CN102689308A - Mechanical arm climbing equipment - Google Patents
Mechanical arm climbing equipment Download PDFInfo
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- CN102689308A CN102689308A CN2012100013892A CN201210001389A CN102689308A CN 102689308 A CN102689308 A CN 102689308A CN 2012100013892 A CN2012100013892 A CN 2012100013892A CN 201210001389 A CN201210001389 A CN 201210001389A CN 102689308 A CN102689308 A CN 102689308A
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- pawl
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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 life, work high above the ground constantly increases, and sets up cable, maintenance, porcelain vase cleaning etc. like high building cleaning, paint, spray paint, rescue, the examination and maintenance of bridge hawser, power system in modern times.These work have brought very big portion's peace factor for 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 such as Chinese patent 200620088771.1 disclosed " a kind of Pneumatic pole-climbing robot "; This climbing level robot comprises support and is arranged at being used for and corresponding pole-climbing clamping or the upper and lower pawl of climbing that disengages of support front side; The upper and lower pawl of climbing comprises at least one pair of upper and lower folding corpus unguis and the upper and lower power intake that receives the corresponding upper and lower folding corpus unguis opening and closing movement of control behind the push-pull effort respectively, on the upper and lower power intake respectively correspondence be connected with upper and lower horizontal air cylinder.Upper and lower climbing also is provided with between the pawl and said upper and lower vertical cylinder of climbing the pawl coordinated and its corresponding pole-climbing in edge of pole-climbing being climbed.When need are upwards creeped along corresponding pole-climbing; The first step; Following horizontal air cylinder drive climb the pawl applied thrust downwards so that under climb pawl and corresponding pole-climbing grips; Vertical cylinder drives the pawl that swashes and climbs relatively down after pawl moves upward, last horizontal air cylinder climb the pawl applied thrust so that swash pawl and corresponding pole-climbing grip; Second step; Following horizontal air cylinder climb downwards that pawl applies pulling force so that under climb pawl and throw off corresponding pole-climbing; Climbing the pawl pawl that swashes relatively under vertical cylinder drives moves upward; Descend subsequently horizontal air cylinder climb the pawl applied thrust downwards so that under climb pawl and corresponding pole-climbing grips, the completion of so back and forth accomplishing is done along the action of climbing of pole-climbing.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; Promptly need two to overlap drive system independently and control the clamping of the 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 when pole-climbing upwards, swashes greatly.
Summary of the invention
The object of the present invention is to provide a kind of when 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 being used for and corresponding pole-climbing clamping and the upper and lower pawl of climbing that disengages of support front side that the described pawl that swashes comprises at least one pair of the folding corpus unguis and receives the corresponding last power intake of going up folding corpus unguis opening and closing movement of control behind the push-pull effort; The described following following power intake of controlling folding corpus unguis opening and closing movement under the said correspondence after pawl comprises at least one pair of following folding corpus unguis and receives push-pull effort of climbing; Also be provided with on the support with said power intake down and be in transmission connection and apply the following pawl driving mechanism of climbing of push-pull effort to it; Described upper and lower climbing also is provided with between the pawl and the said upper and lower elevating mechanism of climbing the pawl coordinated and its corresponding pole-climbing in edge of manipulator pole-climbing being climbed, and the said folding corpus unguis of going up of control cooperated with corresponding pole-climbing clamping after described upward power intake received pulling force; The said power intake of going up receives after the thrust that control is said goes up the folding corpus unguis and corresponding pole-climbing disengages; Described elevating mechanism comprises the elevating lever by drive power source and the motion of said relatively support liftable; The upper end edge fore-and-aft direction of elevating lever guiding slidable fit has with said and goes up that power intake is in transmission connection and go up the horizontal sliding bar that power intake applies push-pull effort to said; The slidable fit that leads along the vertical direction on the support has slide block; Described manipulator climber also comprises the linkage that upper end and said horizontal sliding bar are hinged and connected, lower end and said slide block are hinged and connected, and described support is provided with when elevating lever rises and cooperates so that move the upper limit structure that afterwards power intake on said is applied pulling force behind the said linkage drive horizontal sliding bar with said slide block block; Also be provided with on the described support when support rises and cooperate so that linkage drives the lower limit structure of horizontal sliding bar reach back to power intake applied thrust on said with said slide block block.
Bracing frame and described elevating lever guiding slidable fit that described horizontal sliding bar is connected through said elevating lever upper end; Described upward folding corpus unguis is the relative arc corpus unguis of a pair of recess; The described pawl that swashes also comprises the scissors transmission mechanism that is in transmission connection with said a pair of arc corpus unguis; Described scissors transmission mechanism comprises that the first couple that rear end and said horizontal sliding bar are hinged and connected intersects the second couple that lever arm and middle part and support frame as described above be hinged and connected and intersect lever arm; Said first pair of front end that intersects each lever arm in the lever arm respectively with second pair of corresponding being hinged and connected in rear end of intersecting each lever arm in the lever arm; The front end of each lever arm in said second pair of intersection lever arm is connected with said corresponding arc corpus unguis respectively, and described scissors transmission mechanism has constituted described power intake.
The front end of support frame as described above is provided with the adjutage that extends forward, and the front end of said adjutage is fixed with to the jointed shaft that extends below, and the middle part of said second pair of intersection lever arm being hinged and connected through 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 the upper end all is hinged and connected with said horizontal sliding bar; Described linkage also comprises the middle brace that the lower end of upper end and said two L type braces is hinged and connected, and the lower end and the described slide block of said middle brace 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 the axle sleeve end cap away from an end of the said pawl that swashes; Sleeve end covers and has pilot hole; The structure of described horizontal sliding bar is the multidiameter structure, and the big footpath section of multidiameter structure cooperates with the identical slide-and-guide of the cylindrical inner chamber of support frame as described above; Pass in the pilot hole of path section by said axle sleeve end cap of multidiameter structure and cooperate with the hole wall of the described pilot hole slide-and-guide that coincide, the horizontal sliding bar periphery between said hubcap and the said big footpath section is arranged with spring.
Be fixed with rack structure on the described elevating lever, described power source is included in the reducing motor of installing on the said support that passes through gear drive and said rack structure engaged transmission.
Described support is a body structure.Described body structure comprises upper box lid and following 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, and described upper box lid has constituted described lower limit structure, and described upper limit structure is the limiting plate that is fixed on said lead upper end.
Said support and the said corresponding position of climbing pawl down are fixed with down climbs the pawl outer shaft; The rear end of climbing the pawl outer shaft down is provided with down climbs pawl axle sleeve end cap; Under climb the pawl sleeve end cover have in the axle pilot hole; Climb in the pawl outer shaft the interior axle that the multidiameter structure is arranged along fore-and-aft direction guiding slidable fit down, the front end of interior axle is climbed pawl down and is in transmission connection with said, and the path section of interior axle is by passing in the described interior pilot hole; Said climb down pawl axle sleeve end cap with said in path section periphery between the axle be arranged with spring, the described pawl driving mechanism of climbing down is included in the steering wheel that is connected on the said support and be in transmission connection through steel wire rope and said interior path section.
Be provided with holding frame between the pawl in said upper and lower climbing on the described support, be rotatably equipped with a pair of hold-down roll that cooperates with corresponding pole-climbing clamping guiding of being used on the described holding frame; The top is furnished with the top spring between described support and at least one hold-down roll.
Also be provided with the Single-chip Controlling mechanism of said reducing motor rotating of control and said steering wheel angular deflection on the described support.
Beneficial effect of the present invention is: when this manipulator climber of needs is upwards creeped along corresponding pole-climbing; The first step; Under climb and climb pawl under the pawl drive mechanism and corresponding pole-climbing grips; Elevating lever moves upward under the driving of power source, and elevating lever drives horizontal sliding bar in the process that moves upward, swash pawl and linkage together move upward, and the upper limit structure block that is connected on the slide block of linkage and the frame subsequently cooperates; Along with the continuation of elevating lever is risen, horizontal sliding bar is applying pulling force to the pawl power intake that swashes under the drive of linkage and is making the folding corpus unguis and corresponding pole-climbing grips; Second step, to climb down and climb pawl and corresponding pole-climbing disengagement under the pawl drive mechanism, this moment, the upper end owing to elevating lever was connected through swash pawl and pole-climbing; The drive power source elevating lever moves downward, and promptly the relative elevating lever of support moves upward, and support drives the lower limit structure and moves upward; In the lower limit structure with after the slide block block cooperates; Move on support continues, horizontal sliding bar is at power intake applied thrust and make the folding corpus unguis and the corresponding pole-climbing disengagement upwards drive of linkage under, and then through under climb and climb pawl under the pawl drive mechanism and corresponding pole-climbing grips; So reciprocating action just can be accomplished doing along the pole-climbing action of climbing of this manipulator climber.Acting in conjunction through horizontal sliding bar, linkage, slide block and upper and lower limit bit architecture; After making the lifting action completion of support; Swash pawl and pole-climbing clamping, throw off action and just begin automatically, the pole-climbing action of manipulator climber when pole-climbing upwards quite coordinated.
Description of drawings
Fig. 1 is the structural representation of the embodiment of the invention 1;
Fig. 2 is the structural representation of holding frame among Fig. 1;
Fig. 3 is the cooperation sketch map of pawl, linkage and elevating lever of swashing among Fig. 1;
Fig. 4 is the vertical view of Fig. 3;
Fig. 5 is the cooperation sketch map of pawl, horizontal sliding bar and bracing frame of swashing in the embodiment of the invention 2.
The specific embodiment
A kind of embodiment 1 of manipulator climber is shown in Fig. 1 ~ 4: the support 4 that comprises body structure; All be arranged with case lid around the support; The front side of support 4 be provided be used for corresponding pole-climbing clamping and disengage swash pawl 19 with climb pawl 11 down, the pawl 19 that swashes comprises that a pair of folding corpus unguis of going up controls this last power intake to last folding corpus unguis opening and closing movement with receiving behind the push-pull effort; Climb down and control this following power intake after pawl 11 comprises a pair of folding corpus unguis down and receives push-pull effort following folding corpus unguis opening and closing movement.Upper and lower climbing also is provided with between the pawl and said upper and lower elevating mechanism of climbing the pawl coordinated and its corresponding pole-climbing in edge of manipulator pole-climbing being climbed.The slidable fit that leads along the vertical direction in the support 4 has the upper box lid 33 that runs through support 4 and the elevating lever 7 of following case lid 8; Be integrally formed with rack structure 6 on the elevating lever 7, also be provided with two ends up and down that slip cap is located at elevating lever 7 on the support 4 rack structure 6 is carried out spacing upper rack position limiting structure (not shown) of block and following tooth bar position limiting structure 9.The preceding case lid 21 of support 4 has fixedly connected to the inner side reducing motor 13; The clutch end of reducing motor 13 moves up and down to drive elevating lever 7 relative supports 4 through gear drive and rack structure 6 engaged transmission, 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 the limiting plate 27 and cooperating with limiting plate 27 guiding; 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, and the rear end of bracing frame 24 is provided with hubcap 25, and the center of hubcap 25 has pilot hole 26; The horizontal sliding bar 29 that the multidiameter structure is arranged along fore-and-aft direction guiding slidable fit in the inner chamber of bracing frame 24; The big footpath section 29-2 of horizontal sliding bar 29 and the cylindrical inner chamber of bracing frame 24 slide-and-guide that coincide cooperates, passes in the pilot hole 26 of path section 29-1 by hubcap 25 of multidiameter 29 and cooperates with the hole wall of pilot hole 26 slide-and-guide that coincide, and hubcap 25 is arranged with spring 30 with horizontal sliding bar 29 peripheries between section 29-2 greatly directly.Support 4 is provided with the following of bracing frame 24 and horizontal sliding bar 29 same structures with the corresponding position of climbing pawl 11 down and climbs the pawl outer shaft and lead slidable fit in the interior axle of climbing the multidiameter structure in the pawl outer shaft down along fore-and-aft direction; The rear end of climbing the pawl outer shaft down is provided with down climbs pawl axle sleeve end cap; Under climb the pawl sleeve end cover have in the axle pilot hole; The front end of interior axle is in transmission connection with the following power intake of climbing pawl 11 down; In axle big footpath section with climb down the pawl axle sleeve and lead and be slidingly matched; The path section of interior axle is by passing in the interior axle pilot hole; Be arranged with spring in the big footpath section of interior axle and the interior axle path section periphery between the hubcap, the preceding case lid 21 of support 4 fixedly connected to the inner side the steering wheel 10 that the path section through steel wire rope and interior axle is in transmission connection, and the deflection pulling steel wire rope through steering wheel 10 makes down the folding corpus unguis cooperate with corresponding pole-climbing clamping so that interior axle applies pulling force to following power intake; When steering wheel 10 not deflections, interior axle is climbed the following power intake applied thrust of pawl 11 downwards and the following folding corpus unguis and the pole-climbing of climbing pawl 11 is down disengaged under the reset response of spring.Wherein the guiding slidable fit has slide block 15 on lead 14; Limiting plate 27 has constituted the upper limit structure of slide block 15 in sliding process; The upper box lid 33 of support 4 has constituted the lower limit structure of slide block 15 in sliding process; Be provided with linkage between horizontal sliding bar 29 and the slide block 15; Linkage comprises two along the L shaped brace 17 that left and right directions is set up in parallel and the upper end all is hinged and connected with horizontal sliding bar 29, and the middle brace 16 that linkage comprises also that the lower end of upper end and two L shaped braces 17 is hinged and connected, lower end and slide block 15 are hinged and connected is when elevating lever 7 risings; Limiting plate 27 cooperates with slide block 15 blocks, and slide block 15 drives to move behind the horizontal sliding bar 29 through linkage the pawl 19 that swashes is applied pulling force so that the pawl 19 that swashes cooperates with corresponding pole-climbing clamping; When support 4 rose, upper box lid 33 cooperated with slide block 15 blocks, slide block 15 through linkage drive horizontal sliding bar 29 move forward to swash pawl 19 applied thrusts so that swash pawl 19 and corresponding pole-climbing disengage.
Upper and lower structure of climbing pawl is identical; Upper and lower folding corpus unguis by a pair of recess relatively and receive relative motion behind the pulling force, the arc corpus unguis of the motion that receives to support or oppose after the thrust constitutes; Upper and lower power intake all has the scissors transmission mechanism that is in transmission connection with corresponding arc corpus unguis to constitute; The periphery of arc corpus unguis all is arranged with increases the friction sleeve 20 that frictional force is used; The second couple intersection lever arm 32 that is provided with before and after the scissors transmission mechanism comprises and first pair of intersection lever arm 31; The front end of second pair of intersection lever arm 32 and corresponding arc corpus unguis are fixedly connected; The second pair of rear end that intersects lever arm 32 is hinged and connected with corresponding first pair front end that intersects lever arm 31, wherein intersects the rear end of lever arm 31 and the front end of horizontal sliding bar 29 with pawl 19 corresponding the first couples that swash and is hinged and connected, and time climbs pawl 11 corresponding the first couples and intersects the rear end of lever arm 31 and interior front end and be hinged and connected; Bracing frame 24 is respectively equipped with the last adjutage 23 and decurrence semi-girder 34 that extends forward with the front end of climbing the pawl outer shaft down; The front end of said upper and lower adjutage is fixed with to the upper and lower jointed shaft that extends below; Wherein go up the jointed shaft of jointed shaft 22 for being obliquely installed; Last jointed shaft 22 becomes 10 ~ 20 angle with vertical direction; Intersect the middle part of lever arm 32 with pawl 19 corresponding the second couples that swash and realize and being hinged and connected of bracing frame 24, and climb down that pawl 11 corresponding the second couples intersect that the middle part of lever arm 32 is realized through jointed shaft down and climb being hinged and connected of pawl outer shaft down through last jointed shaft 32.The lower end of last jointed shaft 22 also is fixed with the elasticity support sheet 18 that extends and be used to support corresponding pole-climbing forward through nut.Also be provided with the Single-chip Controlling mechanism of said reducing motor 13 rotatings of control and 10 angular deflections of said steering wheel on the support 4; 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 write control program on single-chip microcomputer 3, gauge tap can realize manually controlling reducing motor 13 rotatings and steering wheel 10 fixed angle deflections.
Preceding case lid 21 outsides of support 4 are provided with holding frame 12; Holding frame 12 comprises two along left and right directions is set up in parallel and bearing of trend all extends forward left cantilever 12-1 and right cantilever 12-4; The front end of left and right cantilever is connected with front rod 12-3; The rear end of left and right cantilever is fixedly connected with the preceding case lid 21 of support 4; Preceding case lid 21 outsides of front rod 12-3 and support 4 also are provided with two pairs towards relative preceding middle cantilever 12-2 and the middle cantilever 12-7 in back; Be rotatably equipped with a pair of front clamp roller 28-1 that is used for cooperating and back hold-down roll 28-2 in the middle of two pairs between cantilever with corresponding pole-climbing clamping guiding; The periphery of forward and backward hold-down roll is provided with the inner concave arc surface that cooperates with corresponding pole-climbing guiding, has the endoporus that extends along fore-and-aft direction in the middle of the back in the cantilever 12-7, and the guiding slidable fit has a pair roller slide block 12-6 in the endoporus; The right ends of the roller bearing of back hold-down roll 28-2 is rotated respectively and is assemblied on two roller slide block 12-6, is provided with the top spring 12-5 of the corresponding roller slide block of subtend 12-6 applied thrust in the endoporus.Wherein left cantilever 12-1 is removable cantilever; Preceding case lid 21 outsides of support 4 are provided with the chute 40 that cooperates with left cantilever 12-1 guide and limit with the corresponding position of left cantilever 12-1; Also be fixed with connecting axle 41 on the cantilever 12-7 in the middle of the back, connecting axle 41 is by passing among the left cantilever 12-1 and being connected with left cantilever 12-1 through pin 12-8.Through left cantilever 12-1 be free to cooperating of connecting axle 41 two clampings wheel is installed in the corresponding pole-climbing.
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 the elevating lever 7 can also not established, and at this moment, can realize the lifting action of elevating lever through toggle; Certainly, can also realize control through cylinder or oil cylinder to the lifter rod lifting action; Linkage can also include only a brace, and the upper end and the horizontal sliding bar of this brace are hinged and connected, and the lower end and the slide block of brace are hinged and connected; Certainly slide block 15 can also be through elevating lever 7 guiding slidable fit on support 4; Can also be replaced by oil cylinder, cylinder or toggle with the following pawl 11 corresponding following pawl driving mechanisms of climbing of climbing; The structure of climbing pawl certainly down also can be replaced by the pawl structure of climbing that receives the thrust clamping, thrown off by pulling force disclosed in the Chinese patent 200620088771.1; Certainly Single-chip Controlling mechanism also can adopt Long-distance Control; Certainly can also be employed in upper and lower limit bit architecture place the deflection that the formation switch is controlled steering wheel 10 is set.
When needs make progress pole-climbing; In the pole-climbing that earlier two hold-down roll is clamped; Holding frame 12 is for providing three strong point for the manipulator climber except that upper and lower climbing the pawl, increased the stability of this manipulator climber, steering wheel 10 deflections through the cooperation of two hold-down roll; Move behind the axle in the steel wire rope pulling and the following folding corpus unguis of climbing pawl 11 down applied pulling force, following folding corpus unguis under the effect of pulling force and pole-climbing grip.Reducing motor 13 is just changeing; Engaged transmission through rack-and-pinion; Elevating lever 7 drives on bracing frame 24, horizontal sliding bars 29, the pawl 19 that swashes, linkage and the slide block 15 and moves, when slide block 15 with after limiting plate 27 blocks cooperate, move in elevating lever 7 continuation; Linkage moves behind the spacing horizontal sliding bar 29 of pulling down of slide block 15 and the pawl 19 corresponding scissors transmission mechanisms that swash is applied pulling force, and the last 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, climb the following folding corpus unguis and the pole-climbing of pawl 11 down and throw off, and reducing motor 13 reverses; Last jointed shaft 22 makes the pawl 19 that swashes be set to 10 ~ 20 angle with level; Elevating lever 7 can be fixed with the pole-climbing maintenance down with elastic block piece 18 actings in conjunction with the friction self-locking of pole-climbing at the pawl 19 of swashing, thus move on the entire bracket 4, when the upper box lid 33 of support 4 with after slide block 15 blocks cooperate; Linkage drives the scissors transmission mechanism applied thrust of horizontal sliding bar 29 reaches and pawl 19 correspondences of climbing; The last folding corpus unguis of pawl 19 of swashing is thrown off with pole-climbing under the effect of thrust, and following folding corpus unguis and the pole-climbing of climbing pawl 11 subsequently down grip, and repeats said process afterwards and just can accomplish the pole-climbing that makes progress and move.When the manipulator climber needs downward pole-climbing, upper and lower climb pawl all with the pole-climbing disengagement, under the effect of two hold-down roll, its slip of manipulator pole-climbing is climbed pawl 11 and is realized fixing of manipulator climber through controlling down when the bottom surface.
A kind of embodiment 2 of manipulator climber is as shown in Figure 5: with implement 1 and different be; Bracing frame 47 is provided with first guide rail 42 and second guide rail that guide direction is extended along fore-and-aft direction; Horizontal sliding bar 43 guiding slidable fit are on second guide rail; The pawl that swashes comprises the standing part 45 and the movable part 46 of guiding slidable fit on first guide rail that is connected with bracing frame 47; Movable part 46 is in transmission connection through two pin-joint pieces 44 and horizontal sliding bar 43, and the front end of two pin-joint pieces 44 and movable part 46 are hinged and connected, and the front end of the rear end of two pin-joint pieces and horizontal sliding bar 43 is hinged and connected.48 expressions are used for the arc-shaped notch of the corresponding pole-climbing of clamping among the figure.
Claims (10)
1. manipulator climber; Comprise support and be arranged at being used for and corresponding pole-climbing clamping and the upper and lower pawl of climbing that disengages of support front side that the described pawl that swashes comprises at least one pair of the folding corpus unguis and receives the corresponding last power intake of going up folding corpus unguis opening and closing movement of control behind the push-pull effort; The described following following power intake of controlling folding corpus unguis opening and closing movement under the said correspondence after pawl comprises at least one pair of following folding corpus unguis and receives push-pull effort of climbing; Also be provided with on the support with said power intake down and be in transmission connection and apply the following pawl driving mechanism of climbing of push-pull effort to it; Described upper and lower climbing also is provided with between the pawl and the said upper and lower elevating mechanism of climbing the pawl coordinated and its corresponding pole-climbing in edge of manipulator pole-climbing being climbed, and it is characterized in that: the said folding corpus unguis of going up of control cooperated with corresponding pole-climbing clamping after described upward power intake received pulling force; The said power intake of going up receives after the thrust that control is said goes up the folding corpus unguis and corresponding pole-climbing disengages; Described elevating mechanism comprises the elevating lever by drive power source and the motion of said relatively support liftable; The upper end edge fore-and-aft direction of elevating lever guiding slidable fit has with said and goes up that power intake is in transmission connection and go up the horizontal sliding bar that power intake applies push-pull effort to said; The slidable fit that leads along the vertical direction on the support has slide block; Described manipulator climber also comprises the linkage that upper end and said horizontal sliding bar are hinged and connected, lower end and said slide block are hinged and connected, and described support is provided with when elevating lever rises and cooperates so that move the upper limit structure that afterwards power intake on said is applied pulling force behind the said linkage drive horizontal sliding bar with said slide block block; Also be provided with on the described support when support rises and cooperate so that linkage drives the lower limit structure of horizontal sliding bar reach back to power intake applied thrust on said with said slide block block.
2. manipulator climber according to claim 1; It is characterized in that: bracing frame and described elevating lever guiding slidable fit that described horizontal sliding bar is connected through said elevating lever upper end; Described upward folding corpus unguis is the relative arc corpus unguis of a pair of recess; The described pawl that swashes also comprises the scissors transmission mechanism that is in transmission connection with said a pair of arc corpus unguis; Described scissors transmission mechanism comprises that the first couple that rear end and said horizontal sliding bar are hinged and connected intersects the second couple that lever arm and middle part and support frame as described above be hinged and connected and intersect lever arm; Said first pair of front end that intersects each lever arm in the lever arm respectively with second pair of corresponding being hinged and connected in rear end of intersecting each lever arm in the lever arm; The front end of each lever arm in said second pair of intersection lever arm is connected with said corresponding arc corpus unguis respectively, and described scissors transmission mechanism has constituted 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 that extends forward; The front end of said adjutage is fixed with to the jointed shaft that extends below, and the middle part of said second pair of intersection lever arm being hinged and connected through described jointed shaft realization and support frame as described above.
4. according to any described manipulator climber of claim 1 ~ 3; It is characterized in that: described linkage comprises that two are set up in parallel and L type brace that the upper end all is hinged and connected with said horizontal sliding bar; Described linkage also comprises the middle brace that the lower end of upper end and said two L type braces is hinged and connected, and the lower end and the described slide block of said middle brace 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 the axle sleeve end cap away from an end of the said pawl that swashes; Sleeve end covers and has pilot hole, and the structure of described horizontal sliding bar is the multidiameter structure, and the big footpath section of multidiameter structure cooperates with the identical slide-and-guide of the cylindrical inner chamber of support frame as described above; Pass in the pilot hole of path section by said axle sleeve end cap of multidiameter structure and cooperate with the hole wall of the described pilot hole slide-and-guide that coincide, the horizontal sliding bar periphery between said hubcap and the said big footpath section is arranged with spring.
6. manipulator climber according to claim 1 is characterized in that: be fixed with rack structure on the described elevating lever, described power source is included in the reducing motor of installing on the said support that passes through gear drive and said rack structure engaged transmission.
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 following case lid; Described elevating lever runs through described upper and lower case lid, and described upper box lid is fixed with the lead that length is extended along the vertical direction, and described slider guide slidable fit is on described lead; Described upper box lid has constituted described lower limit structure, and described upper limit structure is the limiting plate that is fixed on said lead upper end.
8. manipulator climber according to claim 6; It is characterized in that: said support and the said corresponding position of climbing pawl down are fixed with down climbs the pawl outer shaft; The rear end of climbing the pawl outer shaft down is provided with down climbs pawl axle sleeve end cap; Under climb the pawl sleeve end cover have in the axle pilot hole; Climb in the pawl outer shaft the interior axle that the multidiameter structure is arranged along fore-and-aft direction guiding slidable fit down, the front end of interior axle is climbed pawl down and is in transmission connection with said, and the path section of interior axle is by passing in the described interior pilot hole; Said climb down pawl axle sleeve end cap with said in path section periphery between the axle be arranged with spring, the described pawl driving mechanism of climbing down is included in the steering wheel that is connected on the said support and be in transmission connection through steel wire rope and said interior path section.
9. manipulator climber according to claim 1 is characterized in that: be provided with holding frame between the pawl in said upper and lower climbing on the described support, be rotatably equipped with a pair of hold-down roll that cooperates with corresponding pole-climbing clamping guiding of being used on the described holding frame; The top is furnished with the top spring between described support and at least one hold-down roll.
10. manipulator climber according to claim 8 is characterized in that: the Single-chip Controlling mechanism that also is provided with said reducing motor rotating of control and said steering wheel angular deflection on the described support.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210001389.2A CN102689308B (en) | 2012-01-04 | 2012-01-04 | Mechanical arm climbing equipment |
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| 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 true CN102689308A (en) | 2012-09-26 |
| CN102689308B 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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| CN104443099A (en) * | 2014-11-14 | 2015-03-25 | 电子科技大学 | Duct assistant ladder crawling robot |
| CN105030332A (en) * | 2015-04-29 | 2015-11-11 | 郑步峰 | ERCP auxiliary manipulator device |
| CN105059417A (en) * | 2015-09-02 | 2015-11-18 | 哈尔滨工业大学 | Pole climbing robot based on spring telescopic mechanism |
| CN105253213A (en) * | 2015-10-27 | 2016-01-20 | 昆明理工大学 | Pole-climbing robot |
| CN105729487A (en) * | 2016-04-29 | 2016-07-06 | 中国矿业大学 | Holding type mine hoist inspection robot |
| CN106737876A (en) * | 2017-02-13 | 2017-05-31 | 云南电网有限责任公司电力科学研究院 | A kind of mechanical arm overload protection arrangement of power equipment X-ray detection |
| CN107769075A (en) * | 2017-11-09 | 2018-03-06 | 梁瑞城 | A kind of electric power automatic climbing pole wire-sending device |
| CN108974169A (en) * | 2018-08-13 | 2018-12-11 | 邢志平 | A kind of power cord bar climbing level robot |
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| CN109250006A (en) * | 2018-09-05 | 2019-01-22 | 浙江工业大学 | A kind of link-type climbing level robot |
| CN109350931A (en) * | 2018-11-21 | 2019-02-19 | 广州供电局有限公司 | Electric power tower climbing device |
| CN112273053A (en) * | 2020-11-27 | 2021-01-29 | 南宁学院 | Flexible passion fruit picking manipulator end effector |
| CN112353579A (en) * | 2020-11-13 | 2021-02-12 | 长春理工大学 | Traction type device for assisting old people in climbing stairs and using method thereof |
| BE1027345B1 (en) * | 2019-06-27 | 2021-06-01 | Univ Anhui Sci & Technology | Bionic robot for climbing poles |
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| CN104443099A (en) * | 2014-11-14 | 2015-03-25 | 电子科技大学 | Duct assistant ladder crawling robot |
| CN104443099B (en) * | 2014-11-14 | 2016-04-06 | 电子科技大学 | A kind of duct assists steps climbing robot |
| CN105030332A (en) * | 2015-04-29 | 2015-11-11 | 郑步峰 | ERCP auxiliary manipulator device |
| CN105059417A (en) * | 2015-09-02 | 2015-11-18 | 哈尔滨工业大学 | Pole climbing robot based on spring telescopic mechanism |
| CN105253213A (en) * | 2015-10-27 | 2016-01-20 | 昆明理工大学 | Pole-climbing robot |
| CN105729487A (en) * | 2016-04-29 | 2016-07-06 | 中国矿业大学 | Holding type mine hoist inspection robot |
| CN106737876A (en) * | 2017-02-13 | 2017-05-31 | 云南电网有限责任公司电力科学研究院 | A kind of mechanical arm overload protection arrangement of power equipment X-ray detection |
| CN107769075A (en) * | 2017-11-09 | 2018-03-06 | 梁瑞城 | A kind of electric power automatic climbing pole wire-sending device |
| CN108974169A (en) * | 2018-08-13 | 2018-12-11 | 邢志平 | A kind of power cord bar climbing level robot |
| CN109093629A (en) * | 2018-08-31 | 2018-12-28 | 国家电网有限公司 | Arrester is from climbing device |
| CN109250006A (en) * | 2018-09-05 | 2019-01-22 | 浙江工业大学 | A kind of link-type climbing level robot |
| CN109350931A (en) * | 2018-11-21 | 2019-02-19 | 广州供电局有限公司 | Electric power tower climbing device |
| CN109350931B (en) * | 2018-11-21 | 2024-02-27 | 广东电网有限责任公司广州供电局 | Electric power iron tower climbing device |
| BE1027345B1 (en) * | 2019-06-27 | 2021-06-01 | Univ Anhui Sci & Technology | Bionic robot for climbing poles |
| CN112353579A (en) * | 2020-11-13 | 2021-02-12 | 长春理工大学 | Traction type device for assisting old people in climbing stairs and using method thereof |
| CN112273053A (en) * | 2020-11-27 | 2021-01-29 | 南宁学院 | Flexible passion fruit picking manipulator end effector |
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