CN104436560A - Climbing robot and under-actuated climbing gripper thereof - Google Patents

Abstract

The invention discloses an underactuated climbing hand grip, which includes a main moving part, a bracket, an auxiliary moving part, a first connecting part, a second connecting part, a third connecting part, a fourth connecting part and an upper platen device and the lower platen device; the auxiliary moving parts are respectively hinged with the main moving part and the first connecting part, and the four connecting parts are hingedly connected in turn to form a four-bar linkage mechanism, and the elastic part and the connecting part are connected between the first connecting part and the fourth connecting part. The limit stay wire; the upper pressing plate device fixedly connected on the fourth connecting part and the lower pressing plate device fixedly connected on the third connecting part are used to clamp the two surfaces of the object; the hinge axes of all hinge points are parallel. The present invention is an under-actuated structure. When in use, the upper and lower pressing plates are successively clamped on the two surfaces of the clamped part, and the clamping surface is large, which is suitable for clamping angle irons of various sizes. The invention also discloses a climbing robot comprising the above-mentioned under-actuated climbing hand grip, and the climbing robot is suitable for climbing iron tower angle iron frames of various sizes.

Description

A climbing robot and its underactuated climbing hand

technical field

The invention relates to the field of robot manufacturing, in particular to an underactuated climbing hand grip. In addition, the present invention also relates to a climbing robot comprising the above-mentioned underactuated climbing hand.

Background technique

In recent years, the safe and stable operation of high-voltage transmission lines has had a great impact on the economic development of the modern power society. As an important facility of transmission lines, the daily inspection, maintenance and repair of power base towers have great significance. The traditional patrol inspection mainly relies on the operation and maintenance team workers to climb the tower for maintenance when the power is off, which is not only dangerous and intensive, but also difficult to efficiently detect the internal state of the structural materials. In other harsh climates, purely manual inspections also have adverse effects on the safety and health of workers.

With the development of science and technology, robot manufacturing and robot application technology are being integrated into more and more working environments.

Applying robots to the inspection of power facilities can not only improve the efficiency of inspection, but also reduce the labor intensity of workers. In the long run, the development of a tower climbing robot that can replace manual inspections has great economic and social significance for the automation of power inspections and the protection of line safety.

At present, among the climbing robots at home and abroad, there are mainly electromagnetic adsorption climbing robots, stepping climbing robots, creeping leaping robots, etc., but the above-mentioned robots are more restricted in the process of grabbing angle irons. The electromagnetic adsorption climbing robot is not suitable for climbing non-planar structures outdoors. The climbing robot uses stepping walking, and its grip can only grasp relatively flat surfaces, and is not completely suitable for the angle iron of the power base tower. It can be seen that the above-mentioned robot and the climbing grip on the robot are not suitable for climbing the angle iron of the base tower. At present, there are no climbing robots and climbing grips that can be exclusively applied to the angle iron structure of the base tower.

To sum up, how to adapt the climbing grip to base tower angle irons of different specifications is a technical problem to be solved by those skilled in the art.

Contents of the invention

The object of the present invention is to provide an under-actuated climbing hand grip, which can adapt to base tower angle irons of different specifications. Another object of the present invention is to provide a climbing robot comprising the above-mentioned underactuated climbing hand.

To achieve the above object, the present invention provides the following technical solutions:

An underactuated climbing hand grasping device for a climbing robot, which includes a main moving part, a bracket and two clamps connected at both ends of the main moving part and symmetrical with respect to the main moving part Part; the clip includes a secondary moving part and a four-bar linkage;

The first connecting piece, the second connecting piece, the third connecting piece and the fourth connecting piece are hinged sequentially to form the four-bar linkage; the first connecting piece and the fourth connecting piece are both hinged with the bracket; One point on the auxiliary moving part is hinged to the main moving part, and the other point is hinged to one point on the first connecting part except the end point; all the hinge axes of the hinges are parallel;

The elastic member and the limit pull wire are connected between the first connecting piece and the fourth connecting piece; the fourth connecting piece is fixedly connected to the upper platen device, the third connecting piece is fixedly connected to the lower platen device, and the upper platen device is fixedly connected to the upper platen device. The clamping surfaces of the clamping plate device and the lower clamping device for clamping the two surfaces of the angle iron are parallel to the hinge axis.

Preferably, the upper platen device includes a support and an upper platen fixed on one side of the support, and the other side of the support is fixed on the fourth connecting piece.

Preferably, the lower pressing plate device is a Z-shaped bent plate, and one plate of the lower pressing plate device is fixed face-to-face with the third connecting piece.

Preferably, the main moving part is sleeved on the bracket, and the main moving part can move along the bracket.

Preferably, a limit stop is also included, the limit stop is arranged between the first connecting piece and the fourth connecting piece, and is fixedly connected to one of the two.

Preferably, the second connecting piece is a bending piece.

Preferably, the two clips are identical.

Preferably, the bracket has a guide hole for socketing the climbing robot body or the slider.

A climbing robot includes an underactuated climbing grip, wherein the underactuated climbing grip is the underactuated climbing grip as described in any one of the above.

Preferably, the climbing robot is a tower angle iron climbing robot.

When the under-actuated climbing hand provided by the present invention is ready to hold, the main moving part moves downwards, pushes the auxiliary moving part to move down, and makes the first connecting part rotate around a point fixed on the bracket. An elastic piece is arranged between the first connecting piece and the fourth connecting piece, and exerts pressure on the fourth connecting piece, so that the fourth connecting piece rotates around a point fixed on the bracket itself, so that the upper platen device rotates downward. Simultaneously, due to the rotation of the first connecting piece and the fourth connecting piece, the spatial angle of the second connecting piece and the third connecting piece on the four-linkage bar is basically unchanged, and the spatial angle of the lower platen device connected thereto is also basically unchanged. constant. When the upper platen is in contact with the clamped part and the fourth connecting part no longer rotates, at this moment, the underactuated climbing grip becomes a linkage mechanism with determined motion, which is the connection between the second connecting part and the third connecting part. The spatial angle changes, driving the lower platen device to rotate until the lower platen device touches the clamped part, and the clamping action is completed.

When the under-actuated climbing hand is ready to break away from the clamped part, on the contrary, under the action of the spring, the lower pressing plate device is opened until the upper pressing plate is pulled away under the action of the limit stay wire and breaks away from the angle iron.

The present invention uses an under-actuated structure, so that the movement of the upper and lower pressing plate devices is asynchronous, and they are respectively clamped on the two surfaces of the clamped part. In addition, the plate contact of the upper and lower pressing plates is used for clamping, and the contact area is large, which can be applied It can adapt to more specifications of base angle iron for more sizes or angles of the supported parts.

The present invention also provides a climbing robot comprising the above-mentioned underactuated climbing hand, the climbing robot can be adapted to use more iron tower climbing mechanisms, compared with the ordinary hand or device in the prior art, It is more targeted and can better clamp the iron tower angle iron.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention, and those skilled in the art can also obtain other drawings according to the provided drawings without creative work.

Fig. 1 is the structural representation of the tightened state in the specific embodiment of the underactuated climbing hand grip provided by the present invention;

Fig. 2 is a schematic structural diagram of a relaxed state in a specific embodiment of the underactuated climbing grip provided by the present invention.

Detailed ways

The core of the present invention is to provide an under-actuated climbing hand grip, which can adapt to base tower angle irons of different specifications. Another core of the present invention is to provide a climbing robot including the above-mentioned underactuated climbing hand.

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Please refer to Fig. 1 and Fig. 2, Fig. 1 is a schematic structural diagram of the tightened state in a specific embodiment of the underactuated climbing grip provided by the present invention, and Fig. 2 is a specific implementation of the underactuated climbing grip provided by the present invention Schematic diagram of the structure in the relaxed state.

The underactuated climbing grip provided by this embodiment is shown in Figure 1. The bracket 2 is a long rod device with a positioning plate connected to one end. The positioning plate is fixedly connected to one end of the long rod body. There is a guide hole for socketing the climbing robot body or slider under the piece, and two symmetrical plates are respectively connected to the two sides of the positioning plate, and the two symmetrical plates are used to connect the clip. There is a hole in the middle of the main moving part 1 , the main moving part 1 can be sleeved on the long rod of the support 2 , and the main moving part 1 can move along the length direction of the support 2 .

Optionally, the structure of the bracket 2 may not be the above-mentioned shape and structure, as long as it can be connected with the clip.

The main moving part 1 is a rectangular long plate, two opposite sides of the rectangular long plate are respectively hinged with two clamps symmetrical to the main moving part 1, and the hinge axes of the two hinged positions are parallel.

The clip includes a secondary moving part 3, a first connecting part 4, a second connecting part 5, a third connecting part 6 and a fourth connecting part 7; the first connecting part 4, the second connecting part 5, the third connecting part 6 and The fourth connector 7 is four long plates, and the four connectors are sequentially hinged to form a four-bar linkage.

Taking the clip on the right side in FIG. 1 as an example, the secondary moving part 3 is a rectangular long plate, one end of which is hinged to the main moving part 1 , and the other end is hinged to the midpoint of the first connecting part 4 .

Optionally, the auxiliary moving part 3 can be hinged with the main moving part 1 at any point on it, and can be hinged at any point except the above-mentioned hinge point with the main moving part 1 with a point on the first connecting part 4 except the end point.

One end of the first connector 4 is hinged with a symmetrical plate on the support 2, the other end of the first connector 4 is hinged with an end of the second connector 5, and the other end of the second connector 5 is hinged with the third connector 6. One end is hinged, the other end of the third connecting piece 6 is hinged with one end of the fourth connecting piece 7 , and the other end of the fourth connecting piece 7 is connected to the first connecting piece 4 on the same symmetrical plate.

Optionally, the hinge between the first connecting piece 4, the second connecting piece 5, the third connecting piece 6 and the fourth connecting piece may not be limited to the end points of each connecting piece, but may be any point on the connecting piece , it is necessary to ensure that the combination of four connecting parts is a four-bar linkage, because the four-bar linkage has shape uncertainty and can achieve the purpose of an underactuated structure.

Optionally, the second connecting piece 5 is a bent plate. Compared with the four-bar linkage mechanism made of a straight plate, when the bent piece rotates, the moment arm is longer, and the force acting on the next connecting piece will be greater. Contribute to the output of a large rotational force.

Between the first connecting part 4 and the fourth connecting part 7, an elastic part 10 and a limit pull wire are arranged, which are respectively used to maintain the relative positions of the two connecting parts when they move towards each other and move away from each other.

Optionally, a limit stopper is also provided between the first connecting piece 4 and the fourth connecting piece 7, and is fixed on the first connecting piece 4 or the fourth connecting piece 7 to ensure that the first connecting piece 4 and the fourth connecting piece The connectors 7 will not fit together.

An upper pressing plate device 8 is fixedly connected to the fourth connecting member 7, which is composed of a support member and an upper pressing plate for clamping the clamped part 11, and one end of the supporting member is fixedly connected to the fourth connecting member 7, The other end is fixed with an upper pressing plate, and the clamping surface of the upper pressing plate is parallel to the hinge axis of the above-mentioned hinge position.

A lower pressing plate device 9 is fixedly connected to the third connecting member 6, and the lower pressing plate device is a Z-shaped bent plate, the plate at one end of which is fixed to the surface of the third connecting member 6, and one at the other end The plate is a lower pressing plate, which is used to cooperate with the upper pressing plate to clamp the clamped part 11, and the clamping surface of the lower pressing plate is parallel to the hinge axis of the above-mentioned hinge position.

The above-mentioned structure is the specific structure and connection method of the first clip on the right side in Fig. 1, wherein the hinge axes of all the above-mentioned hinge points are parallel to each other.

The structure of the second clip is exactly the same as that of the first clip, and it is symmetrically connected to the main moving part 1 . The auxiliary moving part 3 of the second locking part is hinged with the main moving part 1 , and the first connecting part 4 is hinged with another symmetrical plate on the bracket 2 .

Optionally, the first connecting member 4 may also be connected to other positions of the bracket 2 .

The structures and connection points of the above two clips are exactly the same, and they are symmetrical with respect to the main moving part 1 , and the same size can better improve the force balance when the two clips act. Optionally, the sizes of the first clip and the second clip may not be exactly the same.

When the under-actuated climbing hand provided by the present invention is ready to hold, the main moving part 1 pushes the auxiliary moving part 3 to move down, and makes the first connecting part 4 rotate around a point fixed on the bracket 2, through the second An elastic member 10 is arranged between a connecting piece 4 and the fourth connecting piece 7, and exerts pressure on the fourth connecting piece 7 to make the fourth connecting piece 7 rotate around a point fixed to the bracket 2 by itself, so that the upper platen device 8 rotates downward . Simultaneously, due to the rotation of the first connecting piece 4 and the fourth connecting piece 7, the space angle of the second connecting piece 5 and the third connecting piece 6 on the four-bar linkage is basically unchanged, and then the lower platen device 9 connected thereto The angle of space is also basically unchanged. When the upper platen device 8 is in contact with the clamped part 11 and the fourth connecting part 7 no longer rotates, at this moment, the under-actuated climbing hand grabs a movement-determined link mechanism, which is the second connecting part 5 and The spatial angle of the third connecting member 6 changes, which drives the lower platen device 9 to rotate until the lower platen device 9 touches the clamped part 11 to complete the clamping action. The two clips on both sides complete the above-mentioned clamping action and are respectively clamped on the two plates of the angle iron. This symmetrical clamping method can ensure the stability of the hand.

When the under-actuated climbing hand is ready to break away from the clamped part, on the contrary, under the action of the elastic member 10, the lower platen device 9 is opened first until the upper platen device 8 is pulled apart and disengaged under the action of the limit pull wire Clamped piece 11.

The present invention uses an under-actuated structure, so that the movement of the upper and lower pressing plate devices is asynchronous, and they are successively clamped on the two surfaces of the clamped part 11. In addition, the plate contact of the upper and lower pressing plates is used for clamping, and the contact area is large, which can It is suitable for more sizes or angles of the supported parts, and can adapt to more specifications of base tower angle iron.

In addition to the underactuated climbing hand provided by the above embodiment, the present invention also provides a climbing robot including the underactuated climbing hand disclosed in the above embodiment. Please refer to the prior art for the structure of other parts of the climbing robot, which will not be repeated here.

Specifically, the above-mentioned climbing robot may be an iron tower angle iron climbing robot. The climbing hand of iron tower angle iron climbing robot is used for tightening the angle iron of above-mentioned iron tower.

The climbing robot and its underactuated climbing grip provided by the present invention have been introduced in detail above. In this paper, specific examples are used to illustrate the principle and implementation of the present invention, and the descriptions of the above embodiments are only used to help understand the method and core idea of the present invention. It should be pointed out that for those skilled in the art, without departing from the principle of the present invention, some improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims (10)

1. a drive lacking formula climbing hand is grabbed, for the clamping device of climbing robot, it is characterized in that, comprise main moving member (1), support (2) and two are connected to described main moving member (1) two ends and about the symmetrical fastener of described main moving member (1); Described fastener comprises secondary moving member (3) and quadric chain;

First connector (4), the second connector (5), the 3rd connector (6) and the 4th connector (7) are hinged successively, form described quadric chain; Described first connector (4) and described 4th connector (7) all hinged with described support (2); Described secondary moving member (3) is upper a bit hinged with described main moving member (1), one point articulated except end points on another point and described first connector (4); All described hinged jointed shafts are all parallel;

Elastic component (10) and spacing bracing wire is connected between described first connector (4) with described 4th connector (7); Described 4th connector (7) is fixedly connected with top board device (8), described 3rd connector (6) is fixedly connected with lower platen device (9), and the clamping face described top board device (8) and described lower platen device (9) being respectively used to clamp angle bar two faces is all parallel to described jointed shaft.

2. device according to claim 1, is characterized in that, described top board device (8) comprises support member and is fixed on the top board of described support member side, and the opposite side of described support member is fixed on described 4th connector (7).

3. device according to claim 2, is characterized in that, described lower platen device (9) is Z-shaped bending plate, and a plate of described lower platen device (9) and described 3rd connector (6) face, face are fitted fixing.

4. the device according to any one of claims 1 to 3, is characterized in that, described main moving member (1) is enclosed within described support (2), and described main moving member (1) can be mobile along described support (2).

5. the device according to any one of claims 1 to 3, it is characterized in that, also comprise positive stop, described positive stop is arranged between described first connector (4) and described 4th connector (7), and with the two one of be fixedly connected with.

6. the device according to any one of claims 1 to 3, is characterized in that, described second connector (5) is bending member.

7. the device according to any one of claims 1 to 3, is characterized in that, two described fasteners are identical.

8. the device according to any one of claims 1 to 3, is characterized in that, described support (2) has the pilot hole for being socketed climbing robot body or slide block.

9. a climbing robot, comprises drive lacking formula climbing hand and grabs, it is characterized in that, described drive lacking formula climbing hand is grabbed as the drive lacking formula climbing hand as described in any one of claim 1 to 8 is grabbed.

10. device according to claim 9, is characterized in that, described climbing robot is steel tower angle bar climbing robot.