CN108382479A - A kind of anti-fall climbing robot - Google Patents

Abstract

The invention discloses a kind of anti-fall climbing robots, belong to robotic technology field.It includes：Scramble main body and the mechanical arm being connect with scramble main body；Scramble main body includes first end actuator, the first climbing arm, the second climbing arm and the second end actuator and connecting rod being rotatablely connected successively by cradle head, the both ends of connecting rod are respectively connected in the middle part of the arm body of the first climbing arm and the second climbing arm, it is equipped with screw mechanism in second climbing arm, the leading screw of screw mechanism is connect with connecting rod；Mechanical arm is set on the first climbing arm, and mechanical arm includes sequentially connected end-attachment part, the first motion arm and the second motion arm.What the present invention can carry out automatic safe button is to hang operation, the troublesome operation that power grid maintenance personnel oneself carry out safety buckle system extension is avoided, has ensured that power grid maintenance personnel climb the job safety of electric power tower, to prevent personnel from falling, it improves work efficiency, improves climbing speed and obstacle climbing ability.

Description

An anti-fall climbing robot

technical field

The invention relates to the technical field of robots, in particular to an anti-fall climbing robot.

Background technique

In recent years, the high-voltage and ultra-high-voltage power transmission technology in my country's power industry has reached a very high level, but our intelligence for the inspection and maintenance of transmission line towers is still relatively backward. In order to ensure the safe and reliable operation of transmission lines, it is necessary to regularly inspect and maintain the line towers. At present, inspection and maintenance are mainly carried out manually or semi-manually. The erection height of transmission line towers is often tens of meters or even tens of meters high. The wind on the tower is strong, and the operation risk of the tower climber is very high. Although the current safety belt can ensure the climbing tower to prevent falling, the operation is extremely difficult. It is cumbersome, and tower climbers are unwilling to use it, which leads to great risks in tower climbing operations.

The current tower climbing robot technology is still immature, the robot climbing main body is slow, the ability to overcome obstacles is poor, and the adaptability of the end fixing mechanism is poor. Most of them are still in the experimental stage, and there is no seat belt attachment function.

Contents of the invention

The purpose of the present invention is to provide an anti-fall climbing robot to solve the problems of slow climbing speed, poor obstacle-surmounting ability, poor adaptability of terminal fixing mechanism and inability to realize safety buckle hanging of existing iron tower climbing robots.

The technical scheme that the present invention solves the problems of the technologies described above is as follows:

An anti-fall climbing robot, comprising: a climbing body and a mechanical arm connected to the climbing body;

The climbing body includes a first end effector, a first climbing arm, a second climbing arm, and a second end effector that are sequentially connected by rotating joints. The climbing body also includes a connecting rod, and the two ends of the connecting rod are respectively connected to To the middle part of the arm body of the first climbing arm and the second climbing arm, a screw mechanism is arranged in the second climbing arm, and the screw of the screw mechanism is connected with the connecting rod; the mechanical arm is arranged on the first climbing arm , the mechanical arm includes an end suction piece connected in sequence, a first operating arm and a second operating arm, the first operating arm is connected to the second operating arm through an arm joint assembly, and the second operating arm is connected to the first climbing arm through a waist assembly .

Further, in a preferred embodiment of the present invention, the above-mentioned rotating joint includes a first rotating joint connecting the first end effector with the first climbing arm, a second rotating joint connecting the first climbing arm and the second climbing arm. A rotary joint and a third rotary joint connecting the second climbing arm and the second end effector; the first climbing arm is provided with a first motor connected with the first rotary joint to drive the first rotary joint to move; the second The climbing arm is provided with a second motor connected with the third rotary joint to drive the second rotary joint to move.

Further, in a preferred embodiment of the present invention, the above screw mechanism further includes a screw motor connected to the screw to drive the screw to move.

Further, in a preferred embodiment of the present invention, both the above-mentioned first end effector and the second end effector include a mechanical claw and an electromagnet arranged on the surface of the mechanical claw.

Further, in a preferred embodiment of the present invention, the cross-section of the mechanical claw is L-shaped.

Further, in a preferred embodiment of the present invention, the above-mentioned end adsorption member is an electromagnet.

Further, in a preferred embodiment of the present invention, the above-mentioned arm joint assembly includes a U-shaped first mount and a first fixing sleeve movably connected with the first mount, and the first mount is arranged on the second operating arm The part of the arm body of the first operating arm is arranged in the first fixed sleeve at the end far away from the climbing main body, and the outside of the first fixed sleeve is movably connected with the first installation base.

Further, in a preferred embodiment of the present invention, the waist assembly includes a U-shaped second mounting base, a second fixing sleeve and a fixing plate, the second mounting base is movably connected to the second fixing sleeve, and the fixing plate is connected to the first The two mounting bases are connected and arranged on the end of the first climbing arm close to the first end effector.

Further, in a preferred embodiment of the present invention, a third motor for driving the first operating arm is further provided in the first fixing sleeve, and a fourth motor for driving the second operating arm is further provided in the second fixing sleeve.

Further, in a preferred embodiment of the present invention, the above-mentioned anti-falling climbing robot includes an automatic safety buckle adsorbed on the end absorber, the automatic safety buckle includes a shell with a U-shaped lock, and the lock is provided with a lock pin.

The present invention has the following beneficial effects:

In the present invention, by adding a mechanical arm to the climbing main body to carry out the automatic safety buckle fastening operation, it avoids the cumbersome operation of the power grid maintenance personnel to carry out the safety buckle fastening by themselves, and ensures the operation safety of the power grid maintenance personnel climbing the power tower, thereby preventing personnel from fall, improving work efficiency. And, the present invention passes through the transmission mode of lead screw mechanism between the first climbing arm of climbing main body and the second climbing arm, and the main body middle joint (the rotating joint that connects the first climbing arm and the second climbing arm) ) power source is placed on the adjacent side (in the second climbing arm), so that the original motor drive is transformed into the opening and closing movement of the first climbing arm and the second climbing arm. By changing the angle between the two arms, the The rotation range of the middle joint of the main body is increased, a larger step length can be obtained, and the climbing speed and obstacle-surmounting ability are greatly improved.

In addition, the end effector of each climbing arm of the climbing body of the present invention is designed as a composite system of electromagnets and mechanical claws, taking into account climbing adaptability and reliability; at the same time, the mechanical claws can be used when climbing and fixing The self-locking design reduces power consumption, which is very suitable for operations in such environments; moreover, the climbing body of the present invention can not only complete the tower climbing action, but also can be attached to a safety buckle at a designated position of the power tower.

Description of drawings

Fig. 1 is the structural representation of anti-fall climbing robot of the present invention;

Fig. 2 is a structural schematic diagram of the climbing main body of the anti-fall climbing robot of the present invention;

Fig. 3 is a structural schematic diagram of the mechanical arm of the anti-fall climbing robot of the present invention.

In the figure: 100-fall prevention climbing robot; 110-climbing main body; 111-first end effector; 112-first climbing arm; 113-second climbing arm; 114-second end effector; 115 -connecting rod; 116-first rotating joint; 117-second rotating joint; 118-third rotating joint; 121-mechanical claw; 122-first motor; 123-second motor; 124-leading screw; 125-screw Bar motor; 126-nut; 210-mechanical arm; 211-end adsorption piece; 212-first operating arm; 213-second operating arm; 214-arm joint assembly; 215-waist assembly; 221-first mounting seat; 222-the first fixed sleeve; 223-the second mounting seat; 224-the second fixed sleeve; 225-fixed plate; 226-the third motor; 227-the fourth motor; 228-waist motor; 310-automatic safety buckle; - housing; 312 - locking pin.

Detailed ways

The principles and features of the present invention are described below in conjunction with the accompanying drawings, and the examples given are only used to explain the present invention, and are not intended to limit the scope of the present invention.

Example

Referring to FIG. 1 , the anti-fall climbing robot 100 of the embodiment of the present invention includes: a climbing body 110 and a mechanical arm 210 connected to the climbing body 110 .

1 and 2, the climbing body 110 includes a first end effector 111, a first climbing arm 112, a second climbing arm 113, and a second end effector 114 that are sequentially rotatably connected through a rotating joint, and the connecting Rod 115.

The rotary joint includes a first rotary joint 116 connecting the first end effector 111 and the first climbing arm 112, a second rotary joint 117 connecting the first climbing arm 112 and the second climbing arm 113, and a second rotary joint 117 connecting the second climbing arm 112 and the second climbing arm 113. The arm 113 and the third rotary joint 118 of the second end effector 114 . A swivel joint is a hinged mechanism capable of rotation. The rotation directions of the first rotary joint 116 , the second rotary joint 117 and the third rotary joint 118 are parallel to each other.

Both the first end effector 111 and the second end effector 114 include a mechanical claw 121 and an electromagnet disposed on the surface of the mechanical claw 121 . The cross-section of the mechanical claw 121 is L-shaped, which can be well matched with the angle steel of the electric tower, so as to grasp firmly.

The first climbing arm 112 is provided with a first motor 122 connected to the first rotary joint 116 to drive the first rotary joint 116 to move. The second climbing arm 113 is provided with a second motor 123 connected to the third rotary joint 118 to drive the second rotary joint 117 to move.

Both ends of the connecting rod 115 are respectively connected to the middle parts of the first climbing arm 112 and the second climbing arm 113 . The second climbing arm 113 is provided with a leading screw 124 mechanism, and the leading screw 124 of the leading screw 124 mechanism is connected with the connecting rod 115 for adjusting the angle between the first climbing arm 112 and the second climbing arm 113, to achieve a wide-ranging leap. The lead screw 124 mechanism includes a lead screw 124 , a lead screw motor 125 driving the lead screw 124 to move, and a nut 126 matched with the lead screw 124 . The screw rod is arranged along the length direction of the second climbing arm 113 . The nut 126 is connected with the connecting rod 115. Driven by the screw motor 125, the rotation of the screw around its own axis is transformed into the linear movement of the nut 126 along the screw 124, and then drives the connecting rod 115 connected with the nut 126 to move along the screw 124. sports.

Please refer to FIG. 1 and FIG. 3 , the mechanical arm 210 is disposed on the first climbing arm 112 , and the mechanical arm 210 includes an end adsorption member 211 , a first operating arm 212 and a second operating arm 213 connected in sequence. The first operating arm 212 is connected to the second operating arm 213 through an arm joint assembly 214 , and the second operating arm 213 is connected to the first climbing arm 112 through a waist assembly 215 . The main task of the mechanical arm 210 is to grab and release the automatic safety buckle 310 and operate the automatic safety buckle 310 to move its position. Among them, the function of grabbing and releasing the automatic safety buckle 310 is realized by the end adsorption part 211 of the mechanical arm 210 ; the position movement is realized by the three degrees of freedom of the mechanical arm 210 . The end absorbing part 211 is an electromagnet, and the automatic safety buckle 310 is sucked by magnet attraction.

Referring to FIG. 3 , the arm joint assembly 214 includes a U-shaped first mounting base 221 and a first fixing sleeve 222 movably connected with the first mounting base 221 . The first mounting seat 221 is arranged on the end of the second operating arm 213 away from the climbing main body 110, and part of the arm body of the first operating arm 212 is arranged in the first fixing sleeve 222, and the outside of the first fixing sleeve 222 is in contact with the first fixing sleeve 222. The mounting seat 221 is flexibly connected. A third motor 226 for driving the first operating arm 212 is also disposed in the first fixing sleeve 222 .

Please refer to FIG. 3 , the waist assembly 215 includes a U-shaped second mounting base 223 , a second fixing sleeve 224 and a fixing plate 225 , the second mounting base 223 and the second fixing sleeve 224 are movably connected by pin shafts, and the fixing plate 225 is connected to the second fixing sleeve 224 . The second mounting base 223 is connected and disposed on the end of the first climbing arm 112 close to the first end effector 111 . A fourth motor 227 for driving the second operating arm 213 is also disposed in the second fixing sleeve 224 . The waist assembly 215 also includes a waist motor 228 , and the waist motor 228 is arranged on the fixing plate 225 . Driven by the waist motor 228, the mechanical arm 210 can rotate 360 degrees on the first climbing arm 112, making the mechanical arm 210 more flexible.

The automatic safety buckle 310 is adsorbed on the end absorbing part 211 . The automatic safety buckle 310 includes a housing 311 with a U-shaped locking opening, and a locking pin 312 matched therewith is provided at the locking opening. In this embodiment, the casing 311 is made of iron. The iron shell 311 is connected to the electromagnet end absorbing part 211 by suction.

In one embodiment of the present invention, the lock pin 312 is a turbine structure automatic safety buckle 310. It also includes a motor that is arranged in the housing 311 but not shown in the figure, a worm that cooperates with the lock pin 312, a limit switch, and power supply to the motor. batteries, battery covers, covers and control modules. One side of the lock opening is provided with a battery cavity for installing a battery, and the other side of the lock opening is provided with a motor, and the output shaft of the motor is connected with the lock pin 312 . The limit switch includes a limit switch for controlling unlocking and stopping and a limit switch for locking and stopping, which are respectively arranged on two ends of the lock pin 312 correspondingly. In addition, the outer wall of the casing 311 is also provided with a wireless receiver and a circuit board, the control module is arranged on the circuit board, the wireless receiver is connected to the control module, and the control module is connected to the motor for controlling the forward and reverse rotation of the motor.

The working process of the anti-fall climbing robot 100 of the present invention will be described below.

The anti-fall climbing robot 100 of the present invention mainly climbs along the main material angle steel of the electric power tower, and the climbing process is as follows:

The electromagnet of the first end effector 111 is energized and fixed on the angle steel, the electromagnet of the second end effector 114 is de-energized and released, and the screw on the second climbing arm 113 rotates to drive the nut 126 to move downward. The second rotating joint 117 is slowly retracted by the action of the connecting rod 115, the angle between the first climbing arm 112 and the second climbing arm 113 becomes smaller, the second climbing arm 113 moves upwards, and the first rotating joint 116 and the third rotary joint 118 perform coordinated movement, so that the second end effector 114 is fixed on the angle steel of the electric power tower again.

Then, the second end effector 114 is energized and fixed, the first end effector 111 is de-energized and released, and the second rotating joint 117 is slowly expanded. The angle between the first climbing arm 112 and the second climbing arm 113 become larger, the first climbing arm 112 moves upward, and the first rotary joint 116 and the third rotary joint 118 perform a coordinated movement, so that the first end effector 111 is energized again and fixed on the angle steel of the main material of the power tower. At this time, the posture of the robot returns to the initial state, and a climbing cycle is completed. Follow this process to cycle and climb.

After climbing to the target position, utilize the mechanical arm 210 to bring the automatic safety buckle 310 close to the cross arm of the power tower, open the safety buckle by remote control, and hang it on the cross arm. The end adsorption part 211 is powered off, the automatic safety buckle 310 and the safety rope stay on the iron tower, and the robot returns to the ground. After the electric workers finish their work, the robot climbs up the iron tower, and the end absorbing part 211 stretches to the side of the automatic safety buckle 310, and powers on and absorbs the automatic safety buckle 310. The remote control automatic safety buckle 310 is opened, and the robot takes off the automatic safety buckle 310 and returns to the ground, and the operation ends.

The process of opening and closing the lock is as follows: the operator transmits the signal to the wireless receiver through the remote controller. After receiving the signal, the wireless receiver transmits it to the control module on the circuit board, and then transmits the signal to the motor. The motor is powered and rotates to drive the worm to move. Drive the lock pin 312 to rotate until the limit switch is triggered, the control module on the circuit board, the control module changes the circuit, the motor stops driving, the worm stops moving, and the lock pin 312 is unlocked. On the contrary, the lock pin 312 reversely moves once according to the above-mentioned process to realize the lock.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within range.

Claims (10)

1. a kind of anti-fall climbing robot, which is characterized in that including：Scramble main body and the machinery being connect with the scramble main body Arm；

The scramble main body includes the first end actuator being rotatablely connected successively by cradle head, the first climbing arm, second It further includes connecting rod to climb arm and second end actuator, the scramble main body, and the both ends of the connecting rod are respectively connected to described the In the middle part of the arm body of one climbing arm and the second climbing arm, screw mechanism, the screw mechanism are equipped in the second climbing arm Leading screw connect with the connecting rod；

The mechanical arm is set on the first climbing arm, and the mechanical arm includes sequentially connected end-attachment part, first Motion arm and the second motion arm, first motion arm are connect with second motion arm by shoulder joint component, and described second Motion arm is connect by waist feature with the first climbing arm.

2. anti-fall climbing robot according to claim 1, which is characterized in that the cradle head includes connecting described the One end effector climbs the first cradle head of arm with described first, connect the first climbing arm and the second climbing arm The second cradle head and connection it is described second climbing arm and the second end actuator third cradle head；

It is equipped with the first motor being connect with first cradle head in the first climbing arm, to drive first rotation to close Section movement；It is equipped with the second motor being connect with the third cradle head in the second climbing arm, to drive described second turn Movable joint moves.

3. anti-fall climbing robot according to claim 1, which is characterized in that the screw mechanism further includes and the silk The spindle motor of thick stick connection, to drive the guide screw movement.

4. anti-fall climbing robot according to claim 1, which is characterized in that the first end actuator and described Two end effectors include gripper and the electromagnet on gripper surface are arranged.

5. anti-fall climbing robot according to claim 4, which is characterized in that the section of the gripper is L-shaped.

6. according to the anti-fall climbing robot of claim 1-5 any one of them, which is characterized in that the end-attachment part is electricity Magnet.

7. according to the anti-fall climbing robot of claim 1-5 any one of them, which is characterized in that the shoulder joint component includes The first U-shaped mounting base and the first fixing sleeve being flexibly connected with first mounting base, the first mounting base setting In end of second motion arm far from the scramble main body, the part arm body setting of first motion arm is described the In one fixing sleeve, the outside of first fixing sleeve is flexibly connected with first mounting base.

8. anti-fall climbing robot according to claim 7, which is characterized in that the waist feature includes U-shaped Two mounting bases, the second fixing sleeve and fixed plate, second mounting base are flexibly connected with second fixing sleeve, the fixed plate The end of the close first end actuator of the first climbing arm is connect and is set to second mounting base.

9. anti-fall climbing robot according to claim 8, which is characterized in that be additionally provided with driving in first fixing sleeve The third motor of first motion arm is additionally provided with the 4th motor for driving second motion arm in second fixing sleeve.

10. anti-fall climbing robot according to claim 1, which is characterized in that the anti-fall climbing robot includes inhaling The automatic safe button on the end-attachment part is invested, the automatic safe button includes the shell for having U-shaped fore shaft, the fore shaft Place is equipped with the lock pin coordinated with it.