CN205380666U - Pylon climbing robot's manipulator device - Google Patents

Abstract

The utility model discloses a pylon climbing robot's manipulator device, including four claw arms, a lower connecting plate, two roller bearings, a slider lower plate, eight connecting rod fixed plates, eight connecting rods, two back -moving springs, four slide bars, two kicking block back shafts, a movable plate, a flange nut, two slider connecting plates, a trapezoidal lead screw, an antifriction bearing, a shaft coupling, a gear motor, an upper junction plate, four gyro wheels, four slides, a motor mount, roof on the slider, a curb plate, eight connecting rod connecting axles and a kicking block. This device is the action through the motor only, and in certain extent can realize the card of grabbing of different angles, different specification angle steel, has avoided the complicated design of climbing robot fuselage, adopt trapezoidal screw nut kind of drive, provide enough big clamping -force and have the auto -lock performance, improved the reliability and stability of grabbing the card.

Description

A kind of robot device of tower climbing robot

Technical field

This utility model belongs to robotics, is specially the robot device of a kind of tower climbing robot.

Background technology

High voltage transmission line and high pressure pylon are the key projects concerning China's people's livelihood, for ensureing that it is properly functioning, it is necessary to its situation is periodically detected, find potential safety hazard in time, provide first-hand repair information for maintainer.The maintenance of current pylon mainly has human at periodic intervals to detect and the mode such as network implementation monitoring, but all needs to expend huge manpower and financial resources, runs comparatively inconvenience.Maintenance department carries out the automation equipment arch maintenance robot of steel tower maintenance, maintenance in the urgent need to replacing manpower, the labor intensity of workman is alleviated with this, reduce the danger got an electric shock with falling from high altitude, and require that equipment can carry out livewire work when not affecting power supply, improve maintenance, the efficiency safeguarded and quality.The research of tower climbing robot of domestic and international many institutions conduct; various pylons are many to be formed by Bolted angle connection; constitute the angle steel multi-size of pylon; robot attitude when climbing is also uncertain; therefore, the robot device of climbing robot becomes one of key portion work, not only wants to realize firmly grasping different size angle steel; to guarantee that robot can move on steel tower surface, but also to realize different angles grab card.

Utility model content

For the deficiencies in the prior art, the technical problem that this utility model intends to solve is to provide the robot device of a kind of tower climbing robot.The robot device of this tower climbing robot can grab the angle steel of card different angles, different size.

This utility model solves the technical scheme of described technical problem, the robot device of a kind of tower climbing robot is provided, it is characterized in that described device includes four pawl arms, one lower connecting plate, two roller bearings, one slide block lower shoe, eight fixing plates of connecting rod, eight connecting rods, two back-moving springs, four slide bars, two jacking blocks support axle, one movable plate, one flange nut, two slide attachment plate, one trapezoidal screw, one rolling bearing, one shaft coupling, one reducing motor, one upper junction plate, four rolling, four pieces of wipers, one motor fixing frame, one slide block upper plate, one side plate, eight connecting rod shafts and a jacking block；

Described lower connecting plate, upper junction plate and side plate are fixing to be connected；Described four slide bars are passed lower connecting plate and upper junction plate and are fixed by locking nut；Said two jacking block supports one end of axle and is welded with jacking block, and the other end sequentially passes through lower connecting plate, slide block lower shoe is fixed on movable plate；Described flange nut is fixed by screws on movable plate；One end and the flange nut of described trapezoidal screw match, and the other end is nested with rolling bearing and shaft coupling, and is connected with reducing motor by shaft coupling；Described reducing motor is fixed on motor fixing frame, and motor fixing frame is fixed on slide block upper plate；Described rolling bearing is fixed on slide block upper plate by its bearing block；Described slide block lower shoe and slide block upper plate are welded together by two slide attachment plate；Described four pawl arms are arranged in the chute on lower connecting plate and upper junction plate；The fixing plate of said two connecting rod is fixed on a pawl arm；One end of described connecting rod is connected with slide attachment plate by connecting rod shaft, and the other end is connected by the fixing plate of connecting rod shaft and connecting rod；One roller bearing is through two pawl arms of homonymy and is arranged in two pawl arms；Described four rolling is fixed on respective wiper；Described four wipers are fixed by screws on respective pawl arm；The two ends of described back-moving spring are individually fixed on lower connecting plate and slide block upper plate.

Compared with prior art, this utility model has the beneficial effects that: this device is only by the action of motor, within the specific limits, it is possible to achieve different angles, different size angle steel grab card, it is to avoid the somewhat complex design of climbing robot fuselage；Adopt the trapezoidal screw nut kind of drive, it is provided that sufficiently large chucking power and there is self-locking property, improve the reliability and stability grabbing card.

The robot device chucking power of this utility model tower climbing robot is big, and highly reliable, it is possible to complete many specifications, multi-angle grabs card, adopting a driving device, thus simplifying mechanical arm structure, alleviating robot weight.

Accompanying drawing explanation

Fig. 1 is the overall structure front view of a kind of embodiment of robot device of this utility model tower climbing robot；

Fig. 2 is the overall structure top view of a kind of embodiment of robot device of this utility model tower climbing robot；(in figure 1, pawl arm；2, lower connecting plate；3, roller bearing；4, slide block lower shoe；5, the fixing plate of connecting rod；6, connecting rod；7, back-moving spring；8, slide bar；9, jacking block supports axle；10, movable plate；11, flange nut；12, slide attachment plate；13, trapezoidal screw；14, rolling bearing；15, shaft coupling；16, reducing motor；17, upper junction plate；18, roller；19, wiper；20, motor fixing frame；21, slide block upper plate；22, side plate；23, connecting rod shaft；24, jacking block)

The robot device that Fig. 3 is this utility model tower climbing robot grabs the reverse V-shaped angle steel schematic diagram of card；

The robot device that Fig. 4 is this utility model tower climbing robot grabs the positive V-type angle steel schematic diagram of card；

The robot device that Fig. 5 is this utility model tower climbing robot grabs card inverted L shape angle steel schematic diagram..

Detailed description of the invention

Technical scheme in this utility model embodiment will be carried out clear, complete description below, it is clear that described embodiment is a part of embodiment of the present utility model, rather than whole embodiments.Based on the embodiment in this utility model, the every other embodiment that those of ordinary skill in the art obtain under the premise not making creative work, broadly fall into the scope of this utility model protection.

This utility model provides the robot device of a kind of tower climbing robot (referring to Fig. 1-5, it is called for short device), including four pawl arms 1, one lower connecting plate 2, two roller bearings 3, one slide block lower shoe 4, eight fixing plates 5 of connecting rod, eight connecting rods 6, two back-moving springs 7, four slide bars 8, two jacking blocks support axle 9, one movable plate 10, one flange nut 11, two slide attachment plate 12, one trapezoidal screw 13, one rolling bearing 14, one shaft coupling 15, one reducing motor 16, one upper junction plate 17, four rolling 18, four pieces of wipers 19, one motor fixing frame 20, one slide block upper plate 21, one side plate 22, eight connecting rod shafts 23 and a jacking block 24；

Described lower connecting plate 2, upper junction plate 17 and the fixing connection of side plate 22；Described four slide bars 8 are passed lower connecting plate 2 and upper junction plate 17 and are fixed by locking nut；Said two jacking block supports one end of axle 9 and is welded with jacking block 24, and the other end sequentially passes through lower connecting plate 2, slide block lower shoe 4 is fixed on movable plate 10；Described flange nut 11 is fixed by screws on movable plate 10；One end and the flange nut 11 of described trapezoidal screw 13 match, and the other end is nested with rolling bearing 14 and shaft coupling 15, and is connected with reducing motor 16 by shaft coupling 15；Described reducing motor 16 is fixed on motor fixing frame 20, and motor fixing frame 20 is fixed on slide block upper plate 21；Described rolling bearing 14 is fixed on slide block upper plate 21 by its bearing block；Described slide block lower shoe 4 and slide block upper plate 21 are welded together by two slide attachment plate 12, and slide block upper plate 21 and slide block lower shoe 4 can be slided by the circular hole having on it on slide bar 8；Described four pawl arms 1 are arranged in the chute on lower connecting plate 2 and upper junction plate 17；The fixing plate 5 of said two connecting rod is fixed on a pawl arm 1；One end of described connecting rod 6 is connected with slide attachment plate 12 by connecting rod shaft 23, and the other end is connected by the fixing plate 5 of connecting rod shaft 23 and connecting rod；One roller bearing 3 is through two pawl arms 1 of homonymy and is arranged in two pawl arms；Described four rolling 18 is fixed on respective wiper 19；Described four wipers 19 are fixed by screws on respective pawl arm 1, and wiper 19 can drive roller 18 distance that slidable adjustment is small on pawl arm 1；Described pawl arm 1 can be limited to translational motion by roller bearing 3 and roller 18；The two ends of described back-moving spring 7 are individually fixed in the circular hole on lower connecting plate 2 and slide block upper plate 21, make pawl arm 1 be in open configuration.

Operation principle of the present utility model with workflow is: described tower climbing robot has two identical described robot devices, i.e. mechanical hand I and mechanical hand II；When tower climbing robot is climbed along tower member angle steel straight line, the mechanical hand of robot I promptly angle steel, and arm each joint coordinated signals, so that this mechanical arm and be in the mechanical hand II of releasing orientation and move forward along the direction of pylon angle steel.When the mechanical hand II being in open configuration is vertically disposed in the position of distance angle steel certain distance, now back-moving spring 7 is in tension, band pawl arm 1 is in open configuration, reducing motor 16 rotates and jacking block 24 can be driven to move down, when jacking block 24 holds out against angle steel, flange nut 11 band movable slider upper plate 21 produces relative movement, and slide block upper plate 21 drives to move up through the connecting rod shaft on slide attachment plate 12 and makes pawl arm 1 move in parallel contraction clamping angle steel.Afterwards mechanical hand I is unclamped, again through each joint of coordinated signals arm, so that mechanical hand I moves forward along angle steel, then repeat said process, complete once to climb.So go round and begin again, Robot pylon main member angle steel can be made to advance length by length.

When robot needs to turn at tower surface, the mechanical hand I of robot clamps angle steel, mechanical hand II is in releasing orientation, only need to by each joint of coordinated signals arm, robot arm is made to forward relevant position to, mechanical hand II is made to move closer to target angle steel, need not screen capturing direction, above-mentioned card process of grabbing can be repeated and be made directly crawl, when after clamping angle steel, mechanical hand I is unclamped, by each joint of coordinated signals arm, make mechanical hand I move closer to target angle steel, then clamped and turned to.

This utility model is not addressed part and is applicable to prior art.

Claims (1)

1. the robot device of a tower climbing robot, it is characterized in that described device includes four pawl arms, one lower connecting plate, two roller bearings, one slide block lower shoe, eight fixing plates of connecting rod, eight connecting rods, two back-moving springs, four slide bars, two jacking blocks support axle, one movable plate, one flange nut, two slide attachment plate, one trapezoidal screw, one rolling bearing, one shaft coupling, one reducing motor, one upper junction plate, four rolling, four pieces of wipers, one motor fixing frame, one slide block upper plate, one side plate, eight connecting rod shafts and a jacking block；

Described lower connecting plate, upper junction plate and side plate are fixing to be connected；Described four slide bars are passed lower connecting plate and upper junction plate and are fixed by locking nut；Said two jacking block supports one end of axle and is welded with jacking block, and the other end sequentially passes through lower connecting plate, slide block lower shoe is fixed on movable plate；Described flange nut is fixed by screws on movable plate；One end and the flange nut of described trapezoidal screw match, and the other end is nested with rolling bearing and shaft coupling, and is connected with reducing motor by shaft coupling；Described reducing motor is fixed on motor fixing frame, and motor fixing frame is fixed on slide block upper plate；Described rolling bearing is fixed on slide block upper plate by its bearing block；Described slide block lower shoe and slide block upper plate are welded together by two slide attachment plate；Described four pawl arms are arranged in the chute on lower connecting plate and upper junction plate；The fixing plate of said two connecting rod is fixed on a pawl arm；One end of described connecting rod is connected with slide attachment plate by connecting rod shaft, and the other end is connected by the fixing plate of connecting rod shaft and connecting rod；One roller bearing is through two pawl arms of homonymy and is arranged in two pawl arms；Described four rolling is fixed on respective wiper；Described four wipers are fixed by screws on respective pawl arm；The two ends of described back-moving spring are individually fixed on lower connecting plate and slide block upper plate.