CN102689308B - Mechanical arm climbing equipment - Google Patents
Mechanical arm climbing equipment Download PDFInfo
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- CN102689308B CN102689308B CN201210001389.2A CN201210001389A CN102689308B CN 102689308 B CN102689308 B CN 102689308B CN 201210001389 A CN201210001389 A CN 201210001389A CN 102689308 B CN102689308 B CN 102689308B
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Abstract
The invention relates to mechanical arm climbing equipment. An upper power input end of the climbing equipment is pulled and pushed to respectively control clamping matching and releasing matching between an upper opening/closing claw body and a corresponding climbing pole; a hoisting mechanism comprises a hoisting rod which can do hoisting movement corresponding to a bracket; the upper end of the hoisting rod is slidingly provided with a transverse slide rod in a guide manner and the transverse slide rod is in transmission connection with the upper power input end and applies a push-pull force to the upper power input end; and the bracket is slidingly provided with a slide block in a guide manner along up-and-down direction. The mechanical arm climbing equipment further comprises a link mechanism with an upper end hinged with the transverse slide rod and a lower end hinged with the slide block, wherein the bracket is provided with an upper limiting structure which is matched with the slide block in a stopping manner when the hoisting rod is hoisted so as to enable the link mechanism to drive the transverse slide rod to move backwards to apply a pull force to the upper power input end; and the bracket is further provided with a lower limiting structure which is matched with the slide block in a stopping manner when the hoisting rod is hoisted so as to enable the link mechanism to drive the transverse slide rod to move backwards to apply a push force to the upper power input end. The invention provides the mechanical arm climbing equipment with more coordinated movements.
Description
Technical field
The present invention relates to pole-climbing tool, relate in particular to a kind of manipulator climber.
Background technology
In the modern life, work high above the ground constantly increases, and as high building cleaning, paint, spray paint, rescue, the examination and maintenance of bridge hawser, power system, to set up cable, maintenance, porcelain vase clean etc.These work have brought very large portion's peace factor to the staff of work high above the ground.Goods or staff need a safe and reliable climber to come to carry out elevating movement along corresponding pole-climbing for this reason.
Existing climber as disclosed in Chinese patent 200620088771.1 " a kind of Pneumatic pole-climbing robot ", this climbing level robot comprise support and be arranged at support front side for corresponding pole-climbing clamping or the upper and lower pawl of climbing that disengages, the upper and lower upper and lower power intake of controlling corresponding upper and lower folding corpus unguis opening and closing movement after pawl comprises respectively at least one pair of upper and lower folding corpus unguis and is subject to push-pull effort of climbing, on upper and lower power intake, correspondence is connected with upper and lower horizontal air cylinder respectively.Upper and lower climb between pawl, to be also provided with described upper and lowerly climb pawl coordinated and make its vertical cylinder climbing along corresponding pole-climbing of pole-climbing.In the time need upwards creeping along corresponding pole-climbing, the first step, lower horizontal air cylinder drive climb pawl applied thrust downwards so that under climb pawl and corresponding pole-climbing grips, vertical cylinder drives the pawl that swashes to climb relatively down after pawl moves upward, upper horizontal air cylinder climb pawl applied thrust so that swash pawl and corresponding pole-climbing grip; Second step, lower horizontal air cylinder climb that pawl applies pulling force downwards so that under climb pawl and throw off corresponding pole-climbing, vertical cylinder is climbed the pawl pawl that relatively swashes and is moved upward under driving, descend subsequently horizontal air cylinder climb pawl applied thrust downwards so that under climb pawl and corresponding pole-climbing grips, completing along the action of climbing of pole-climbing of completing and so forth done.But the problem that this climbing level robot exists is: the clamping of creep action and swash pawl and the corresponding pole-climbing of the pawl that swashes, throw off move be by two independently cylinder control, need two to overlap drive system independently and control the clamping of creep action and the pawl that swashes of the pawl that swashes, throw off action, two overlap drive system has independently increased the creep incoordination of action and holding action of the pawl that swashes in the time of pole-climbing upwards greatly.
Summary of the invention
The object of the present invention is to provide a kind of in the time of pole-climbing upwards, the manipulator climber that action is comparatively coordinated.
In order to address the above problem, technical scheme of the present invention is:
A kind of manipulator climber, comprise support and be arranged at support front side for corresponding pole-climbing clamping and the upper and lower pawl of climbing that disengages, the described pawl that swashes is controlled the corresponding above upper power intake of folding corpus unguis opening and closing movement after comprising at least one pair of on folding corpus unguis and being subject to push-pull effort, under described, climb the lower power intake of controlling folding corpus unguis opening and closing movement under described correspondence after pawl comprises at least one pair of lower folding corpus unguis and is subject to push-pull effort, on support, be also provided be in transmission connection with described lower power intake and to its apply push-pull effort under climb pawl driving mechanism, described upper and lower climb between pawl, to be also provided with described upper and lowerly climb pawl coordinated and make its elevating mechanism climbing along corresponding pole-climbing of manipulator pole-climbing, described upper power intake is subject to control described upper folding corpus unguis after pulling force and coordinates with corresponding pole-climbing clamping, described upper power intake is subject to control described upper folding corpus unguis after thrust and corresponding pole-climbing disengages, described elevating mechanism comprises the elevating lever by power source drives and relatively described support liftable moves, the upper end edge fore-and-aft direction guiding slidable fit of elevating lever has the horizontal sliding bar that is in transmission connection with described upper power intake and applies push-pull effort to described upper power intake, the slidable fit that leads along the vertical direction on support has slide block, described manipulator climber also comprises that upper end and described horizontal sliding bar are hinged and connected, the linkage that lower end and described slide block are hinged and connected, described support is provided with and in the time that elevating lever rises, coordinates with described slide block block so that power intake on described is applied after moving after described linkage drive horizontal sliding bar the upper limit structure of pulling force, on described support, be also provided with and in the time that support rises, coordinate with described slide block block so that linkage drives the lower limit structure to power intake applied thrust on described after horizontal sliding bar reach.
The bracing frame that described horizontal sliding bar is connected by described elevating lever upper end and described elevating lever guiding slidable fit, described upper folding corpus unguis is the arc corpus unguis that a pair of recess is relative, the described pawl that swashes also comprises the scissors transmission mechanism being in transmission connection with described a pair of arc corpus unguis, described scissors transmission mechanism comprises that the second couple that pair of cross lever arm that rear end and described horizontal sliding bar are hinged and connected and middle part and support frame as described above are hinged and connected intersects lever arm, corresponding being hinged and connected in rear end that the front end of the each lever arm in described pair of cross lever arm intersects the each lever arm in lever arm with second pair respectively, the front end of the each lever arm in described second pair of intersection lever arm is connected with described corresponding arc corpus unguis respectively, described scissors transmission mechanism has formed described power intake.
The front end of support frame as described above is provided with the adjutage extending forward, and the front end of described adjutage is fixed with the jointed shaft to downward-extension, and the middle part of described second pair of intersection lever arm being hinged and connected by described jointed shaft realization and support frame as described above.
Described linkage comprises that two are set up in parallel and L-type brace that upper end is all hinged and connected with described horizontal sliding bar, described linkage also comprises the middle brace that the lower end of upper end and described two L-type braces is hinged and connected, and the lower end of described middle brace and described slide block are hinged and connected.
The structure of described bracing frame is the sleeve structure with cylindrical inner chamber, support frame as described above is fixed with axle sleeve end cap away from one end of the described pawl that swashes, sleeve end covers and has pilot hole, the structure of described horizontal sliding bar is multidiameter structure, and the large footpath section of multidiameter structure coordinates with the identical slide-and-guide of the cylindrical inner chamber of support frame as described above; In the pilot hole of the path section of multidiameter structure by described axle sleeve end cap, pass and coordinate with the hole wall of the described pilot hole slide-and-guide that coincide, the horizontal sliding bar periphery between described hubcap and described large footpath section is arranged with spring.
On described elevating lever, be fixed with rack structure, described power source is included in the reducing motor that passes through gear drive and described rack structure engaged transmission of installing on described support.
Described support is a body structure.Described body structure comprises upper box lid and lower case lid, described elevating lever runs through described upper and lower case lid, described upper box lid is fixed with the lead that length is extended along the vertical direction, described slider guide slidable fit is on described lead, described upper box lid has formed described lower limit structure, and described upper limit structure is the limiting plate that is fixed on described lead upper end.
Described support and described under climb pawl corresponding position be fixed with down and climb pawl outer shaft, under climb pawl outer shaft rear end be provided with down and climb pawl axle sleeve end cap, under climb pawl sleeve end and cover and have interior axle pilot hole, under climb in pawl outer shaft the interior axle that has multidiameter structure along fore-and-aft direction guiding slidable fit, the front end of interior axle and described under climb pawl and be in transmission connection, the path section of interior axle is by passing in described interior axle pilot hole, the path section periphery of climbing under described between pawl axle sleeve end cap and described interior axle is arranged with spring, under described, climb pawl driving mechanism and be included in the steering wheel being connected on described support and be in transmission connection by the path section of steel wire rope and described interior axle.
On described support, be provided with holding frame in described upper and lower climbing between pawl, on described holding frame, be rotatably equipped with a pair of hold-down roll for coordinating with corresponding pole-climbing clamping guiding; Between described support and at least one hold-down roll, top is furnished with top spring.
On described support, be also provided with the Single-chip Controlling mechanism that controls described reducing motor rotating and described steering wheel angular deflection.
Beneficial effect of the present invention is: in the time that this manipulator climber of needs is upwards creeped along corresponding pole-climbing, the first step, under climb pawl driving mechanism and climb pawl and corresponding pole-climbing grips under driving, elevating lever moves upward under the driving of power source, elevating lever drives horizontal sliding bar in the process moving upward, swash pawl and linkage together moves upward, the slide block of linkage coordinates with the upper limit structure block being connected in frame subsequently, along with the continuation of elevating lever is risen, horizontal sliding bar applies pulling force to the pawl power intake that swashes and makes folding corpus unguis and corresponding pole-climbing grips under the drive of linkage, second step, under climb pawl driving mechanism and climb pawl and corresponding pole-climbing disengagement under driving, now because the upper end of elevating lever is connected by swash pawl and pole-climbing, power source drives elevating lever to move downward, be that the relative elevating lever of support moves upward, support drives lower limit structure to move upward, after lower limit structure coordinates with slide block block, support moves on continuing, horizontal sliding bar under the drive of linkage upwards power intake applied thrust and make folding corpus unguis and corresponding pole-climbing throw off, and then by under climb pawl driving mechanism and climb pawl and corresponding pole-climbing grips under driving, action and so forth, just can complete this manipulator climber along pole-climbing climb action do.By the acting in conjunction of horizontal sliding bar, linkage, slide block and upper and lower limit bit architecture, after the lifting action of support is completed, swash pawl and pole-climbing clamping, throw off action and just automatically start, the pole-climbing action of manipulator climber in the time of pole-climbing upwards quite coordinated.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment of the present invention 1;
Fig. 2 is the structural representation of holding frame in Fig. 1;
Fig. 3 is the cooperation schematic diagram of pawl, linkage and elevating lever of swashing in Fig. 1;
Fig. 4 is the top view of Fig. 3;
Fig. 5 is the cooperation schematic diagram of pawl, horizontal sliding bar and bracing frame of swashing in the embodiment of the present invention 2.
The specific embodiment
A kind of embodiment 1 of manipulator climber is as shown in Fig. 1 ~ 4: the support 4 that comprises body structure, the surrounding of support is all arranged with case lid, the front side of support 4 be provided with for corresponding pole-climbing clamping and disengage swash pawl 19 and under climb pawl 11, the pawl 19 that swashes comprises a pair of upper folding corpus unguis and is subject to control this upper power intake to upper folding corpus unguis opening and closing movement after push-pull effort; Under climb pawl 11 and comprise a pair of lower folding corpus unguis and be subject to control this lower power intake to lower folding corpus unguis opening and closing movement after push-pull effort.Upper and lower climb between pawl, to be also provided with described upper and lowerly climb pawl coordinated and make its elevating mechanism climbing along corresponding pole-climbing of manipulator pole-climbing.The slidable fit that leads along the vertical direction in support 4 has and runs through the upper box lid 33 of support 4 and the elevating lever 7 of lower case lid 8, on elevating lever 7, be integrally formed with rack structure 6, on support 4, be also provided with two ends up and down that slip cap is located at elevating lever 7 rack structure 6 is carried out to the spacing upper rack position limiting structure (not shown) of block and lower tooth bar position limiting structure 9.The front case lid 21 of support 4 has fixedly connected to the inner side reducing motor 13, the clutch end of reducing motor 13 by gear drive and rack structure 6 engaged transmission to drive the relative support 4 of elevating lever 7 to move up and down, gear drive comprise the pinion 1 that is fixed on reducing motor 13 output shafts and respectively with the gear wheel 2 of pinion 1 and rack structure 6 engaged transmission.Be fixed with two leads 14 that are set up in parallel with elevating lever 7 in upper box lid 23 outsides of support 4, the upper end of two leads 14 is fixed with limiting plate 27, the upper end of elevating lever 7 is by passing in limiting plate 27 and leading and coordinate with limiting plate 27, the upper end of elevating lever 7 is fixed with bracing frame 24, bracing frame 24 is for having the sleeve-like structure of inner chamber, the rear end of bracing frame 24 is provided with hubcap 25, hubcap 25 center has pilot hole 26, in the inner chamber of bracing frame 24, there is the horizontal sliding bar 29 of multidiameter structure along fore-and-aft direction guiding slidable fit, the large footpath section 29-2 of horizontal sliding bar 29 coordinates with the identical slide-and-guide of the cylindrical inner chamber of bracing frame 24, in the pilot hole 26 of the path section 29-1 of multidiameter 29 by hubcap 25, pass and coordinate with the identical slide-and-guide of hole wall of pilot hole 26, horizontal sliding bar 29 peripheries between hubcap 25 and large footpath section 29-2 are arranged with spring 30.Support 4 with under climb pawl 11 corresponding position be provided with bracing frame 24 and horizontal sliding bar 29 same structures under climb pawl outer shaft and along fore-and-aft direction guiding slidable fit under climb the interior axle of the multidiameter structure in pawl outer shaft, under climb pawl outer shaft rear end be provided with down and climb pawl axle sleeve end cap, under climb pawl sleeve end and cover and have interior axle pilot hole, the front end of interior axle with under climb pawl 11 lower power intake be in transmission connection, the large footpath section of interior axle with under climb pawl axle sleeve guiding and be slidably matched, the path section of interior axle is by passing in interior axle pilot hole, interior axle path section periphery between large footpath section and the hubcap of interior axle is arranged with spring, the front case lid 21 of support 4 fixedly connected to the inner side the steering wheel 10 being in transmission connection by the path section of steel wire rope and interior axle, pulling steel wire rope by the deflection of steering wheel 10 makes lower folding corpus unguis coordinate with corresponding pole-climbing clamping so that interior axle applies pulling force to lower power intake, in the time of steering wheel 10 not deflection, interior axle under the reset response of spring, climbs the lower power intake applied thrust of pawl 11 downwards and lower folding corpus unguis and the pole-climbing of climbing pawl 11 under making disengages.The slidable fit that wherein leads on a lead 14 has slide block 15, limiting plate 27 has formed the upper limit structure of slide block 15 in sliding process, the upper box lid 33 of support 4 has formed the lower limit structure of slide block 15 in sliding process, between horizontal sliding bar 29 and slide block 15, be provided with linkage, linkage comprises that two along left and right directions is set up in parallel and upper end is all hinged and connected with horizontal sliding bar 29 L shaped brace 17, linkage also comprises that the lower end of upper end and two L shaped braces 17 is hinged and connected, the middle brace 16 that lower end and slide block 15 are hinged and connected, in the time that elevating lever 7 rises, limiting plate 27 coordinates with slide block 15 blocks, slide block 15 is driven after horizontal sliding bar 29 and is moved the pawl 19 that swashes is applied to pulling force so that the pawl 19 that swashes coordinates with corresponding pole-climbing clamping by linkage, in the time that support 4 rises, upper box lid 33 coordinates with slide block 15 blocks, slide block 15 by linkage drive horizontal sliding bar 29 move forward to swash pawl 19 applied thrusts so that the pawl 19 of swashing disengage with corresponding pole-climbing.
On, under to climb the structure of pawl identical, on, lower folding corpus unguis by a pair of recess relatively and be subject to relative motion after pulling force, formed by the backward unlucky moving arc corpus unguis of thrust, on, lower power intake all has the scissors transmission mechanism being in transmission connection with corresponding arc corpus unguis to form, the periphery of arc corpus unguis is all arranged with increases the friction sleeve 20 that frictional force is used, the second couple intersection lever arm 32 and the pair of cross lever arm 31 that before and after scissors transmission mechanism comprises, arrange, the front end of second pair of intersection lever arm 32 is fixedly connected with corresponding arc corpus unguis, the rear end of second pair of intersection lever arm 32 is hinged and connected with the front end of corresponding pair of cross lever arm 31, wherein be hinged and connected with the swash rear end of pair of cross lever arm 31 corresponding to pawl 19 and the front end of horizontal sliding bar 29, with under climb the rear end of pair of cross lever arm 31 and the front end of interior axle that pawl 11 is corresponding and be hinged and connected, bracing frame 24 with under climb pawl outer shaft front end be respectively equipped with the upper adjutage 23 and the downward semi-girder 34 that extend forward, on described, the front end of downward semi-girder is fixed with upper to downward-extension, lower jointed shaft, wherein go up the jointed shaft of jointed shaft 22 for being obliquely installed, upper jointed shaft 22 is in vertical direction with 10 ~ 20 angle, intersecting the middle part of lever arm 32 with the second couple corresponding to pawl 19 that swash realizes and being hinged and connected of bracing frame 24 by upper jointed shaft 32, with under climb the second couple that pawl 11 is corresponding intersect lever arm 32 middle part by lower jointed shaft realize with under climb being hinged and connected of pawl outer shaft.The lower end of upper jointed shaft 22 is also fixed with and is extended forward and support sheet 18 for the elasticity that supports corresponding pole-climbing by nut.On support 4, be also provided with the Single-chip Controlling mechanism that controls described reducing motor 13 rotatings and 10 angular deflections of described steering wheel, Single-chip Controlling mechanism comprises single-chip microcomputer 3, integrated circuit, gauge tap and power supply 5, wherein single-chip microcomputer 3 and gauge tap control connection, gauge tap and reducing motor 13 and steering wheel 10 control connections, on single-chip microcomputer 3, write control program, gauge tap can be realized manual control reducing motor 13 rotatings and steering wheel 10 fixed angle deflections.
In other embodiments of the invention, horizontal sliding bar 29 can also directly lead slidable fit in the upper end of elevating lever 7; The logarithm of upper and lower folding corpus unguis can also be two pairs, three pairs or more; Rack structure 6 on elevating lever 7 can also not established, and now, can realize by toggle the lifting action of elevating lever; Certainly, can also realize the control to lifter rod lifting action by cylinder or oil cylinder; Linkage can also only include a brace, and upper end and the horizontal sliding bar of this brace are hinged and connected, and lower end and the slide block of brace are hinged and connected; Certainly slide block 15 can also lead slidable fit on support 4 by elevating lever 7; With under climb pawl 11 corresponding under climb pawl driving mechanism and can also be replaced by oil cylinder, cylinder or toggle; The structure of climbing pawl certainly also can be replaced by the disclosed pawl structure of climbing that is subject to thrust clamping, thrown off by pulling force in Chinese patent 200620088771.1; Certainly Single-chip Controlling mechanism also can adopt Long-distance Control; Certainly can also adopt to arrange at upper and lower limit bit architecture place and form switch and control the deflection of steering wheel 10.
At needs upwards when pole-climbing, in the pole-climbing first two hold-down roll being clamped, holding frame 12 is for climbing pawl as manipulator climber provides the 3rd strong point except upper and lower, increased the stability of this manipulator climber by the cooperation of two hold-down roll, steering wheel 10 deflections, steel wire rope pull move after interior axle and under climb pawl 11 lower folding corpus unguis apply pulling force, lower folding corpus unguis grips with pole-climbing under the effect of pulling force.Reducing motor 13 forwards, by the engaged transmission of rack-and-pinion, elevating lever 7 drives bracing frame 24, horizontal sliding bar 29, move on the pawl 19 that swashes, linkage and slide block 15, after slide block 15 coordinates with limiting plate 27 blocks, on continuing, moves by elevating lever 7, linkage moves and the scissors transmission mechanism of pawl 19 correspondences of swashing is applied to pulling force pull horizontal sliding bar 29 under slide block 15 spacing after, and the upper folding corpus unguis of the pawl 19 that swashes grips with pole-climbing under the effect of pulling force.Steering wheel 10 times partially, interior axle is climbed the scissors transmission mechanism applied thrust of pawl 11 correspondences downwards under the effect of spring, under climb the lower folding corpus unguis of pawl 11 and pole-climbing is thrown off, reducing motor 13 reverses, upper jointed shaft 22 make to swash pawl 19 is set to 10 ~ 20 angle with horizontal position, elevating lever 7 can keep fixing with pole-climbing under the friction self-locking of swash pawl 19 and pole-climbing and elastic block piece 18 actings in conjunction, so move on whole support 4, after the upper box lid 33 of support 4 coordinates with slide block 15 blocks, linkage drives horizontal sliding bar 29 move forward and the climb scissors transmission mechanism applied thrust of pawl 19 correspondences, the upper folding corpus unguis of pawl 19 of swashing is thrown off with pole-climbing under the effect of thrust, lower folding corpus unguis and the pole-climbing of climbing down subsequently pawl 11 grip, repeat afterwards said process and just can complete pole-climbing action upwards.In the time that manipulator climber needs downward pole-climbing, the upper and lower pawl of climbing is all thrown off with pole-climbing, and under the effect of two hold-down roll, its slip of manipulator pole-climbing realizes the fixing of manipulator climber by climbing pawl 11 under controlling in the time of bottom surface.
A kind of embodiment 2 of manipulator climber is as shown in Figure 5: from implement 1 and different be, bracing frame 47 is provided with the first guide rail 42 and the second guide rail that guide direction is extended along fore-and-aft direction, horizontal sliding bar 43 leads slidable fit on the second guide rail, the pawl that swashes comprises the standing part 45 and the movable part 46 of guiding slidable fit on the first guide rail that are connected with bracing frame 47, movable part 46 is in transmission connection by two pin-joint pieces 44 and horizontal sliding bar 43, the front end of two pin-joint pieces 44 and movable part 46 are hinged and connected, the front end of the rear end of two pin-joint pieces and horizontal sliding bar 43 is hinged and connected.48 arc-shaped notch that represent for clamping corresponding pole-climbing in figure.
Claims (10)
1. a manipulator climber, comprise support and be arranged at support front side for corresponding pole-climbing clamping and the upper and lower pawl of climbing that disengages, the described pawl that swashes is controlled the corresponding above upper power intake of folding corpus unguis opening and closing movement after comprising at least one pair of on folding corpus unguis and being subject to push-pull effort, under described, climb the lower power intake of controlling folding corpus unguis opening and closing movement under described correspondence after pawl comprises at least one pair of lower folding corpus unguis and is subject to push-pull effort, on support, be also provided be in transmission connection with described lower power intake and to its apply push-pull effort under climb pawl driving mechanism, described upper and lower climb between pawl, to be also provided with described upper and lowerly climb pawl coordinated and make its elevating mechanism climbing along corresponding pole-climbing of manipulator pole-climbing, it is characterized in that: described upper power intake is subject to control described upper folding corpus unguis after pulling force and coordinates with corresponding pole-climbing clamping, described upper power intake is subject to control described upper folding corpus unguis after thrust and corresponding pole-climbing disengages, described elevating mechanism comprises the elevating lever by power source drives and relatively described support liftable moves, the upper end edge fore-and-aft direction guiding slidable fit of elevating lever has the horizontal sliding bar that is in transmission connection with described upper power intake and applies push-pull effort to described upper power intake, the slidable fit that leads along the vertical direction on support has slide block, described manipulator climber also comprises that upper end and described horizontal sliding bar are hinged and connected, the linkage that lower end and described slide block are hinged and connected, described support is provided with and in the time that elevating lever rises, coordinates with described slide block block so that power intake on described is applied after moving after described linkage drive horizontal sliding bar the upper limit structure of pulling force, on described support, be also provided with and in the time that support rises, coordinate with described slide block block so that linkage drives the lower limit structure to power intake applied thrust on described after horizontal sliding bar reach.
2. manipulator climber according to claim 1, it is characterized in that: the bracing frame that described horizontal sliding bar is connected by described elevating lever upper end and described elevating lever guiding slidable fit, described upper folding corpus unguis is the arc corpus unguis that a pair of recess is relative, the described pawl that swashes also comprises the scissors transmission mechanism being in transmission connection with described a pair of arc corpus unguis, described scissors transmission mechanism comprises that the second couple that pair of cross lever arm that rear end and described horizontal sliding bar are hinged and connected and middle part and support frame as described above are hinged and connected intersects lever arm, corresponding being hinged and connected in rear end that the front end of the each lever arm in described pair of cross lever arm intersects the each lever arm in lever arm with second pair respectively, the front end of the each lever arm in described second pair of intersection lever arm is connected with described corresponding arc corpus unguis respectively, described scissors transmission mechanism has formed described power intake.
3. manipulator climber according to claim 2, it is characterized in that: the front end of support frame as described above is provided with the adjutage extending forward, the front end of described adjutage is fixed with the jointed shaft to downward-extension, and the middle part of described second pair of intersection lever arm being hinged and connected by described jointed shaft realization and support frame as described above.
4. according to the manipulator climber described in claim 1～3 any one, it is characterized in that: described linkage comprises that two are set up in parallel and L-type brace that upper end is all hinged and connected with described horizontal sliding bar, described linkage also comprises the middle brace that the lower end of upper end and described two L-type braces is hinged and connected, and the lower end of described middle brace and described slide block are hinged and connected.
5. manipulator climber according to claim 2, it is characterized in that: the structure of described bracing frame is the sleeve structure with cylindrical inner chamber, support frame as described above is fixed with axle sleeve end cap away from one end of the described pawl that swashes, sleeve end covers and has pilot hole, the structure of described horizontal sliding bar is multidiameter structure, and the large footpath section of multidiameter structure coordinates with the identical slide-and-guide of the cylindrical inner chamber of support frame as described above; In the pilot hole of the path section of multidiameter structure by described axle sleeve end cap, pass and coordinate with the hole wall of the described pilot hole slide-and-guide that coincide, the horizontal sliding bar periphery between described axle sleeve end cap and described large footpath section is arranged with spring.
6. manipulator climber according to claim 1, is characterized in that: on described elevating lever, be fixed with rack structure, described power source is included in the reducing motor that passes through gear drive and described rack structure engaged transmission of installing on described support.
7. manipulator climber according to claim 1, it is characterized in that: described support is a body structure, described body structure comprises upper box lid and lower case lid, described elevating lever runs through described upper and lower case lid, described upper box lid is fixed with the lead that length is extended along the vertical direction, described slider guide slidable fit is on described lead, described upper box lid has formed described lower limit structure, and described upper limit structure is the limiting plate that is fixed on described lead upper end.
8. manipulator climber according to claim 6, it is characterized in that: described support and described under climb pawl corresponding position be fixed with down and climb pawl outer shaft, under climb pawl outer shaft rear end be provided with down and climb pawl axle sleeve end cap, under climb pawl sleeve end and cover and have interior axle pilot hole, under climb in pawl outer shaft the interior axle that has multidiameter structure along fore-and-aft direction guiding slidable fit, the front end of interior axle and described under climb pawl and be in transmission connection, the path section of interior axle is by passing in described interior axle pilot hole, the path section periphery of climbing under described between pawl axle sleeve end cap and described interior axle is arranged with spring, under described, climb pawl driving mechanism and be included in the steering wheel being connected on described support and be in transmission connection by the path section of steel wire rope and described interior axle.
9. manipulator climber according to claim 1, is characterized in that: on described support, be provided with holding frame in described upper and lower climbing between pawl, be rotatably equipped with a pair of hold-down roll for coordinating with corresponding pole-climbing clamping guiding on described holding frame; Between described support and at least one hold-down roll, top is furnished with top spring.
10. manipulator climber according to claim 8, is characterized in that: on described support, be also provided with the Single-chip Controlling mechanism that controls described reducing motor rotating and described steering wheel angular deflection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210001389.2A CN102689308B (en) | 2012-01-04 | 2012-01-04 | Mechanical arm climbing equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210001389.2A CN102689308B (en) | 2012-01-04 | 2012-01-04 | Mechanical arm climbing equipment |
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| CN102689308A CN102689308A (en) | 2012-09-26 |
| CN102689308B true CN102689308B (en) | 2014-06-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210001389.2A Expired - Fee Related CN102689308B (en) | 2012-01-04 | 2012-01-04 | Mechanical arm climbing equipment |
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| CN105059417A (en) * | 2015-09-02 | 2015-11-18 | 哈尔滨工业大学 | Pole climbing robot based on spring telescopic mechanism |
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