CN108128364A - It is a kind of that there is the running gear of self-adjusting - Google Patents
It is a kind of that there is the running gear of self-adjusting Download PDFInfo
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- CN108128364A CN108128364A CN201711249550.7A CN201711249550A CN108128364A CN 108128364 A CN108128364 A CN 108128364A CN 201711249550 A CN201711249550 A CN 201711249550A CN 108128364 A CN108128364 A CN 108128364A
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- Prior art keywords
- gear
- manipulator
- mechanical arm
- running gear
- face gear
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Abstract
The present invention, which discloses, a kind of has the function of the running gear of self-adjusting, guide rail；At least two manipulators, upper manipulator are fixed on the sliding sleeve；Main motor, it is fixedly installed on the running gear bottom plate, the main motor output shaft is linked by a reduction box and a screw with the sliding sleeve, several press devices, it is rotatably arranged on the madial wall of the manipulator, each manipulator is made of the mechanical arm that a pair can relatively rotate, each mechanical arm is made of several section turning joints, it is rotatablely connected between each turning joint by rotation axis, first end face gear is provided in rotation axis, it slides and is provided with one first driving mechanism in the mechanical arm upper end, the first driving mechanism lower retractable is provided with a second end face gear, the second end face gear selectively links with the first end face gear, the present invention solves existing grab and climbs the technical issues of device application range is single.
Description
Technical field
The present invention relates to automatic control technology fields, and in particular to a kind of to have the function of the running gear of self-adjusting.
Background technology
For a long time, it creeps technical field in automatic vertical, few relevant automations can be competent at this task, special
Be not in the work on the spot overhauled in supply line, staff generally require by strength of one's legs climbing to electric pole to mutually powered-down
Power equipment is overhauled, and climbs electric pole at present mainly using climbers, and the design of climbers easily causes such a case,
One foot surprisingly make a misstep cause crank make body occur sidesway so that make another climbers be detached from electric pole, safety compared with
It is low.In addition, electric pole is gradually reduced with the increase diameter of height, and in the case where staff pedals bar excessive velocities, climbers
It is relatively easy to come off.And due to having in some areas in city using novel steel structure electric pole, cause climbers cannot
The change of electric wire shank diameter is well adapted to, so as to bring working at height dangerous to staff, meanwhile, existing climbing auxiliary
Device specific aim is relatively simple, can be only applied on the target climbing object of specific shape structure, so as to limit climbing auxiliary dress
The application field put.
Invention content
It is an object of the invention to solve at least the above, and provide the advantages of at least will be described later.
The object of the present invention is to provide a kind of easy to use, safe, working efficiency it is high there is self-adjusting
Running gear may determine that whether manipulator has held based on pressure sensor, by the rotation of upper and lower manipulator and screw,
It realizes moving up and down for entirety, to realize the protection to staff, on the other hand, has multiple turning joint groups on mechanical arm
Into the target for being adapted to different structure climbs object, is asked so as to solve the single technology of existing climbing device application range
Topic.
In order to realize these purposes according to the present invention and other advantages, providing a kind of has the function of the operation of self-adjusting
Device, including：
Guide rail is fixedly installed on the bottom plate of the running gear, and the guide rail is vertical with the running gear bottom plate,
The guide upper is cased with sliding sleeve；
At least two manipulators, are installed on the running gear homonymy up and down, and the manipulator is grabbed to go to grab in target and be climbed
Object periphery, wherein, upper manipulator is fixed on the sliding sleeve, and lower manipulator is fixed on the bottom plate, and the manipulator exists
It is made of on shaft core position equipped with rotating mechanism, the rotating mechanism the decelerating motor to link with meshing gear, the engaging tooth
Wheel is connect with the manipulator, and the decelerating motor is connect with the controller of the running gear；
Main motor is fixedly installed on the running gear bottom plate, the main motor output shaft by a reduction box and
One screw links with the sliding sleeve, slides over described in driving and is relatively moved on the guide rail, the main motor and the controller
Connection；And
Several press devices are rotatably arranged on the madial wall of the manipulator, the press device and the target
Grab climb object contact angle it is adjustable, be provided with non-slip mat on the press device, the manipulator by the non-slip mat with
Target, which is grabbed, climbs object contact, and pressure sensor, the pressure sensor and institute are equipped between the non-slip mat and press device
State controller connection；
Wherein, each manipulator is made of the mechanical arm that a pair can relatively rotate, if each mechanical arm by
Dry section turning joint composition, is rotatablely connected between each turning joint by rotation axis, and each rotation axis and phase
Second turning joint of adjacent two turning joint is fixed, and each rotation axis upper end protrudes from one spacing of mechanical arm
From, and a first end face gear is horizontally arranged on the protruding end of the rotation axis, the mechanical arm upper end is slided and is provided with one
First driving mechanism, the first driving mechanism lower retractable are provided with a second end face gear, the second end face gear with
The first end face gear selectively links, and the rotation axis is driven to rotate, and first driving mechanism connects with the controller
It connects；Each first end face gear outer elastic is provided with a shifting part, the shifting part and the first end face gear lock
It is fixed, a poke rod is horizontally arranged in first driving mechanism, the poke rod is selectively contacted with the shifting part, by institute
Shifting part is stated to be detached from the first end face gear.
Preferably, a connecting seat being mounted on the sliding sleeve is further included, the first rotating machine is installed on the connecting seat
Structure, first rotating mechanism include a pair of first meshing gear and the first reducing motors being fixed on the connecting seat, institute
It states first reducing motors and drive connection, the first meshing gear center shaft rotation is engaged with the first meshing gear one of them described
It is dynamic to be mounted on the connecting seat, a pair of first meshing gear engagement connection, the first mechanical arm one of the upper manipulator
End is connected to the central shaft of one of them first meshing gear, and second mechanical arm one end of the upper manipulator is connected to separately
The central shaft of one first meshing gear.
Preferably, a pedestal on the bottom plate is installed, the second rotating mechanism is installed on the pedestal, described second turn
Motivation structure includes a pair of second meshing gear and the second reducing motors being fixed on the pedestal, the second reducing motors with
One of them described second meshing gear engagement is drivingly connected, and the second meshing gear central axis is mounted on the pedestal
On, a pair of second meshing gear engagement connection, first mechanical arm one end of the lower manipulator is connected to one of institute
The central shaft of the second meshing gear is stated, second mechanical arm one end of the lower manipulator is connected to another second engaging tooth
The central shaft of wheel.
Preferably, the main motor output shaft connection one turns to reduction box, and the screw is vertically connected on the steering and subtracts
The output terminal of fast case is provided with a threaded hole on the connecting seat, and the wire rod thread is connected in the threaded hole.
Preferably, it is described by press fitting at least provided with a press device on each turning joint madial wall
It puts and interface is provided on madial wall, the pressure sensor is mounted on the interface bottom, and the non-slip mat is plugged on institute
It states in interface.
Preferably, LCD display module, the LCD display module and the controller are provided at the top of the running gear
Connection, the running gear top are provided with several buttons for being used to control the controller.
Preferably, a locking device is installed on the bottom plate, the locking device by the controller control with it is described
Target, which is grabbed, climbs object selective lock, and the bottom base plate is additionally provided with an infrared distance measurement module, the infrared distance measurement module
Detecting mouth, vertically ground, the output terminal of the infrared distance measurement module are connect with the controller.
Preferably, each first end face gear outside spacers are provided with a rotating stand and a block, the rotation
Bearing and block are arranged in the turning joint being connect with the first end face gear, the rotating stand and the first end
The distance of face gear is less than the distance of the block and the first end face gear；
The shifting part includes：
Torsional spring, rotation are set on the rotating stand, and the first torque arm of the torsional spring is supported on the inside of the block,
A fixed arm is vertically extended upwards in second torque arm of the torsional spring；
Slide block, bottom interval open up one first trepanning and the second trepanning, and the slide block passes through first trepanning
It is set on the rotating stand, the fixed arm is plugged in second trepanning；And
Sticking department is arranged on the end side wall of the slide block, outside the sticking department and the first end face gear
It is respectively arranged with groove week, the sticking department engages locking under the action of the torsional spring with the first end face gear side wall.
Preferably, first driving mechanism includes：
Driving motor is arranged on the mechanical arm upper end by a bracket-suspending, and the output shaft of the driving motor hangs down
Straight down-set, the output terminal of the driving motor is provided with a shaft coupling；
Telescoping mechanism, is arranged on the output terminal of the shaft coupling, and being provided with one on the telescopic end of the telescoping mechanism stretches
Contracting connector；
Drive rod is disposed longitudinally on described be telescopically connected on the output terminal of device；And
Second end face gear is arranged on the end of the drive rod, the second end face gear and the first end face
Gear selectively engages.
Preferably, the frame bottom is arranged at intervals with a pair of of guider, and the guider, which protrudes above, is provided with one
Guide block, correspondence offers a guide groove to the mechanical arm upper and lower ends respectively, and the guide block is slidably arranged in the guide groove；
Wherein, the frame bottom is additionally provided with one second driving mechanism, horizontal on the output shaft of second driving mechanism
To a horizontal gear is provided with, a gear band is correspondingly arranged on the mechanical arm lateral wall, the horizontal gear engagement is connected to institute
It states on gear band, the gear band two ends are provided with overtravel protection switch, the overtravel protection switch and the control
Device connects.
Compared with prior art, the advantageous effect that the present invention includes is：
1st, climbing speed can be greatly improved compared with artificial climbing, the safety of climbing is obviously improved, with electric power first-aid
Vehicle can effectively arrive at the region that vehicle is inconvenient to enter compared to its floor space is greatly reduced, hence it is evident that reduce labor intensive, show
It writes and improves operating efficiency；
2nd, running gear safety higher realizes automatic climbing process, meanwhile, mechanical arm is by Multi-section active joint group
Into can be grabbed according to target and climb the shape of object to change the shape and structure of mechanical arm, so as to catch mesh of different shapes
Mark, which is grabbed, climbs object, improves the application range of running gear.
Part is illustrated to embody by further advantage, target and the feature of the present invention by following, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Description of the drawings
Fig. 1 is the general structure schematic diagram of the present invention；
Fig. 2 is the enlarged structure schematic diagram of part A in Fig. 1；
Fig. 3 is the second driving mechanism structure schematic diagram of the invention；
Fig. 4 is the structure diagram of mechanical arm；
Fig. 5 is the assembling structure schematic diagram of shifting part；
Fig. 6 is the enlarged structure schematic diagram of part B in Fig. 5.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings, to enable those skilled in the art with reference to comment
It can implement according to this.
As shown in figures 1 to 6, there is the running gear of self-adjusting the present invention provides a kind of, including display module, red
Outer range finder module, manipulator, rotation and flexible module and driving mechanism.
Specifically, LCD display module is arranged at the top of running gear, to realize state and the operation to upper and lower manipulator
The real-time display of device current location, the LCD display module are connect with the controller of the running gear, LCD display module
Side is equipped with several buttons, with button in the control controller, the final movement start and stop for pressing key control running gear, machine
The promptly direction of motion with release, the rotation process in each joint and running gear of tool hand.
The running gear bottom is equipped with infrared distance measurement module, and the infrared distance measurement module is connect with the controller, has
Body, infrared distance measurement module is arranged on the lower surface of bottom plate 1, and the infrared distance measurement module by sending signal and connecing vertically downward
Transmitting-receiving penetrates signal to judge height and position that running gear is presently in, and feed back in the display module.
A pair of guide rails 3 is installed on bottom plate 1, the guide rail 3 is vertical with the running gear bottom plate 1, the guide rail 3
On be cased with sliding sleeve 31, sliding sleeve 31 is slided up and down along guide rail 3.
In the present embodiment, two manipulators are movably installed in running gear homonymy, are climbed the targets such as electric pole to be caught to grab
Object, in the present embodiment, target, which is grabbed, climbs object by taking electric pole as an example to illustrate, and the manipulator is equipped on shaft core position
Rotating mechanism.
Specifically, being equipped with a connecting seat 4 on the sliding sleeve 31, the first rotating mechanism, institute are installed on the connecting seat 4
It states the first rotating mechanism and includes the first meshing gear of a pair 42 and the first reducing motors 41 being fixed on the connecting seat 4, institute
It states first reducing motors 41 and drive connection, a pair of first meshing gear is engaged with the first meshing gear 42 one of them described
42 engagement connections, 42 central axis of the first meshing gear are mounted on the connecting seat 4 so that the first meshing gear 42
Realization is freely rotated in connecting seat 4, so as to two the first meshing gears 42 be driven to rotate synchronously by first reducing motors 41, institute
The first mechanical arm one end for stating manipulator 43 is connected to the central shaft of one of them first meshing gear 42, the upper machine
Second mechanical arm one end of tool hand 43 is connected to the central shaft of another first meshing gear 42.
Two mechanical arms of upper manipulator are arranged on the periphery of electric pole, when first reducing motors 41 drive the first engaging tooth
When wheel 42 inwardly rotates, two mechanical arms being connect with the first meshing gear 42 move toward one another, so as to clamp on utility poles, directly
It is fixed to electric pole.When first reducing motors 41 drive the first meshing gear 42 to be turned out, with the first meshing gear 42
Two mechanical arm reverse motions of connection, so as to be unclamped from electric pole.
One pedestal 10 on the bottom plate 1 is installed, the second rotating mechanism, second rotation are installed on the pedestal 10
Mechanism includes the second meshing gear of a pair 11 and the second reducing motors 12 being fixed on the pedestal 10, the second deceleration electricity
Machine 12 engages drive connection, 11 central axis of the second meshing gear installation with the second meshing gear 11 one of them described
On the pedestal 10, a pair of engagement of second meshing gear 11 connection so that the second meshing gear 11 is realized in pedestal 10
On be freely rotated, so as to by second reducing motors 12 drive two the second meshing gears 11 rotate synchronously, the lower manipulator
13 first mechanical arm one end is connected to the central shaft of one of them second meshing gear 11, and the second of the lower manipulator
Mechanical arm one end is connected to the central shaft of another second meshing gear 11.
Two mechanical arms of lower manipulator 13 are arranged on the periphery of electric pole, when second engagement of the driving of second reducing motors 12
When gear 11 inwardly rotates, two mechanical arms being connect with the second meshing gear 11 move toward one another, so as to clamp on utility poles,
It is fixed until with electric pole.When second reducing motors 12 drive the second meshing gear 11 to be turned out, with the second meshing gear
Two mechanical arm reverse motions of 11 connections, so as to be unclamped from electric pole.
Wherein, first reducing motors and second reducing motors are all controlled by the controller.
Each mechanical arm is made of several section turning joints, as shown in the figure, the first mechanical arm of upper manipulator 43 from
It is interior to arrive outside successively by the first turning joint 431, the second turning joint 432,433 and the 4th turning joint of third turning joint
434 link into an integrated entity, 42 synchronized links of the first turning joint 431 and the first meshing gear, lead between two neighboring turning joint
It crosses a rotation axis 430 to be rotatablely connected, and each rotation axis 430 and second turning joint of two neighboring turning joint are consolidated
Fixed, each 430 upper end of rotation axis protrudes from the mechanical arm certain distance, and horizontal on the protruding end of the rotation axis 430
To first end face gear 44 is provided with, first end face gear 44 is fixedly connected with the turning joint of rotation axis and its synchronized links,
When first end face gear 44 is driven to rotate, the turning joint of rotation axis and its connection also rotates synchronously, that is to say, that passes through drive
Dynamic each rotation axis rotation, you can each turning joint is driven to rotate, so as to change the form of mechanical arm, and then is effectively caught not
The target object of similar shape.
The mechanical arm upper end, which is slided, is provided with one first driving mechanism 6,6 lower retractable of the first driving mechanism setting
There is a second end face gear 64, the second end face gear 64 links with 44 selectivity of first end face gear, works as second end
After face gear 64 links with the first end face gear 44, the rotation axis 430 is driven to rotate by the first driving mechanism 6, from
And each turning joint is driven to rotate, mechanical arm is adjusted to the shape of climbing object external outline is grabbed with target, preferably to grab
Firm target, which is grabbed, climbs object, and first driving mechanism 6 is connect with the controller.
In above-mentioned technical proposal, first driving mechanism 6 includes：
Driving motor 61 is vacantly arranged on the mechanical arm upper end by a stent 66, the driving motor 61 it is defeated
Shaft is set vertically downward, and the output terminal of the driving motor 61 is provided with a shaft coupling 62；
Telescoping mechanism 68 is arranged on the output terminal of the shaft coupling 62 so that driving motor 61 drives telescoping mechanism 68
It rotates synchronously, telescoping mechanism is controlled by the controller, and being provided with one on the telescopic end of the telescoping mechanism 68 is telescopically connected device 67；
Drive rod 63, be disposed longitudinally on it is described be telescopically connected on the output terminal of device 67 so that drive rod 63 is driven
Dynamic motor 61 drives and rotates, meanwhile, drive rod 63 is driven by telescoping mechanism and is moved up and down, to adjust drive rod end height
Degree；And
Second end face gear 64 is arranged on the end of the drive rod 63, and the second end face gear 64 is with first
The whole end on the robotic arm of driving mechanism 6 moves back and forth, and chases and be moved to each rotation axis upper end and first end face gear
Second end face gear 64, by telescoping mechanism 68 is moved downwardly until and engages linkage with first end face gear 44 by 44 alignments, with
Second end face gear 64 and first end face gear 44 is driven to rotate synchronously by driving motor 61 afterwards, you can to drive corresponding position
Rotation axis and its connection turning joint rotation, grabbed according to target and climb the shape of object and adjust the angle of the turning joint, directly
Angle to the turning joint is adjusted in place.
66 bottom interval of stent is provided with a pair of of guider 65, for the slip of stent 66 to be fixed on mechanical arm
On, the guider 65, which protrudes above, is provided with a guide block, and guide block direction is consistent with the width direction of guider 65, the machine
Correspondence offers a guide groove respectively on tool arm upper and lower ends surface, and the guide block is slidably arranged in the guide groove, so as to
Mobile guide is improved for the first driving mechanism 6, the first driving mechanism 6 is moved along guide groove on mechanical arm lateral wall.
Specifically, the frame bottom is additionally provided with one second driving mechanism 7, second driving mechanism 7 is by rotation electricity
Machine 71 and horizontal gear 72 are formed, and the horizontal gear 72, the mechanical arm outside are horizontally arranged on the output shaft of rotary electric machine 71
A gear band 73 is correspondingly arranged on wall, the engagement of horizontal gear 72 is connected on the gear band 73, when driving rotary electric machine
During 71 rotation, horizontal gear 72 is driven to be moved on gear band 73, so as to drive entire first driving mechanism 6 in mechanical arm lateral wall
Upper movement is selectively engaged with each first end face gear 44, and then each turning joint is driven to rotate as required.
73 two ends of gear band are provided with overtravel protection switch, the overtravel protection switch and the controller
Connection prevents the first driving mechanism 6 to be detached from gear band 73.
Second driving mechanism 7 moves the first driving mechanism 6 along mechanical arm lateral wall, until by second end face gear 64
The surface of a first end face gear 44 is moved to, the height of second end face gear 64 is controlled by telescoping mechanism 68 so that
Second end face gear 64 drops to engages linkage with first end face gear 44, at this point, control driving motor 61 rotates, you can drive
Turning joint of the rotation axis of corresponding position and its connection rotation grabs according to target and climbs the shape of object and adjust the turning joint
Angle, until the angle of the turning joint is adjusted in place, the target of the turning joint and position, which is grabbed, climbs the outer of object
Wall conflict is held, and driving turning joint is reversely rotated to may be such that mechanical arm grabs the release climbed on object outer wall from target.
Each 44 outer elastic of first end face gear is provided with a shifting part 5, under normal condition, the shifting part 5
It is locked with the first end face gear 44, each turning joint is avoided voluntarily to rotate, laterally set in first driving mechanism 6
There is a poke rod 69, specifically, poke rod 69 is horizontally installed on frame bottom, and with 6 synchronizing moving of the first driving mechanism.Institute
It states 69 selectivity of poke rod to contact with the shifting part 5, the shifting part 5 and the first end face gear 44 is detached from so that
Rotation axis is detached from locking, by second end face gear 64 and the i.e. rotatable rotation axis of driving motor, changes the angle of turning joint
Degree.
Specifically, each 44 outside spacers of first end face gear are provided with a rotating stand 53 and a block 56, institute
It states rotating stand 53 and block 56 is arranged in the turning joint being connect with the first end face gear 44, with the turning joint
It rotates synchronously, the distance of the rotating stand 53 and the first end face gear 44 is less than the block 56 and the first end face
The distance of gear 44.
The shifting part 5 includes：
Torsional spring 54, rotation are set on the rotating stand 53, and the first torque arm of the torsional spring 54 is supported in the gear
On the inside of block 56, a fixed arm 55 is vertically extended upwards in the second torque arm of the torsional spring 54；
Slide block 51, bottom interval open up one first trepanning and the second trepanning, and the slide block 51 passes through described first
Trepanning is set on the rotating stand 53, and the fixed arm 55 is plugged in second trepanning；And
Sticking department 52 is arranged on the end side wall of the slide block 51, the sticking department 52 and the first end face
44 periphery of gear is respectively arranged with groove, the sticking department 52 under the action of the torsional spring 54 with the first end face gear side
Wall engagement locking, avoids rotation axis from voluntarily rotating.
Under normal condition, under the elastic acting force of torsional spring 54, sticking department 52 is contradicted in 44 outside of first end face gear
On wall, first end face gear 44 and entire rotation axis and turning joint are locked, due to first end face gear 44 and sticking department 52
Engagement connection locking, it after turning joint angle is adjusted in place, will not voluntarily rotate, so that the turning joint is grabbed with target
It climbs object and keeps conflict state.Each poke rod 69 is placed exactly on the mobile route of the poke rod 69, when poke rod 69 with
6 synchronizing moving of the first driving mechanism, until first end face gear is aligned with second end face gear, at this time the poke rod 69 with
The shifting part 5 contacts, and sticking department 52 is pushed open from 44 lateral wall of first end face gear, and driving motor driving rotation turns, and drives
Dynamic motor drives rotation axis rotation, adjusts the angle of turning joint, and until adjustment finishes, the first driving mechanism 6 drives second end
Upwards after retraction, the first driving mechanism 6 continues to move to face gear 64, and next turning joint is driven to rotate, with the first driving
Mechanism 6 continues to move to, and poke rod 69 also continues to move, and is detached from until with shifting part 5, sticking department 52 is in the elastic reaction of torsional spring 54
It resets under power, is relocked with first end face gear.
After the angle of first turning joint is adjusted in place, control telescoping mechanism 68 bounces back, so that second end face tooth
Wheel 64 is detached from first end face gear 44, and hereafter, control driving rotary electric machine 71 rotates so that horizontal gear 72 is on gear band 73
It is mobile, so as to which stent and entire first driving mechanism 6 be driven to be moved on mechanical arm lateral wall, until being moved to next first
The positive upper end of face gear 44, the poke rod 69 is contacted with the shifting part 5, by sticking department 52 outside first end face gear 44
It is pushed open on side wall, hereafter, control telescoping mechanism 68 declines, the first end face gear at second end face gear 64 and the position
44 engagement linkages, control driving motor 61 rotate, you can the rotation axis of corresponding position and the turning joint of its connection is driven to turn
It is dynamic, it is grabbed according to target and climbs the shape of object and adjust the angle of the turning joint, until the angle of the turning joint is adjusted in place, it
Afterwards, the first driving mechanism is continued to move to above next rotation axis, shifting part 5 again with a upper first end face gear lock
It is fixed, and so on, it is adjusted in place until by the angle of each turning joint so that mechanical arm cooperation target grabs the shape for climbing object
And firmly grab to climb to grab in the target and climb the periphery of object, so that the mechanical arm of the present invention can grab and climb different shape structure
Target object, application range are wider.
In the inside of each turning joint equipped with non-slip mat, the non-slip mat is close to described to increase frictional force
Pressure sensor between non-slip mat and the manipulator is installed, and current state is returned on display module in real time, is used for
Judge whether manipulator clamps with electric pole.
Specifically, the press device of several adjustable angles, the pressing are provided on each turning joint madial wall
Device grabbed with the target climb object contact angle it is adjustable, non-slip mat is provided on the press device, press device is used for
The angle of non-slip mat is adjusted, clamping is bonded with the electric pole lateral wall with different-diameter.The non-slip mat medial surface be set as with
Target grabs the shape for climbing object form fit, further improves the contact area with electric pole side wall, improves frictional force.It is described
Manipulator is contacted by the non-slip mat with the column, so as to effectively increase the frictional force with column, avoids machinery
Hand on utility poles skid by stress, improves the safety of running gear.
Pressure sensor is installed, the pressure sensor connects with the controller between the non-slip mat and press device
It connects, in force information back to chip, will judge whether manipulator clamps with electric pole, the normal operation if being clamped, such as
Fruit pressure value does not reach clamped condition, then sends out alarm signal.Specifically, it is provided with grafting on the press device madial wall
Mouthful, the pressure sensor is mounted on the interface bottom, and the non-slip mat is plugged in the interface.
Main motor 2 is fixedly installed on the running gear bottom plate 1, and the main motor 2, which exports axis connection one and turns to, to slow down
Case 22, the screw 21 are vertically connected on the output terminal for turning to reduction box 22, a threaded hole are provided on the connecting seat,
The screw 21 is threaded in the threaded hole, and main motor 2 drives screw 21 to be moved in connecting seat 4, so as to the company of drive
Joint chair 4 moves up and down, that is, the upper manipulator of driving slides on the guide rail, and the main motor 2 is connect with the controller.
Specifically, when main motor 2 drives screw 21 to rotate forward, push connecting seat 4 and upper manipulator past along guide rail
Upper operation when main motor 2 drives screw 21 to rotate backward, pulls entire pedestal, guide rail and lower manipulator along guide rail direction
Up run.Running gear operation downwards then operational process on the contrary, drive the rotation of screw 21 by main motor 2, cause sliding sleeve with
The fortune up and down of running gear is realized in the relative motion of position between upper manipulator 43 and its integrated connection seat and running gear lower part
Row.
One locking device is installed, the locking device is grabbed with the target by controller control and climbed on the bottom plate
Object selective lock, when running gear is out of service, the locking of control locking device on utility poles, avoids running gear from anticipating
Outer movement.
Specific climbing process is as follows：
It, can be within a period of motion since the climbing of the present invention is actually the climbing process of a cycle cycle
It is divided into five kinds of states according to motion conditions, the present embodiment illustrates for climbing upwards；
1st kind of state, manipulator clamps under this running gear, while first reducing motors drive the first engaging tooth rotation
Dynamic, upper manipulator 43 unclamps；
2nd kind of state, main motor 2 rotate, and upper manipulator 43 is firmly grasped, and second reducing motors drive the second meshing gear at this time
Rotation, lower manipulator start to unclamp, and guide rail starts to move up along sliding sleeve, walks idle stroke.
Three state, main motor 2 are rotated further, and the upper holding of manipulator 43 is firmly grasped, and lower manipulator unclamps, under robot
Part is thus lifted to limiting condition.
4th kind of state, main motor 2 are rotated further, and lower manipulator clamps, and first reducing motors drive the first engaging tooth at this time
Wheel rotation, upper manipulator 43 start to unclamp, and guide rail is fixed, and sliding sleeve starts follows track and moves up, and walks idle stroke.
5th kind of state, main motor 2 are rotated further, and lower manipulator keeps clamping, and upper manipulator 43 unclamps, robot it is upper
Part, which is promoted, arrives limiting condition, so as to control running gear uplink, so as to complete the ascending motion of running gear a cycle, according to
Secondary repetition, until running gear rises to object height.
In conclusion a kind of of the above embodiment of the present invention has the function of the running gear of self-adjusting, having can realize certainly
The function of dynamic climbing has ensured its safety while providing convenient to staff；Use simple, easy to maintain, performance
Excellent, failure rate is low, safe so that the cost of entire control system substantially reduces, wide market.Meanwhile with people
Work climbing is obviously improved the safety of climbing, is greatly reduced compared with electric power rush-repair vehicle compared to that can greatly improve climbing speed
Its floor space can effectively arrive at the region that vehicle is inconvenient to enter, hence it is evident that reduce labor intensive, significantly improve operation effect
Rate；Further, running gear safety higher of the invention realizes automatic climbing process, meanwhile, mechanical arm is lived by more piece
Movable joint forms, and can be grabbed according to target and climb the shape of object to change the shape and structure of mechanical arm, so as to catch difference
The target of shape, which is grabbed, climbs object, improves the application range of running gear.
Although the embodiments of the present invention have been disclosed as above, but its be not restricted in specification and embodiment it is listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easy
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, it is of the invention and unlimited
In specific details and legend shown and described herein.
Claims (10)
1. a kind of have the function of the running gear of self-adjusting, which is characterized in that including：
Guide rail is fixedly installed on the bottom plate of the running gear, and the guide rail is vertical with the running gear bottom plate, described
Guide upper is cased with sliding sleeve；
At least two manipulators are installed on the running gear homonymy up and down, and the manipulator, which grabs to go to grab in target, climbs object
Periphery, wherein, upper manipulator is fixed on the sliding sleeve, and lower manipulator is fixed on the bottom plate, and the manipulator is in axle center
Equipped with rotating mechanism on position, the rotating mechanism is made of the decelerating motor to link with meshing gear, the meshing gear and
The manipulator connection, the decelerating motor are connect with the controller of the running gear；
Main motor is fixedly installed on the running gear bottom plate, and the main motor output shaft passes through a reduction box and one
Bar links with the sliding sleeve, slides over described in driving and is relatively moved on the guide rail, the main motor is connect with the controller；
And
Several press devices are rotatably arranged on the madial wall of the manipulator, and the press device is grabbed with the target and climbed
The contact angle of object is adjustable, and non-slip mat is provided on the press device, and the manipulator passes through the non-slip mat and target
It grabs and climbs object contact, pressure sensor, the pressure sensor and the control are installed between the non-slip mat and press device
Device connection processed；
Wherein, each manipulator is made of the mechanical arm that a pair can relatively rotate, and each mechanical arm is by several sections
Turning joint forms, and is rotatablely connected between each turning joint by rotation axis, and each rotation axis and adjacent two
Second turning joint of a turning joint is fixed, and each rotation axis upper end protrudes from the mechanical arm certain distance, and
A first end face gear is horizontally arranged on the protruding end of the rotation axis, the mechanical arm upper end, which is slided, is provided with one first drive
Motivation structure, the first driving mechanism lower retractable are provided with a second end face gear, the second end face gear and described the
End face gear selectively links, and the rotation axis is driven to rotate, and first driving mechanism is connect with the controller；Each
The first end face gear outer elastic is provided with a shifting part, and the shifting part is locked with the first end face gear, described
A poke rod is horizontally arranged in first driving mechanism, the poke rod is selectively contacted with the shifting part, stirred described
Part is detached from the first end face gear.
2. there is the running gear of self-adjusting as described in claim 1, which is characterized in that further include one mounted on described
Connecting seat on sliding sleeve, the first rotating mechanism is equipped on the connecting seat, and first rotating mechanism includes a pair first and nibbles
Gear and the first reducing motors being fixed on the connecting seat are closed, the first reducing motors are nibbled with one of them described first
It closes gear engagement to be drivingly connected, the first meshing gear central axis is mounted on the connecting seat, a pair described first
Meshing gear engagement connection, first mechanical arm one end of the upper manipulator is connected to one of them first meshing gear
Central shaft, second mechanical arm one end of the upper manipulator are connected to the central shaft of another first meshing gear.
3. there is the running gear of self-adjusting as claimed in claim 2, which is characterized in that be equipped with one on the bottom plate
Pedestal, the second rotating mechanism is equipped on the pedestal, and second rotating mechanism includes a pair of second meshing gear and fixation
Second reducing motors on the pedestal, the second reducing motors engage driving with the second meshing gear one of them described
Connection, the second meshing gear central axis are mounted on the pedestal, a pair of second meshing gear engagement connection,
First mechanical arm one end of the lower manipulator is connected to the central shaft of one of them second meshing gear, the lower machinery
Second mechanical arm one end of hand is connected to the central shaft of another second meshing gear.
4. there is the running gear of self-adjusting as claimed in claim 3, which is characterized in that the main motor output shaft connects
A steering reduction box is connect, the screw is vertically connected on the output terminal for turning to reduction box, one is provided on the connecting seat
Threaded hole, the wire rod thread are connected in the threaded hole.
5. there is the running gear of self-adjusting as claimed in claim 4, which is characterized in that in each turning joint
At least provided with a press device on side wall, interface is provided on the press device madial wall, the pressure passes
Sensor is mounted on the interface bottom, and the non-slip mat is plugged in the interface.
6. there is the running gear of self-adjusting as claimed in claim 5, which is characterized in that set at the top of the running gear
LCD display module is equipped with, the LCD display module is connect with the controller, and several use are provided at the top of the running gear
In the button for controlling the controller.
7. there is the running gear of self-adjusting as claimed in claim 6, which is characterized in that be equipped with one on the bottom plate
Locking device, the locking device are grabbed with the target by controller control and climb object selective lock, the bottom plate bottom
Portion is additionally provided with an infrared distance measurement module, the detection mouth of the infrared distance measurement module vertically ground, the infrared distance measurement mould
The output terminal of block is connect with the controller.
8. there is the running gear of self-adjusting as claimed in claim 7, which is characterized in that each first end face tooth
Wheel outside spacers are provided with a rotating stand and a block, and the rotating stand and block are arranged on to be connected with the first end face gear
In the turning joint connect, the distance of the rotating stand and the first end face gear is less than the block and described first
The distance of face gear；
The shifting part includes：
Torsional spring, rotation are set on the rotating stand, and the first torque arm of the torsional spring is supported on the inside of the block, described
A fixed arm is vertically extended upwards in second torque arm of torsional spring；
Slide block, bottom interval open up one first trepanning and the second trepanning, and the slide block is arranged by first trepanning
On the rotating stand, the fixed arm is plugged in second trepanning；And
Sticking department is arranged on the end side wall of the slide block, the sticking department and the first end face outer peripheral gear point
It is not provided with groove, the sticking department engages locking under the action of the torsional spring with the first end face gear side wall.
9. there is the running gear of self-adjusting as claimed in claim 8, which is characterized in that the first driving mechanism packet
It includes：
Driving motor is arranged on the mechanical arm upper end by a bracket-suspending, the output shaft of the driving motor vertically to
Lower setting, the output terminal of the driving motor are provided with a shaft coupling；
Telescoping mechanism is arranged on the output terminal of the shaft coupling, and a flexible company is provided on the telescopic end of the telescoping mechanism
Connect device；
Drive rod is disposed longitudinally on described be telescopically connected on the output terminal of device；And
Second end face gear is arranged on the end of the drive rod, the second end face gear and the first end face gear
It selectively engages.
10. there is the running gear of self-adjusting as claimed in claim 9, which is characterized in that the frame bottom interval
A pair of of guider is provided with, the guider, which protrudes above, is provided with a guide block, and the mechanical arm upper and lower ends correspond to respectively
A guide groove is offered, the guide block is slidably arranged in the guide groove；
Wherein, the frame bottom is additionally provided with one second driving mechanism, is laterally set on the output shaft of second driving mechanism
A horizontal gear is equipped with, a gear band is correspondingly arranged on the mechanical arm lateral wall, the horizontal gear engagement is connected to the tooth
Wheel takes, and the gear band two ends are provided with overtravel protection switch, and the overtravel protection switch connects with the controller
It connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711249550.7A CN108128364A (en) | 2017-12-01 | 2017-12-01 | It is a kind of that there is the running gear of self-adjusting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711249550.7A CN108128364A (en) | 2017-12-01 | 2017-12-01 | It is a kind of that there is the running gear of self-adjusting |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108128364A true CN108128364A (en) | 2018-06-08 |
Family
ID=62390040
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711249550.7A Pending CN108128364A (en) | 2017-12-01 | 2017-12-01 | It is a kind of that there is the running gear of self-adjusting |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108128364A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111055945A (en) * | 2020-01-19 | 2020-04-24 | 温州兰犹网络科技有限公司 | Lantern linkage based on data identification control |
| CN113370238A (en) * | 2021-05-27 | 2021-09-10 | 张祥妹 | Novel tire snatchs device |
| WO2023087795A1 (en) * | 2021-11-18 | 2023-05-25 | 国网湖南省电力有限公司 | Bionic tower climbing robot and tower climbing method thereof |
-
2017
- 2017-12-01 CN CN201711249550.7A patent/CN108128364A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111055945A (en) * | 2020-01-19 | 2020-04-24 | 温州兰犹网络科技有限公司 | Lantern linkage based on data identification control |
| CN111055945B (en) * | 2020-01-19 | 2020-09-08 | 南京溧水高新创业投资管理有限公司 | Lantern linkage based on data identification control |
| CN113370238A (en) * | 2021-05-27 | 2021-09-10 | 张祥妹 | Novel tire snatchs device |
| WO2023087795A1 (en) * | 2021-11-18 | 2023-05-25 | 国网湖南省电力有限公司 | Bionic tower climbing robot and tower climbing method thereof |
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Application publication date: 20180608 |