CN102059704A - Novel iron tower climbing robot manipulator device - Google Patents
Novel iron tower climbing robot manipulator device Download PDFInfo
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- CN102059704A CN102059704A CN 201010500522 CN201010500522A CN102059704A CN 102059704 A CN102059704 A CN 102059704A CN 201010500522 CN201010500522 CN 201010500522 CN 201010500522 A CN201010500522 A CN 201010500522A CN 102059704 A CN102059704 A CN 102059704A
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Abstract
The invention provides a tail end structure for an iron tower automatic overhauling and maintaining climbing robot, which mainly comprises a clamping mechanism, a wrist mechanism, a finger stretching mechanism and a connecting support, wherein the clamping mechanism has compact structure and self-locking function by applying a lever boosting principle and adopting a screw nut transmission mode and mainly comprises an upper clamp plate, a driving motor, a gear steering mechanism, a lower clamp plate, a screw nut mechanism and a push rod, wherein the driving motor is installed on the upper clamp plate, the gear steering mechanism is connected with an output shaft of the driving motor, and the screw nut mechanism is connected with the gear steering mechanism; the finger stretching mechanism comprises a driving motor, a screw nut transmission mechanism, fingers and a guide rail, wherein the driving motor is installed on the upper clamp plate, the screw nut transmission mechanism is connected with the output shaft of the driving motor, the fingers are fixedly connected with nuts, the guide rail is installed on the upper clamp plate, and the finger stretching mechanism is used together with the clamping mechanism to ensure the reliable clamping on steel angles; and the wrist mechanism comprises a wrist driving motor, a worm, a worm gear and a motor support, wherein the worm is connected with the output shaft of the driving motor, and the worm gear is meshed with the worm. The tail end structure ensures the decoupling of a claw space position and postures on the mechanical structure and greatly simplifies the operation step of a robot in a climbing process. The tail end structure can reliably clamp various specifications of steel angles so that the robot not only can climb along the main material of the iron tower, but also an inclined material or a horizontal material.
Description
Technical field
The present invention relates to a kind of robot device, belong to the Robotics field for the automatic repair and maintenance climbing robot customization of iron tower.
Technical background
The fast development of industry and information industry is more and more higher to the requirement of power stability and reliability.Ultra-high-tension power transmission line is the artery of power system, and its safe operation more and more is subjected to the attention of departments at different levels.Need regularly electric power line pole tower and annex thereof to be carried out repair and maintenance, to guarantee the safe and reliable operation of transmission line of electricity.
Artificial mode of climbing iron tower is adopted in the maintenance of present domestic ultra-high-tension power transmission line, maintenance basically, utilizes the repair and maintenance equipment that carries to finish corresponding task, and the muscle power that this not only consumes the maintainer in a large number influences operating efficiency, also is absolutely unsafe.Power department presses for and can replace automation equipment---the robot that manpower carries out the iron tower maintenance, safeguards, alleviate working strength of workers with this, reduce the danger of falling in electric shock and high-altitude, and equipment can carry out livewire work, efficient and the quality of improve maintenance, safeguarding under the situation that does not influence power supply.Realize pylons such as iron tower are overhauled, safeguard with robot, robot need have the function of pylons such as climbing iron tower, and prior art can not provide the main cause that can climb the iron tower robot so far, is not develop the pylon robot device that reliably clamping is basic building block with the angle steel.Therefore develop as early as possible that chucking power is big, compact conformation, adaptable robot device be with the equipment robot, realize to high-voltage transmission line towers the automation maintenance, safeguard, be the important topic that the scientific worker in described field faces jointly.
Summary of the invention
Technical problem to be solved by this invention provides a kind of terminal clamping device that is used for the automatic repair and maintenance climbing robot of iron tower.The present invention require robot can be from the electric power tower column foot along main material angle steel or tiltedly the material angle steel climb cat head, utilize the repair and maintenance equipment that carries to replace the power worker to finish every maintenance task, as the detection of insulator, iron tower surface corrosion situation etc.For this reason the terminal manipulator of this robot not only want to realize to the different size angle steel promptly, can be surperficial mobile to guarantee robot, and claimed structure is simple as far as possible, compact at iron tower.
For achieving the above object, technical solution of the present invention is:
Provide a kind of novel terminal clamp structure of tower climbing robot, mainly by clamp mechanism, finger telescoping mechanism, Wrist mechanism be connected bearing and form.Wherein clamp mechanism is by paw clamping motor, the commutating tooth wheels that connect with motor output shaft, compositions such as the clamp mechanism screw mandrel that is connected with gear train, nut, push rod, train wheel bridge, lower plate; The finger telescoping mechanism is by the flexible motor of finger, and the finger that connects with the motor output shaft screw mandrel that stretch cooperates the finger telescoping mechanism nut of formation feed screw nut transmission with screw mandrel, be installed in two guide rails of clamping device train wheel bridge, the finger that is connected with nut composition; Wrist mechanism is by the Wrist mechanism motor, the wrist worm screw that connects with motor output shaft, and with the wrist worm gear of worm engaging, and the motor bearing is formed.
In technique scheme, in order to realize firm grip, provide enough big chucking power to the pylon angle steel, this terminal clamp mechanism has been used lever augmented principle and has been adopted feed screw nut's kind of drive.The paw clamping motor is fixed on the train wheel bridge rear end, utilize the commutating tooth wheels that power is passed to the clamp mechanism screw mandrel, nut is connected with screw mandrel by screw thread, nut is connected with push rod, the push rod other end is connected with pin, pin can slide in chute, and chute is fixed on the lower plate rear end, and last lower plate is connecting by bearing pin near the front end place.When the paw clamping motor rotates, after feed screw nut's deceleration, push rod is flexible, and to promote to go up lower plate be the axle rotation with the pin, and the power that push rod acts on the lower plate rear end is amplified after-applied on last lower plate front end working face through lever, thus the clamping of realization paw and unclamping.
In technique scheme, the finger telescoping mechanism is realized by feed screw nut's transmission.The flexible motor of finger is fixed on the motor bearing, the motor bearing is fixed on the train wheel bridge, motor output shaft is connected with the flexible screw mandrel of finger, the flexible screw mandrel of finger links to each other with nut by screw thread, finger is connected with nut, guide rail and train wheel bridge are connected, and by the rotary speed and the direction of the flexible motor of control finger, realize that finger is flexible in guide rail.Finger telescoping mechanism and clamp mechanism combination grip, to angle steel clamping form force-closed, thereby realization is to the reliable clamping of angle steel.
In above-mentioned finger telescoping mechanism, what described guide rail can be in rectangular guideway, cylindrical guide, the dovetail groove guide rail is any.
In above-mentioned technical scheme, described Wrist mechanism provides a wrist rotational freedom for manipulator, realizes by the Worm and Worm Gear Driving with self-lock ability.For unloading acts on moment of flexure on the worm gear connecting axle, Wrist mechanism worm gear and sleeve are fixed, be connected then on the wrist rotating shaft, Wrist mechanism motor bearing and clamp mechanism train wheel bridge are connected, therefore clamp mechanism and finger telescoping mechanism also can be with the thorny wrist rotating shaft rotations of wrist worm gear, the realization wrist is rotated, thereby realize the attitude adjustment of manipulator, this embodiment has guaranteed the decoupling zero of paw locus and attitude from frame for movement, has simplified the operating procedure of robot in the climbing motion process greatly.
Terminal clamping device of the present invention has a plurality of frees degree, compact conformation, clamping force are big, in light weight, can realize reliable clamping to the different size angle steel, can guarantee that iron tower climbing robot reliable attachment is on the iron tower surface, thereby realize moving to cat head, replace the workman to finish corresponding maintenance task from the iron tower column foot.
Description of drawings
Accompanying drawing 1 is the perspective view of the terminal executing agency of iron tower climbing robot.
Accompanying drawing 2 is front view and A-A cutaway views of robot device clamp mechanism of the present invention.
Accompanying drawing 3 is robot device finger telescoping mechanism front view of the present invention and vertical view.
Accompanying drawing 4 is structural representations of robot device cleat angle of the present invention.
Accompanying drawing 5 is robot device Wrist mechanism vertical view of the present invention and B-B cutaway view.
In above-mentioned accompanying drawing, the object that each shown by reference numeral identified is: 1-paw clamping motor; The 2-chute; The 3-push rod; 4-clamp mechanism screw mandrel; The 5-lower plate; The 6-bearing pin; The 7-train wheel bridge; The last working face of 8-; Working face under the 9-; The 10-finger; The 11-guide rail; 12-finger telescoping mechanism screw mandrel; 13-finger telescoping mechanism nut; 14-wrist electric machine support; 15-wrist worm gear; The 16-support column; The flexible motor of 17-finger; 18-tooth sector group; The 19-pin; 20-clamp mechanism nut; 21-wrist rotating shaft; 22-wrist worm gear sleeve; 23-wrist worm screw; 24-wrist motor; The flexible motor bearing of 25-finger; The 26-angle steel.
The specific embodiment
Provide one embodiment of the present of invention below in conjunction with description of drawings, the present invention is further illustrated by embodiment.It needs to be noted that the specific embodiment of the present invention is not limited to the described form of embodiment.
Consult Fig. 1 and Fig. 2, of the present invention is a kind of terminal executing agency of arm that is used for the automatic repair and maintenance climbing robot of pylon, is made of paw clamp mechanism, finger telescoping mechanism, Wrist mechanism.Wherein clamp mechanism is by paw clamping motor 1, the commutating tooth wheels 18 that connect with motor output shaft, and with the clamp mechanism screw mandrel 4 that gear train is connected, clamp mechanism nut 13, train wheel bridge 7, lower plate 5, push rod 3 is formed.Clamp mechanism nut 13 is connected with push rod 3, and push rod 3 other ends are connected with pin 19, and pin can slide in chute 2, and chute 2 is connected in lower plate 5 rear ends, and train wheel bridge 7 is connected by bearing pin 6 with lower plate 5.When the paw clamping motor rotates, after feed screw nut's deceleration, push rod is flexible, and to promote to go up lower plate be the axle rotation with the pin, and the power that push rod acts on the lower plate rear end is amplified after-applied on last lower plate front end working face through lever, thus the clamping of realization paw and unclamping.
Accompanying drawing 3 has been described the enforcement structure of finger telescoping mechanism in the manipulator.The finger telescoping mechanism is by the flexible motor 17 of finger that is fixed on the flexible motor bearing 25 of finger, the finger telescoping mechanism screw mandrel 12 that connects with motor output shaft, cooperate the finger telescoping mechanism nut 13 that forms feed screw nut's transmission with screw mandrel, the guide rail 11 that play the guiding role, the finger 10 that is connected with nut is formed, its middle guide 11 is connected on the train wheel bridge 7 of paw clamp mechanism, and the flexible nut 13 of finger is fixed together with finger 10, and finger 10 moves along guide rail 11.As shown in Figure 4, finger telescoping mechanism and paw clamp mechanism constitute the combined type clamping, and angle steel is formed the sealing of power, thereby improve the reliability of clamping.
Accompanying drawing 5 has been described the enforcement structure of Wrist mechanism in the manipulator.Wrist mechanism is by Wrist mechanism motor 24, the wrist worm screw 23 that connects with motor output shaft, wrist worm gear 15 with worm engaging, and wrist motor bearing 14 is formed, for unloading acts on moment of flexure on the worm gear connecting axle, Wrist mechanism worm gear 15 is fixing with sleeve 22, be connected then on the wrist rotating shaft 21, Wrist mechanism motor bearing 14 is connected by support column 16 with the clamp mechanism train wheel bridge, and the present invention is connected by four screwed holes in wrist worm gear sleeve 22 upper surfaces with mechanical arm.Therefore clamp mechanism and finger telescoping mechanism also can be with the thorny wrist rotating shaft rotations of wrist worm gear, the realization wrist is rotated, promptly realize the attitude adjustment of manipulator, this embodiment has guaranteed the decoupling zero of paw locus and attitude from frame for movement, has simplified the operating procedure of robot in the climbing motion process greatly.
Be furnished with tower climbing robot of the present invention, the typical action process when climbing is patrolled and examined on iron tower of power transmission line is as follows:
When the automatic repair and maintenance climbing robot of pylon when electric power tower member angle steel straight line is climbed, a manipulator of robot is firmly grasped angle steel, the another manipulator is in releasing orientation, and each joint interlock control of arm, so that this mechanical arm and the direction reach of the manipulator that is in releasing orientation along the pylon angle steel.Jaw on this manipulator of interlock control and finger telescoping mechanism are firmly grasped angle steel then, and the paw that will clamp originally unclamps, again by each joint of interlock control arm, so that this mechanical arm moves forward along angle steel, clamp the paw that unclamped originally then, unclamp the paw of original clamping, finish once climbing.So go round and begin again, robot is advanced length by length along pylon main member angle steel.
Compact conformation of the present invention, clamping force are big, and load capacity is big, and, when robot turns on the iron tower surface, can make full use of wrist joint of the present invention.A manipulator of robot is firmly grasped angle steel, the another manipulator is in releasing orientation, by the manipulator wrist joint that is in clamped condition is controlled, the manipulator that makes mechanical arm and be in free state serves as that axle rotates a certain angle with the manipulator Wrist mechanism rotating shaft that is in clamped condition, near the target angle steel, the jaw of this manipulator of interlock control and finger telescoping mechanism are firmly grasped angle steel then, and the paw that will clamp originally unclamps, again by interlock control each joint of arm and manipulator wrist joint, finish and turn to so that this manipulator, clamps the jaw that unclamped originally then gradually near the target angle steel.
Iron tower climbing robot arm end structure provided by the invention has a plurality of frees degree, and chucking power is bigger, and by multi-shaft interlocked control, can realize that paw clamp mechanism and finger telescoping mechanism are to by the reliable clamping of angle steel.The present invention is the terminal robot device of the automatic repair and maintenance climbing robot of a kind of universal pylon, both can be used for the articulated type climbing robot, also can be used for the automatic climbing robot of frame-type.
Claims (6)
1. a terminal clamp structure that is used for the automatic repair and maintenance climbing robot of iron tower comprises by clamping motor 1, the commutating tooth wheels 18 that connect with motor output shaft, with the clamp mechanism screw mandrel 4 that gear train is connected, nut 20, push rod 3, train wheel bridge 7, the clamp mechanism that lower plate 5 constitutes; By the flexible motor 17 of finger, screw mandrel 12, nut 13, guide rail 11, the finger telescoping mechanism that finger 10 constitutes; By wrist motor bearing 14, wrist motor 24, worm screw 23, the Wrist mechanism that worm gear 15 constitutes.
2. the paw clamp mechanism in the terminal executing agency according to claim 1 adopts lever augmented principle, and feed screw nut's kind of drive, compact conformation, have auto-lock function, two clamping plate connect by bearing pin 6 up and down, push rod 3 upper ends and clamp mechanism nut 20 are connected, and the lower end is connected by pin 19 with chute 2 on being fixed on lower plate 5.Paw clamping motor 1 utilizes commutating tooth wheels 18 that power is passed to clamp mechanism screw mandrel 4, by feed screw nut's transmission, nut and push rod 3 rectilinear motions, pin 19 slides in chute 2, train wheel bridge 7 be that rotating shaft rotates with lower plate 5 with bearing pin 6, makes lower plate front end working face 8 and 9 variable angle and realizes claw clamping and release function.Push rod acts on the power of lower plate rear end, after amplifying through lever, is applied on the lower plate front end working face, has strengthened clamping force greatly.The opening and closing that can control paw by the rotating speed and the direction of control paw clamping motor, thereby the clamping force of control paw.
3. finger telescoping mechanism according to claim 1, it is characterized in that the flexible motor 17 of finger that is installed in clamp mechanism train wheel bridge 7 is connected with the flexible screw mandrel 12 of finger, nut 13 is connected with the finger 10 that moves in guide rail 11, be connected by the flexible screw mandrel 12 of screw thread and finger, guide rail 11 is connected with train wheel bridge 7.By screw mandrel 12, nut 13, finger 10 have constituted the flexible driving-chain of finger like this, by the rotating speed and the direction of the flexible motor 17 of control finger, can control speed and direction that finger 10 moves along guide rail 11.
4. according to claim 1 and 2 and 3 described robot end's clamping devices, it is characterized in that paw clamp mechanism and finger telescoping mechanism constitute the combined type clamping, form the sealing of power to the angle steel clamping, thereby have improved the reliability of clamping.
5. the paw clamp mechanism of terminal executing agency according to claim 2, it is characterized in that lower plate front end working face 8 and 9 adopts the bigger elastomeric material of coefficient of friction, increase the coefficient of friction of clamping face and angle steel contact-making surface, thereby increased frictional force, improved the reliability of clamping.
6. the Wrist mechanism in the terminal executing agency according to claim 1, its wrist worm screw 23 is installed on the wrist electric machine support 14, wrist electric machine support 14 is connected by support column 16 with claim 2 described paw clamp mechanism train wheel bridges 7, the sleeve 22 of wrist worm gear 15 is installed on the wrist rotating shaft 21, by the rotating speed of controlling the wrist motor 24 that is connected with worm screw 23 and the anglec of rotation and the direction that direction can be controlled claw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010500522XA CN102059704B (en) | 2010-10-08 | 2010-10-08 | Novel iron tower climbing robot manipulator device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010500522XA CN102059704B (en) | 2010-10-08 | 2010-10-08 | Novel iron tower climbing robot manipulator device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102059704A true CN102059704A (en) | 2011-05-18 |
| CN102059704B CN102059704B (en) | 2012-07-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010500522XA Expired - Fee Related CN102059704B (en) | 2010-10-08 | 2010-10-08 | Novel iron tower climbing robot manipulator device |
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| Country | Link |
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| CN (1) | CN102059704B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107826937A (en) * | 2016-03-23 | 2018-03-23 | 沈宝霞 | The electric power tower maintenance equipment and its application method of installation suggestion lamp |
| CN109015701A (en) * | 2018-09-13 | 2018-12-18 | 南京工程学院 | A kind of clamping device and its clamp method |
| CN114012748A (en) * | 2021-11-02 | 2022-02-08 | 山东科技大学 | Transmission tower humanoid climbing robot |
| CN115041952A (en) * | 2021-06-21 | 2022-09-13 | 国网安徽省电力有限公司 | Climbing operation platform with bolt tightening function and operation method |
| CN118003358A (en) * | 2024-04-09 | 2024-05-10 | 季华实验室 | Manipulator for workpiece posture adjustment and positioning |
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| US4993912A (en) * | 1989-12-22 | 1991-02-19 | Chamberlain Mrc, Division Of Duchossois Industries, Inc. | Stair climbing robot |
| JP2007130701A (en) * | 2005-11-09 | 2007-05-31 | Ishikawajima Harima Heavy Ind Co Ltd | Leg-wheel type mobile robot and stair walking method therefor |
| CN201038657Y (en) * | 2007-03-13 | 2008-03-19 | 国网北京电力建设研究院 | Transmission line iron tower climbing machine |
| CN101168254A (en) * | 2006-10-25 | 2008-04-30 | 上海求是机器人有限公司 | Swinging arm type transmission line polling robot |
| CN101168253A (en) * | 2006-10-25 | 2008-04-30 | 上海求是机器人有限公司 | Transmission line polling robot mechanical arm device |
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2010
- 2010-10-08 CN CN201010500522XA patent/CN102059704B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4993912A (en) * | 1989-12-22 | 1991-02-19 | Chamberlain Mrc, Division Of Duchossois Industries, Inc. | Stair climbing robot |
| JP2007130701A (en) * | 2005-11-09 | 2007-05-31 | Ishikawajima Harima Heavy Ind Co Ltd | Leg-wheel type mobile robot and stair walking method therefor |
| CN101168254A (en) * | 2006-10-25 | 2008-04-30 | 上海求是机器人有限公司 | Swinging arm type transmission line polling robot |
| CN101168253A (en) * | 2006-10-25 | 2008-04-30 | 上海求是机器人有限公司 | Transmission line polling robot mechanical arm device |
| CN201038657Y (en) * | 2007-03-13 | 2008-03-19 | 国网北京电力建设研究院 | Transmission line iron tower climbing machine |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107826937A (en) * | 2016-03-23 | 2018-03-23 | 沈宝霞 | The electric power tower maintenance equipment and its application method of installation suggestion lamp |
| CN109015701A (en) * | 2018-09-13 | 2018-12-18 | 南京工程学院 | A kind of clamping device and its clamp method |
| CN109015701B (en) * | 2018-09-13 | 2021-07-27 | 南京工程学院 | Clamping device and clamping method thereof |
| CN115041952A (en) * | 2021-06-21 | 2022-09-13 | 国网安徽省电力有限公司 | Climbing operation platform with bolt tightening function and operation method |
| CN115041952B (en) * | 2021-06-21 | 2024-05-10 | 国网安徽省电力有限公司 | Climbing operation platform with bolt tightening function and operation method |
| CN114012748A (en) * | 2021-11-02 | 2022-02-08 | 山东科技大学 | Transmission tower humanoid climbing robot |
| CN114012748B (en) * | 2021-11-02 | 2023-04-11 | 山东科技大学 | Transmission tower humanoid climbing robot |
| CN118003358A (en) * | 2024-04-09 | 2024-05-10 | 季华实验室 | Manipulator for workpiece posture adjustment and positioning |
| CN118003358B (en) * | 2024-04-09 | 2024-06-21 | 季华实验室 | Manipulator for workpiece posture adjustment and positioning |
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| Publication number | Publication date |
|---|---|
| CN102059704B (en) | 2012-07-25 |
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Granted publication date: 20120725 Termination date: 20131008 |