CN105128970A - Pole-climbing robot with grippers controlled by cams - Google Patents
Pole-climbing robot with grippers controlled by cams Download PDFInfo
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- CN105128970A CN105128970A CN201510492046.4A CN201510492046A CN105128970A CN 105128970 A CN105128970 A CN 105128970A CN 201510492046 A CN201510492046 A CN 201510492046A CN 105128970 A CN105128970 A CN 105128970A
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- gripper
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- pole
- robot
- climbing robot
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Abstract
The invention relates to a pole-climbing robot with grippers controlled by cams, pertaining to the field of automated machinery production. The pole-climbing robot is composed of an elevating mechanism, a clamping mechanism, an electrical control part, a bearing and a clutch. The elevating mechanism is composed of a third shaft, a gear screw nut, a lead screw, an upper half shaft and a lower half shaft and used for controlling rising action of the robot.The clamping mechanism is composed of an upper gripper and a lower gripper, identical to each other. Each gripper comprises a cam, a cam push rod guider, a mechanical tong and a gripper connecting rod such that each gripper can be clamped or loosened. The pole-climbing robot with grippers controlled by cams has following beneficial effects: the pole-climbing robot can climb to a rod placed at any position besides a vertical position and moves forwards or backwards at any time and stops at the rod at any moment.
Description
Technical field
The present invention relates to climbing level robot, belong to automatic producing technology field.
Background technology
Modern society more and more be unable to do without robot, uses robot greatly to enhance productivity, people more can be replaced to carry out high-risk work.And aloft work just needs to replace manpower with climbing level robot, thus reduce the risk of people.And wherein much also need climbing level robot to enter pole-climbing operation in different occasion, but the restriction of physical construction causes climbing level robot can not firmly grasp bar from any part of bar, and start to climb, Structure of need is simple in this case, and mode of motion flexibly robot has come.
Summary of the invention
For above-mentioned deficiency, the invention provides a kind of climbing level robot by cam production gripper.
The present invention is achieved by the following technical solutions: by the climbing level robot of cam production gripper, it is characterized in that: it is made up of lifting mechanism, clamping device, electric control system, bearing, power-transfer clutch.
Described lifting mechanism is made up of the 3rd motor, lead screw gear nut, leading screw, upper semiaxis and lower semiaxis, lead screw gear nut bearing is fixed on lower semiaxis, leading screw power-transfer clutch is fixed on semiaxis, gear is equipped with in the rotating shaft of the 3rd motor, frame is fixed on, for rising or the down maneuver of control machine after gears meshing on itself and lead screw gear nut.
Described clamping mechanism is made up of two duplicate upper grippers and lower gripper, all comprise cam, cam follower guides, mechanical gripper, gripper connecting rod, cam is contained on lower shaft, cam follower guides one end is the push rod frame of camming movement, the other end is stuck in the guiding tank of gripper, advanced by cam production cam follower guides or retreat, realize gripper clamping or unclamp.
The invention has the beneficial effects as follows: structure is simple, during application, Assembly &Disassembly is convenient, with leading screw as lifting mechanism major part, the distance of pole-climbing accurately can be controlled again while held stationary when can make robot pole-climbing, the bar of any placement being not limited to vertical position can be climbed, and enter pole-climbing operation from the optional position of bar.
Accompanying drawing explanation
Fig. 1 is structural principle schematic diagram front view of the present invention;
Fig. 2 is structural principle schematic diagram birds-eye view of the present invention;
Fig. 3 is structural principle schematic diagram axonometric drawing of the present invention;
Wherein, 1-first motor, 2-coupler, the upper semiaxis of 3-, 4-cam follower guides, 5-gripper connecting rod, 6-power-transfer clutch, 7-leading screw, 8-lead screw gear nut, 9-the 3rd motor, 10-second motor, 11-cam, semiaxis under 12-, 13-mechanical gripper, 14-bearing, 15-gear.
Detailed description of the invention
Climbing level robot of the present invention is made up of lifting mechanism, clamping device, electric control system, bearing, power-transfer clutch.Described lifting mechanism is made up of the 3rd motor 9, lead screw gear nut 8, leading screw 7, upper semiaxis 3 and lower semiaxis 12, lead screw gear nut 8 bearing 14 is fixed on lower semiaxis 12, leading screw 7 power-transfer clutch 6 is fixed on upper semiaxis 3, gear 15 is equipped with in the rotating shaft of the 3rd motor 10, frame is fixed on, for rising or the down maneuver of control after gears meshing on itself and lead screw gear nut 8.Described clamping mechanism is made up of two duplicate upper grippers and lower gripper, all comprise cam follower guides 4, gripper connecting rod 5, cam 11, mechanical gripper 13, cam 11 is contained on lower shaft, cam follower guides 4 one end is the push rod frame of camming movement, the other end is stuck in the guiding tank of gripper, control cam follower guides 4 by cam 11 advance or retreat, realize gripper clamping or unclamp.
When robot is in pole-climbing, overhead cam outshot forwards mechanical gripper side to, actuating cam push rod guides 4 moves to mechanical gripper, the guide part being positioned at handgrip groove advances in the middle part of handgrip from handgrip junction, thus make gripper 13 promptly, when upper gripper is firmly grasped, lower gripper controls to counter-rotation, lower gripper to be unclamped with the second motor 10, then the 3rd motor 8 rotates forward, by gear 5 transmission, driven gear feed screw nut 8 rotates, lead screw gear nut 8 is connected with lower semiaxis by bearing 14, and power-transfer clutch 6 is equipped with in leading screw 7 upper end, engaged by electric control system control clutch 6, leading screw 7 can not rotate, namely robot upper part is driven to divide upward movement by leading screw 7, the 3rd motor 9 is coordinated to reverse when changing with the first motor 1 and the second motor 10 job order, mobile robot lower part upward movement is with by leading screw 7, circulate with this and make robot upwards pole-climbing.
When upper and lower two-part sequence of motion changes, the downward pole-climbing of robot.
For the ordinary skill in the art, according to instruction of the present invention, when not departing from principle of the present invention and spirit, the change carried out embodiment, amendment, replacement and modification still fall within protection scope of the present invention.
Claims (5)
1. by the climbing level robot of cam production gripper, it is characterized in that: this climbing level robot is made up of lifting mechanism, clamping device, electrical control division two-part bearing, power-transfer clutch.
2. the climbing level robot by cam production gripper according to claim 1, is characterized in that: described clamping mechanism is made up of cam follower guides (4), gripper connecting rod (5), gripper (13), cam (11).
3. the climbing level robot by cam production gripper according to claim 1, is characterized in that: described clamping mechanism is moved in the groove of gripper (13) by cam follower guides (4), thus driving mechanical pawl (13) promptly or unclamp; Wherein two grippers also can be completed respectively promptly by different electric machine control or unclamp.
4. the climbing level robot by cam production gripper according to claim 1, is characterized in that: described lifting mechanism is made up of upper semiaxis (3), lower semiaxis (12), leading screw (7), lead screw gear nut (8), the 3rd motor (9).
5. the climbing level robot by cam production gripper according to claim 1, is characterized in that: described leading screw (7) is connected with power-transfer clutch (6) with between upper semiaxis (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510492046.4A CN105128970A (en) | 2015-08-12 | 2015-08-12 | Pole-climbing robot with grippers controlled by cams |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510492046.4A CN105128970A (en) | 2015-08-12 | 2015-08-12 | Pole-climbing robot with grippers controlled by cams |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105128970A true CN105128970A (en) | 2015-12-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510492046.4A Pending CN105128970A (en) | 2015-08-12 | 2015-08-12 | Pole-climbing robot with grippers controlled by cams |
Country Status (1)
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105501323A (en) * | 2016-01-22 | 2016-04-20 | 张铭洋 | Worm robot and control method thereof |
| CN105752895A (en) * | 2016-03-23 | 2016-07-13 | 时贞平 | Equipment for electric iron tower maintenance and use method thereof |
| CN105752896A (en) * | 2016-03-29 | 2016-07-13 | 时贞平 | Electrical tower maintenance apparatus with warning lights and usage |
| CN105776084A (en) * | 2016-04-03 | 2016-07-20 | 时贞平 | Electric power tower maintenance equipment with good heat dissipation performance and use method thereof |
| CN105775959A (en) * | 2016-03-23 | 2016-07-20 | 卞毓平 | Electric power tower maintenance equipment for installing indicator lights and use method thereof |
| CN106416625A (en) * | 2016-12-04 | 2017-02-22 | 叶强 | Intelligent climbing and fruit picking robot |
| CN106711854A (en) * | 2017-02-07 | 2017-05-24 | 国网浙江新昌县供电公司 | Pole-climbing robot with transmission line insulator cleaning function |
| CN108016523A (en) * | 2017-11-02 | 2018-05-11 | 国网浙江省电力公司嘉兴供电公司 | A kind of multifunctional pole-climbing robot and its control method |
| CN109515650A (en) * | 2018-11-07 | 2019-03-26 | 上海交通大学 | Pa Lian robot for the detection of ocean platform anchor chain |
| CN110254547A (en) * | 2019-06-27 | 2019-09-20 | 安徽理工大学 | A kind of bionic type climbing level robot |
| CN111287536A (en) * | 2020-03-02 | 2020-06-16 | 中国十七冶集团有限公司 | Automatic telescopic holding rod device of offshore anemometer tower and construction method |
| CN111377002A (en) * | 2018-12-30 | 2020-07-07 | 中国科学院沈阳自动化研究所 | Rope-driven under-actuated climbing robot driven by single motor |
| CN111590556A (en) * | 2020-06-24 | 2020-08-28 | 南京工业职业技术学院 | Multi-degree-of-freedom and multi-section intelligent pipe climbing robot |
| 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 |
| CN112551450A (en) * | 2020-12-07 | 2021-03-26 | 苏州市职业大学 | Pole climbing device |
| CN113353168A (en) * | 2021-08-11 | 2021-09-07 | 西南石油大学 | Outer pipeline detection robot and walking method |
| CN114655331A (en) * | 2022-04-22 | 2022-06-24 | 湖北工业大学 | Claw holding type inchworm robot |
| CN118025800A (en) * | 2024-04-11 | 2024-05-14 | 中交(长沙)建设有限公司 | Automatic end mould dismantling device for transfer device and concrete precast box girder |
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| CN101259857A (en) * | 2008-03-17 | 2008-09-10 | 安徽工业大学 | Electric-drive creeping type cable robot |
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Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105501323A (en) * | 2016-01-22 | 2016-04-20 | 张铭洋 | Worm robot and control method thereof |
| CN105752895A (en) * | 2016-03-23 | 2016-07-13 | 时贞平 | Equipment for electric iron tower maintenance and use method thereof |
| CN105752895B (en) * | 2016-03-23 | 2018-06-29 | 黄皇文 | A kind of electric power tower maintenance equipment and its application method |
| CN105775959A (en) * | 2016-03-23 | 2016-07-20 | 卞毓平 | Electric power tower maintenance equipment for installing indicator lights and use method thereof |
| CN108163777A (en) * | 2016-03-23 | 2018-06-15 | 蒋红娟 | Electric power tower maintenance equipment and its application method based on driving motor |
| CN108163778A (en) * | 2016-03-23 | 2018-06-15 | 蒋红娟 | A kind of electric power tower maintenance equipment |
| CN105775959B (en) * | 2016-03-23 | 2018-02-27 | 南通知航机电科技有限公司 | The electric power tower maintenance equipment and its application method of a kind of installation suggestion lamp |
| CN105752896A (en) * | 2016-03-29 | 2016-07-13 | 时贞平 | Electrical tower maintenance apparatus with warning lights and usage |
| CN105752896B (en) * | 2016-03-29 | 2018-05-25 | 宁夏中科天际防雷股份有限公司 | Electric power tower maintenance equipment and application method with warning lamp |
| CN105776084A (en) * | 2016-04-03 | 2016-07-20 | 时贞平 | Electric power tower maintenance equipment with good heat dissipation performance and use method thereof |
| CN105776084B (en) * | 2016-04-03 | 2018-03-06 | 天津天电清源科技有限公司 | Thermal diffusivity good electric power tower maintenance equipment and its application method |
| CN106416625B (en) * | 2016-12-04 | 2019-01-18 | 黎星亮 | A kind of intelligence climbing machine for picking fruits device people |
| CN106416625A (en) * | 2016-12-04 | 2017-02-22 | 叶强 | Intelligent climbing and fruit picking robot |
| CN106711854B (en) * | 2017-02-07 | 2018-12-04 | 国网浙江新昌县供电公司 | A kind of climbing level robot with electric transmission line isolator cleaning function |
| CN106711854A (en) * | 2017-02-07 | 2017-05-24 | 国网浙江新昌县供电公司 | Pole-climbing robot with transmission line insulator cleaning function |
| CN108016523A (en) * | 2017-11-02 | 2018-05-11 | 国网浙江省电力公司嘉兴供电公司 | A kind of multifunctional pole-climbing robot and its control method |
| CN109515650A (en) * | 2018-11-07 | 2019-03-26 | 上海交通大学 | Pa Lian robot for the detection of ocean platform anchor chain |
| CN109515650B (en) * | 2018-11-07 | 2021-01-01 | 上海交通大学 | Chain climbing robot for ocean platform anchor chain detection |
| CN111377002A (en) * | 2018-12-30 | 2020-07-07 | 中国科学院沈阳自动化研究所 | Rope-driven under-actuated climbing robot driven by single motor |
| CN110254547B (en) * | 2019-06-27 | 2024-04-02 | 安徽理工大学 | Bionic pole-climbing robot |
| CN110254547A (en) * | 2019-06-27 | 2019-09-20 | 安徽理工大学 | A kind of bionic type climbing level robot |
| CN111287536A (en) * | 2020-03-02 | 2020-06-16 | 中国十七冶集团有限公司 | Automatic telescopic holding rod device of offshore anemometer tower and construction method |
| CN111287536B (en) * | 2020-03-02 | 2021-03-19 | 中国十七冶集团有限公司 | Automatic telescopic holding rod device of offshore anemometer tower and construction method |
| CN111590556A (en) * | 2020-06-24 | 2020-08-28 | 南京工业职业技术学院 | Multi-degree-of-freedom and multi-section intelligent pipe climbing robot |
| 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 |
| CN112551450A (en) * | 2020-12-07 | 2021-03-26 | 苏州市职业大学 | Pole climbing device |
| CN113353168A (en) * | 2021-08-11 | 2021-09-07 | 西南石油大学 | Outer pipeline detection robot and walking method |
| CN114655331A (en) * | 2022-04-22 | 2022-06-24 | 湖北工业大学 | Claw holding type inchworm robot |
| CN114655331B (en) * | 2022-04-22 | 2023-02-03 | 湖北工业大学 | Claw holding type inchworm robot |
| CN118025800A (en) * | 2024-04-11 | 2024-05-14 | 中交(长沙)建设有限公司 | Automatic end mould dismantling device for transfer device and concrete precast box girder |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20151209 |
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| WD01 | Invention patent application deemed withdrawn after publication |