizontal posture or the arrangement at any angle.

Drawings

FIG. 1 is a schematic view of the overall structure of the climbing rod mechanism of the present invention;

FIG. 2 is a schematic structural view of a creeper wheel assembly of the present invention;

fig. 3 is a schematic view of the movement guide of the telescopic bracket of the present invention.

In the figure: 1 is first frame, 2 is the motor that opens and shuts, 3 is the second frame, 4 is the wheel subassembly of crawling, 5 is the apron, 41 is pressure spring, 42 is telescopic bracket, 43 is the gyro wheel, 44 is roller drive motor, 45 is the boss, 6 is the wheel base that crawls, 7 is the spout, 8 is the spacing groove.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1, the climbing rod mechanism provided by the present invention comprises a frame assembly and a plurality of sets of climbing wheel assemblies 4, wherein the frame assembly is of an annular structure and can be opened or closed; a plurality of crawling wheel bases 6 used for installing the crawling wheel assemblies 4 are arranged on the annular frame assembly along the circumferential direction, and the plurality of groups of crawling wheel assemblies 4 are respectively arranged on the crawling wheel bases 6 and are used for realizing crawling motion of the crawling mechanism on the rod.

In the embodiment of the present invention, the frame assembly includes a first frame 1, a second frame 3 and an opening and closing motor 2, wherein one end of the first frame 1 and one end of the second frame 3 are connected through a rotating shaft, and the rotating shaft is fixed relative to the first frame 1. The opening and closing motor 2 is arranged on the second frame 3, the output end of the opening and closing motor is connected with the rotating shaft, and the opening and closing motor 2 is used for driving the rotating shaft and the first frame 1 to rotate; the other ends of the first frame 1 and the second frame 3 are open-close ends.

Further, the first frame 1 and the second frame 3 are each a semicircular ring structure.

In the embodiment of the invention, two groups of crawling wheel assemblies 4 which are arranged up and down are arranged on each crawling wheel base 6.

As shown in fig. 2, in the embodiment of the present invention, the crawling wheel assembly 4 includes a pressing spring 41, a telescopic bracket 42, a roller 43 and a roller driving motor 44, wherein the roller 43 and the roller driving motor 44 are disposed at one end of the telescopic bracket 42, and the roller 43 is connected to an output end of the roller driving motor 44 and is driven to rotate by the roller driving motor 44; the other end of the telescoping support 42 is slidably connected to the frame assembly in a radial direction; the hold-down spring 41 is located between the telescopic bracket 42 and the frame assembly and provides a pushing force to the telescopic bracket 42. The axis of the roller 43 is perpendicular to the centerline of the frame assembly.

As shown in fig. 3, the crawling wheel base 6 is provided with a sliding chute 7 along the radial direction, and the other end of the telescopic bracket 42 is connected with the sliding chute 7 in a sliding manner; the pressing spring 41 is accommodated in the chute 7, and both ends thereof are respectively abutted against the bottom of the chute 7 and the telescopic bracket 42.

Furthermore, a limit structure for limiting the telescopic stroke of the telescopic bracket 42 is arranged between the telescopic bracket 42 and the sliding chute 7.

In the embodiment of the invention, the limiting structure comprises a cover plate 5, a boss 45 arranged on the side surface of the telescopic bracket 42 and a limiting groove 8 arranged on the side wall of the sliding groove 7, wherein the boss 45 is in sliding fit with the limiting groove 8; the cover plate 5 is arranged on the outer side of the sliding groove 7, and the cover plate 5 plays a limiting role in sliding of the boss 45.

The working principle of the pole climbing mechanism provided by the invention is as follows:

the first frame 1 and the second frame 3 are connected together through a rotating pair which is driven and controlled by an opening and closing motor 2. Before climbing the pole, the first frame 1 and the second frame 3 are opened to facilitate the putting on or taking off of the pole climbing mechanism. After the crawling mechanism is placed on the rod, the opening and closing motor 2 drives the first frame 1 and the second frame 3 to close, so that each roller 43 is pressed on the rod, and at the moment, the compression amount of the compression spring 41 is about half of the full compression stroke.

In the embodiment of the present invention, the pressing spring 41 is used as a compression spring, and when the first frame 1 or the second frame 3 is engaged with the telescopic bracket 42, the pressing spring 41 is compressed and provides a pushing force to the telescopic bracket 42 to ensure that the roller 43 can be well pressed against the rod.

In the embodiment of the invention, the sliding groove 7 on the crawling wheel base 6 is a square groove, and the square groove is matched with the telescopic bracket 42 to play a role in guiding the movement. The roller driving motor 44 provides power for movement, and drives the roller 43 to rotate, so that the crawling mechanism crawls on the rod. When the roller 43 is not attached to the rod, the boss 45 of the telescopic bracket 42 is pressed against the cover plate 5 to limit the position.

In the embodiment of the invention, two layers of crawling wheel assemblies are arranged on the frame assembly, four groups of crawling wheel assemblies are arranged on each layer at equal intervals, so that crawling on the rod is realized through the upper layer and the lower layer and the synchronous motion of four crawling wheels on each layer, the crawling efficiency is high, the motion is stable, the motion direction can be randomly moved forwards or backwards, and the device can adapt to the vertical posture, the horizontal posture or the placement at any angle. When the opening and closing motor is closed, each crawling wheel assembly is effectively pressed on a crawled rod; the creeping wheel assembly can always effectively press the surface of the rod under the action of the internal spring and can adapt to the change of a certain range of diameters or local obstacles. The pole climbing mechanism can simply, efficiently and quickly realize the climbing action on the pole made of various materials, has larger adaptability to the shape of the pole, and can be adaptable to the change of the diameter of the pole in a certain range, whether the pole is provided with a bulge or a pit, the bending of the pole in a certain range and the like.

The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.