CN208616074U - A kind of compound foot of climbing tower robot - Google Patents
A kind of compound foot of climbing tower robot Download PDFInfo
- Publication number
- CN208616074U CN208616074U CN201820841607.6U CN201820841607U CN208616074U CN 208616074 U CN208616074 U CN 208616074U CN 201820841607 U CN201820841607 U CN 201820841607U CN 208616074 U CN208616074 U CN 208616074U
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- China
- Prior art keywords
- rack gear
- mounting groove
- holding
- climbing tower
- arm
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Abstract
The utility model discloses a kind of compound foots of climbing tower robot, it includes adsorbing sufficient frame and clamping device, adsorbing sufficient frame includes frame body, frame body upper end is fixedly installed connection sheet, frame body includes spring mounting groove, the two sides of spring mounting groove are symmetrically arranged with motor mounting groove, and absorption arm is fixedly installed on rear side of spring mounting groove；Spring mounting groove lower part is equipped with the sufficient frame of correction, and the end for sufficient frame of rectifying a deviation is fixedly connected with spring.The foot that the utility model is able to solve climbing tower robot in the prior art can not be stablized to be fixed with pylon, and obstacle detouring difficulty is big, controls difficult problem, structure is safe and reliable, and stability is strong, applied widely.
Description
Technical field
The utility model relates to robot fields, and in particular to a kind of compound foot of climbing tower robot.
Background technique
The remote transmission of power transmission line needs to set up power line power steel tower as support, and the timing inspection of power transmission line is to protect
Hinder the premise of electrical power transmission system safety and stability.In current climbing tower Robot Design, institute it is existing design select truss,
Angle steel main material etc. carries out path planning, however its obstacle detouring difficulty is big, and controlling difficult disadvantage is never improved.
Common legged type robot can climb the flexible deflecting in surface and leaping over obstacles using sufficient formula climbing structures, but
It is that legged type robot control is complicated, movement speed is slower.
Equally obstacle is completed in " adhesive " movement that climbing robot field is also similar to snake-shaped robot use
Across, have the characteristics that kinetic stability is good, adaptation to the ground ability is strong and tractive force is big, but its freedom degree is more, control it is difficult and
Speed is low.
Wheeled climbing robot generates the power to advance against the frictional force between wheel and wall surface, and travel speed is fast, moves
Dynamic flexibly motion mode uses negative-pressure adsorption, and movement velocity is high, easily controllable, but it is smaller with the contact area in tower face,
And the weight that robot needs to carry during the motion is larger, so allows for wheeled robot and is difficult to maintain to stablize
The state of climbing, and it is also very unfavorable for obstacle detouring.
Utility model content
The utility model is directed to above-mentioned deficiency in the prior art, provides one kind and is able to solve climbing tower machine in the prior art
The foot of device people can not be stablized to be fixed with pylon, and obstacle detouring difficulty is big, controls the compound foot of climbing tower robot of difficult problem.
In order to solve the above technical problems, the utility model uses following technical proposal:
Provide a kind of compound foot of climbing tower robot comprising sufficient frame and clamping device are adsorbed, adsorbing sufficient frame includes frame body,
It is provided with single-chip microcontroller in frame body, frame body upper end is fixedly installed connection sheet, and frame body includes spring mounting groove, and the two of spring mounting groove
Side is symmetrically arranged with motor mounting groove, and absorption arm is fixedly installed on rear side of spring mounting groove；Spring mounting groove lower part is equipped with
The end of the sufficient frame of correction, sufficient frame of rectifying a deviation is fixedly connected with spring；
The downside of motor mounting groove is fixedly connected with the rack gear box of clamping device, is respectively symmetrically set on the two sidewalls of rack gear box
It is equipped with rack gear；Motor mounting groove is provided with motor, upper surface and be engaged with rack company of the output shaft of motor through rack gear box
It connects；
The end of rack gear is run through the side wall of rack gear box and is fixedly connected with anti-slip clip, and the lower end of anti-slip clip is provided with clamping
Arm；Sandwich arm it is opposite be provided with non slip surface on one side, two sides non slip surface is parallel to each other；
It is provided through limiting slot on clamping limb, on rack gear box on two sides adjacent with side where rack gear symmetrically
Two pairs of holding arms are hinged with, are oppositely arranged on same side there are two holding arm, two, which are parallel to each other in the middle part of holding arm, passes through limit
Position boom connection, limit boom are sheathed in limiting slot.
In above-mentioned technical proposal, it is preferred that sufficient frame end of rectifying a deviation is fixedly connected with the lower surface of pressure sensor, and pressure passes
The upper surface of sensor is fixedly connected with spring, and pressure sensor is connect with single-chip microcontroller.
In above-mentioned technical proposal, it is preferred that the end for adsorbing arm is provided with electromagnet mounting groove, peace in electromagnet mounting groove
Equipped with absorption electromagnet.
In above-mentioned technical proposal, it is preferred that the rear portion of rack gear is connected with guide rod, and position is distinguished in the position of two rack gear top guide bars
In opposite side.
In above-mentioned technical proposal, it is preferred that the interconnecting piece of guide rod and rack gear and anti-slip clip is fixedly installed fastener, fastening
Part is fixedly connected with anti-slip clip.
In above-mentioned technical proposal, it is preferred that holding arm includes holding postbrachium tightly, holds one end of postbrachium and the side wall of rack gear box tightly
Hingedly, the other end and holding forearm are hinged, hold postbrachium tightly and are fixedly connected with the articulated section for holding forearm tightly with limit boom；Before holding
The middle part of arm and non slip surface it is side walls hinged.
In above-mentioned technical proposal, it is preferred that hold forearm tightly and be provided with arc groove.
The compound sufficient main beneficial effect of above-mentioned climbing tower robot provided by the utility model is:
The compound foot of climbing tower robot provided by the utility model holds company by the cylinder foot nail clip in holding arm and power tower
It connects, guarantees crawl effect, simultaneously as holding arm is the bascule driven by clamping limb, therefore can be adapted for any rule
The cylindrical bar of lattice, expands the scope of application.
The reliability of crawl is improved by the way that limit boom is arranged in the middle part of holding arm to limit the movement of holding arm；It is logical
It crosses limiting slot and limits the cooperation of boom, the transmission for being not only able to achieve clamping limb and holding arm cooperates, but also can pass through holding arm and tooth
Barrel it is hinged, limit the moving distance of rack gear connecting with clamping limb, both ensure that the stability of structure, and in turn ensured motor
Efficiency.
Cooperated by rack gear and motor, realizes the self-locking of rack position；Truss is clamped by non slip surface, is clamped with holding arm
Cylindrical bar cooperation, is effectively ensured the Grasping skill of structure pair.
By the sufficient frame of setting correction, as the robot moves, sufficient frame of rectifying a deviation is in contact with truss and relative displacement occurs, from
And motor rotation is controlled by single-chip microcontroller, rack position is adjusted, and then adjust the clamp position of clamping device, realizes that feedback is adjusted
Section guarantees the accuracy of control.
Arm is adsorbed by setting, when clamping device is in clamp position, absorption arm and truss absorption are connected, and are further protected
Demonstrate,prove the stability of structure.
Detailed description of the invention
Fig. 1 is the compound sufficient structural schematic diagram of climbing tower robot.
Fig. 2 is the structural schematic diagram for adsorbing sufficient frame.
Fig. 3 is the structural schematic diagram of clamping device.
Wherein, 1, the sufficient frame of absorption, 11, connection sheet, 12, frame body, 121, motor mounting groove, 122, spring mounting groove, 123,
Motor, 13, absorption arm, 131, electromagnet mounting groove, 132, absorption electromagnet, 14, sufficient frame of rectifying a deviation, 141, pressure sensor,
142, spring, 2, clamping device, 21, rack gear box, 211, rack gear, 212, guide rod, 213, fastener, 214, anti-slip clip, 22, clamping
Arm, 221, limiting slot, 222, non slip surface, 23, holding arm, 231, holding postbrachium, 232, holding forearm, 233, limit boom.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing:
As shown in Figure 1, it is the compound sufficient structural schematic diagram of climbing tower robot.
The compound foot of climbing tower robot of the utility model includes adsorbing sufficient frame 1 and clamping device 2, as shown in Fig. 2, absorption foot
Frame 1 includes frame body 12, and single-chip microcontroller is provided in frame body 12, and 12 upper end of frame body is fixedly installed connection sheet 11, and frame body 12 includes bullet
Spring mounting groove 122, the two sides of spring mounting groove 122 are symmetrically arranged with motor mounting groove 121, and the rear side of spring mounting groove 122 is solid
Surely it is provided with absorption arm 13, the end of absorption arm 13 is provided with electromagnet mounting groove 131, is equipped in electromagnet mounting groove 131
Adsorb electromagnet 132.
122 lower part of spring mounting groove is equipped with the sufficient frame 14 of correction, rectifies a deviation under sufficient 14 end of frame and pressure sensor 141
Surface is fixedly connected, and the upper surface of pressure sensor 141 is fixedly connected with spring 142, and pressure sensor 141 and single-chip microcontroller connect
It connects.
The downside of motor mounting groove 121 is fixedly connected with the rack gear box 21 of clamping device 2, as shown in figure 3, rack gear box 21
Rack gear 211 has been symmetrically arranged on two sidewalls；The rear portion of rack gear 211 is connected with guide rod 212, two 211 top guide bars 212 of rack gear
Position be located at opposite side.
Motor mounting groove 121 is provided with motor 123, and gear is provided on the output shaft of motor 123, and motor 123 runs through
The upper surface of rack gear box 21 simultaneously engages connection with rack gear 211, and motor 123 is connect with single-chip microcontroller.
The end of rack gear 211 is run through the side wall of rack gear box 21 and is fixedly connected with anti-slip clip 214, guide rod 212 and rack gear
211 are fixedly installed fastener 213 with the interconnecting piece of anti-slip clip 214, and fastener 213 is fixedly connected with anti-slip clip 214.
The lower end of anti-slip clip 214 is provided with clamping limb 22；Sandwich arm 22 it is opposite be provided with non slip surface 222 on one side,
Two sides non slip surface 222 is parallel to each other.
It is provided through limiting slot 221 on clamping limb 22, two sides adjacent with 211 place side of rack gear on rack gear box 21
It is symmetrically hinged with two pairs of holding arms 23 on face, is oppositely arranged on same side there are two holding arm 23, two are parallel to each other holding
The middle part of arm 23 is connected by limit boom 233, and limit boom 233 is sheathed in limiting slot 221.
Holding arm 23 includes holding postbrachium 231 tightly, holds one end and side walls hinged, the other end of rack gear box 21 of postbrachium 231 tightly
With to hold forearm 232 tightly hinged, hold tightly postbrachium 231 with hold 232 articulated section of forearm tightly and be fixedly connected with boom 233 is limited；It holds tightly
The middle part of forearm 232 is side walls hinged with non slip surface 222；Hold forearm 232 tightly and be provided with arc groove, arc groove be used for
Circular columns connection on truss.
During actual motion, the relative motion of rack gear 211 is mainly controlled by motor 123, completes to unclamp foot nail and is grabbed
The firmly movement of foot nail.
When sufficient end will contact angle steel tower faceted pebble, sufficient frame 14 of rectifying a deviation contacts faceted pebble first, and sufficient end is continued to perpendicular to tower
Direction moves downward, and correction foot frame 14 movement feeds back relevant pressure by pressure sensor 141 so that 142 stress of spring, into
Row correction movement controls motor 123 by single-chip microcontroller and rotates, and band carry-over bar 211 moves.
When motor 123 rotates forward, nibbled by the rack gear 211 in the wheel and rack box 21 on 123 output shaft of motor
It closes, rack gear 211 is mobile, and anti-slip clip 214 is driven inwardly to move along guide rod 212, and two anti-slip clips 214 are close to each other, and then drives
Holding hinged end of the postbrachium 231 on rack gear box 21 tightly is that clockwise movement is made in the center of circle, thus after driving limit boom 233 and holding tightly
Arm 231 rotates.
Due to the effect of limiting slot 221, limiting boom 233 can only move in limiting slot 221, then rises in rack movement
To position-limiting action, to meet the obvolvent followed closely steel tower foot.
When sufficient end, which needs to unclamp foot nail, to be moved in next step to realize, motor 123 is inverted, by nibbling with rack gear 211
It closes, rack gear 211 is mobile, drives anti-slip clip 214 to move out along guide rod 212, two anti-slip clips 214 are located remotely from each other, and are driven at this time
Hinged end of the 231 holding postbrachiums on rack gear box 21 is that counterclockwise movement is made in the center of circle, so that it is unfavourable suitable to drive limit boom 233 to make
Hour hands rotation, realizes the process for unclamping foot nail.Similarly, since the effect of limiting slot 221, rack gear 211 move it is not too large, thus
Guarantee 123 efficiency of motor.
Specific embodiment of the present utility model is described above, in order to facilitate understanding by those skilled in the art
The utility model, it should be apparent that the utility model is not limited to the range of specific embodiment, to the common skill of the art
For art personnel, if various change the attached claims limit and determine the utility model spirit and scope in,
These variations are it will be apparent that all utilize the innovation and creation of the utility model design in the column of protection.
Claims (7)
1. a kind of compound foot of climbing tower robot, which is characterized in that including adsorbing sufficient frame (1) and clamping device (2), the absorption foot
Frame (1) includes frame body (12), is provided with single-chip microcontroller in the frame body (12), frame body (12) upper end is fixedly installed connection sheet
(11), frame body (12) includes spring mounting groove (122), and the two sides of spring mounting groove (122) are symmetrically arranged with motor mounting groove
(121), absorption arm (13) is fixedly installed on rear side of spring mounting groove (122)；Spring mounting groove (122) lower part is equipped with
The end of the sufficient frame (14) of correction, sufficient frame (14) of rectifying a deviation is fixedly connected with spring (142)；
The downside of the motor mounting groove (121) is fixedly connected with the rack gear box (21) of clamping device (2), the rack gear box (21)
Two sidewalls on be symmetrically arranged rack gear (211)；It is provided with motor (123) in motor mounting groove (121), motor (123)
Output shaft through rack gear box (21) upper surface and connection is engaged with rack gear (211), motor (123) is connect with single-chip microcontroller；
The end of the rack gear (211) is run through the side wall of rack gear box (21) and is fixedly connected with anti-slip clip (214), anti-slip clip
(214) lower end is provided with clamping limb (22)；Sandwich arm (22) is opposite to be provided with non slip surface (222) on one side, and two sides are anti-
Sliding surface (222) is parallel to each other；
Be provided through on clamping limb (22) limiting slot (221), on rack gear box (21) with rack gear (211) where side it is adjacent two
It is symmetrically hinged with two pairs of holding arms (23) on a side, is oppositely arranged on same side there are two holding arm (23), two mutually
The middle part of parallel holding arm (23) is sheathed in limiting slot (221) by limit boom (233) connection, limit boom (233).
2. the compound foot of climbing tower robot according to claim 1, which is characterized in that sufficient frame (14) end of the correction and pressure
The lower surface of force snesor (141) is fixedly connected, and the upper surface of pressure sensor (141) is fixedly connected with spring (142), pressure
Sensor (141) is connect with single-chip microcontroller.
3. the compound foot of climbing tower robot according to claim 1, which is characterized in that the end setting of absorption arm (13)
Have electromagnet mounting groove (131), absorption electromagnet (132) is installed in electromagnet mounting groove (131).
4. the compound foot of climbing tower robot according to claim 1, which is characterized in that the rear portion of the rack gear (211) connects
Have guide rod (212), the position of two rack gear (211) top guide bars (212) is located at opposite side.
5. the compound foot of climbing tower robot according to claim 4, which is characterized in that the guide rod (212) and rack gear (211)
It is fixedly installed fastener (213) with the interconnecting piece of anti-slip clip (214), the fastener (213) and anti-slip clip (214) fixed company
It connects.
6. the compound foot of climbing tower robot according to claim 1, which is characterized in that the holding arm (23) includes after holding tightly
Arm (231), hold tightly postbrachium (231) one end and rack gear box (21) it is side walls hinged, the other end with holding forearm (232) hingedly,
It holds postbrachium (231) tightly and is fixedly connected with the articulated section for holding forearm (232) tightly with limit boom (233)；It holds tightly in forearm (232)
Portion is side walls hinged with non slip surface (222).
7. the compound foot of climbing tower robot according to claim 6, which is characterized in that be arranged on the holding forearm (232)
There is arc groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820841607.6U CN208616074U (en) | 2018-05-31 | 2018-05-31 | A kind of compound foot of climbing tower robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820841607.6U CN208616074U (en) | 2018-05-31 | 2018-05-31 | A kind of compound foot of climbing tower robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208616074U true CN208616074U (en) | 2019-03-19 |
Family
ID=65700963
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820841607.6U Withdrawn - After Issue CN208616074U (en) | 2018-05-31 | 2018-05-31 | A kind of compound foot of climbing tower robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208616074U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111301545A (en) * | 2019-11-22 | 2020-06-19 | 广东省智能制造研究所 | Auxiliary device of wall-climbing robot |
-
2018
- 2018-05-31 CN CN201820841607.6U patent/CN208616074U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111301545A (en) * | 2019-11-22 | 2020-06-19 | 广东省智能制造研究所 | Auxiliary device of wall-climbing robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20190319 Effective date of abandoning: 20230606 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20190319 Effective date of abandoning: 20230606 |