CN108382479A - A kind of anti-fall climbing robot - Google Patents
A kind of anti-fall climbing robot Download PDFInfo
- Publication number
- CN108382479A CN108382479A CN201810281256.2A CN201810281256A CN108382479A CN 108382479 A CN108382479 A CN 108382479A CN 201810281256 A CN201810281256 A CN 201810281256A CN 108382479 A CN108382479 A CN 108382479A
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- China
- Prior art keywords
- arm
- climbing
- connect
- fall
- cradle head
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of anti-fall climbing robot.
Background technology
In recent years, China's power industry high pressure, extra-high voltage electric power transmission technology oneself through having reached very high level, but I
For electric power line steel tower inspection and maintenance intelligence degree also more fall behind.To ensure transmission line safety reliability service,
It needs that periodically line steel tower is detected and is safeguarded.It is main at present manually or semi-artificial mode carries out inspection maintenance.Power transmission line
The antenna height of steel tower is all often more than ten meters of even tens meters of height, and wind-force is big on tower, and climbing tower personnel's operating risk is very big, now
Although safety belt ensure that climbing tower is anti-fall in climbing tower, operation and its it is cumbersome, climbing tower personnel are unwilling to use, and cause to climb
There are greater risks for tower operation.
Current iron tower climbing robot technology is still immature, and robot scramble main body speed is slow, obstacle climbing ability is poor, end is solid
Determine mechanism bad adaptability, rest on experimental stage mostly, more hangs function without safety belt system.
Invention content
The purpose of the present invention is to provide a kind of anti-fall climbing robots, to solve existing iron tower climbing robot climbing speed
Degree is slow, obstacle climbing ability is poor, end fixed mechanism bad adaptability and the problem of cannot achieve safety buckle system extension.
The technical solution that the present invention solves above-mentioned technical problem is as follows：
A kind of anti-fall climbing robot, including：Scramble main body and the mechanical arm being connect with scramble main body；
Scramble main body includes the first end actuator being rotatablely connected successively by cradle head, the first climbing arm, second
Climb arm and second end actuator, scramble main body further includes connecting rod, and the both ends of connecting rod are respectively connected to the first climbing arm and the
In the middle part of the arm body of two climbing arms, it is equipped with screw mechanism in the second climbing arm, the leading screw of screw mechanism is connect with connecting rod；Mechanical arm is set
It is placed on the first climbing arm, mechanical arm includes sequentially connected end-attachment part, the first motion arm and the second motion arm, the first behaviour
Make arm to connect by shoulder joint component with the second motion arm, the second motion arm is connect by waist feature with the first climbing arm.
Further, in preferred embodiments of the present invention, above-mentioned cradle head include connection first end actuator with
First cradle head of the first climbing arm, the second cradle head of the first climbing arm of connection and the second climbing arm and connection second
Climb the third cradle head of arm and second end actuator；It is equipped with first connect with the first cradle head in first climbing arm
Motor, to drive the movement of the first cradle head；It is equipped with the second motor being connect with third cradle head in second climbing arm, to drive
Dynamic second cradle head movement.
Further, in preferred embodiments of the present invention, above-mentioned screw mechanism further includes the leading screw electricity being connect with leading screw
Machine, to drive guide screw movement.
Further, in preferred embodiments of the present invention, above-mentioned first end actuator and second end actuator are equal
Including gripper and the electromagnet on gripper surface is set.
Further, in preferred embodiments of the present invention, the section of above-mentioned gripper is L-shaped.
Further, in preferred embodiments of the present invention, above-mentioned end adsorption piece is electromagnet.
Further, in preferred embodiments of the present invention, said arm joint assembly include U-shaped the first mounting base with
And the first fixing sleeve being flexibly connected with the first mounting base, the first mounting base are set to the separate scramble main body of the second motion arm
The part arm body of end, the first motion arm is arranged in the first fixing sleeve, the outside of the first fixing sleeve and the first mounting base activity
Connection.
Further, in preferred embodiments of the present invention, above-mentioned waist feature includes U-shaped the second mounting base,
Two fixing sleeves and fixed plate, the second mounting base are flexibly connected with the second fixing sleeve, and fixed plate connect and sets with the second mounting base
It is placed in the end of the close first end actuator of the first climbing arm.
Further, in preferred embodiments of the present invention, the first motion arm of driving is additionally provided in above-mentioned first fixing sleeve
Third motor, the 4th motor of the second motion arm of driving is additionally provided in the second fixing sleeve.
Further, in preferred embodiments of the present invention, above-mentioned anti-fall climbing robot includes being adsorbed in end-attachment
Automatic safe button on part, automatic safe button include the shell for having U-shaped fore shaft, and the lock pin coordinated with it is equipped at fore shaft.
The invention has the advantages that：
The present invention is to hang operation by increase mechanical arm progress automatic safe button on scramble main body, avoids power grid dimension
Shield personnel oneself carry out the troublesome operation of safety buckle system extension, have ensured that power grid maintenance personnel climb the job safety of electric power tower,
To prevent personnel from falling, improve work efficiency.Also, the present invention climbs arm and the second climbing arm the first of scramble main body
Between by the kind of drive of screw mechanism, by main body middle joint, (rotation of the first climbing arm of connection and the second climbing arm is closed
Section) power resources be put into adjacent side (second climbing arm in) so that original motor driving is changed into the first climbing arm and second
The open and close movement for climbing arm considerably increases the slewing area of main body middle joint, can obtain by changing the angle of two-arm
The step-length of bigger substantially increases climbing speed and obstacle climbing ability.
In addition, end effector designs the answering for electromagnet and gripper of each climbing arm of scramble main body of the present invention
Collaboration is united, and climbing adaptability and reliability are taken into account；Meanwhile it can be designed using the self-locking of gripper when climbing fixed to reduce
Power consumption is very suitable for operation under such circumstances；It is moved moreover, the scramble main body of the present invention can not only complete climbing tower
Make, safety buckle can also be hung in the designated position system of electric power tower.
Description of the drawings
Fig. 1 is the structural schematic diagram of the anti-fall climbing robot of the present invention；
Fig. 2 is the structural schematic diagram of the scramble main body of the anti-fall climbing robot of the present invention；
Fig. 3 is the structural schematic diagram of the mechanical arm of the anti-fall climbing robot of the present invention.
In figure：The anti-fall climbing robots of 100-；110- scramble main bodies；111- first end actuators；112- first is climbed
Arm；113- second climbs arm；114- second end actuators；115- connecting rods；The first cradle heads of 116-；The rotations of 117- second are closed
Section；118- third cradle heads；121- grippers；122- first motors；The second motors of 123-；124- leading screws；125- leading screw electricity
Machine；126- nuts；210- mechanical arms；211- end-attachment parts；The first motion arms of 212-；The second motion arms of 213-；214- arms close
Save component；215- waist features；The first mounting bases of 221-；The first fixing sleeves of 222-；The second mounting bases of 223-；224- second is fixed
Set；225- fixed plates；226- third motors；The 4th motors of 227-；228- waist motors；310- automatic safe buttons；311- shells；
312- lock pins.
Specific implementation mode
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the present invention.
Embodiment
Fig. 1 is please referred to, the anti-fall climbing robot 100 of the embodiment of the present invention includes：Scramble main body 110 and with climbing lead
The mechanical arm 210 that body 110 connects.
Referring to Fig.1 and 2, scramble main body 110 includes being executed by the first end that cradle head is rotatablely connected successively
Device 111, first climbs arm 112, second and climbs arm 113 and second end actuator 114 and connecting rod 115.
Cradle head includes the first cradle head 116 for connecting first end actuator 111 and the first climbing arm 112, connects
The second cradle head 117 and connection second for connecing the first climbing arm 112 and second climbing arm 113 climb arm 113 and the second end
Hold the third cradle head 118 of actuator 114.Cradle head is the linkwork that can be rotated.First cradle head
116, the rotation direction of the second cradle head 117 and third cradle head 118 is parallel to each other.
First end actuator 111 and second end actuator 114 include gripper 121 and are arranged in gripper 121
The electromagnet on surface.The section of gripper 121 is L-shaped, can coordinate well with the angle steel of pylon, to which crawl is firm.
It is equipped with the first motor 122 being connect with the first cradle head 116 in first climbing arm 112, with the first rotation of driving
Joint 116 moves.It is equipped with the second motor 123 being connect with third cradle head 118 in second climbing arm 113, to drive second
Cradle head 117 moves.
The both ends of connecting rod 115 are respectively connected in the middle part of the arm body of the first climbing arm 112 and second climbing arm 113.Second climbs
It climbs and is equipped with 124 mechanism of leading screw in arm 113, the leading screw 124 of 124 mechanism of leading screw is connect with connecting rod 115, for adjusting the first climbing arm
112 and second climbing arm 113 between angle, with realize on a large scale cross over.124 mechanism of leading screw includes leading screw 124, driving silk
The spindle motor 125 that thick stick 124 moves, and the nut 126 with the cooperation of leading screw 124.Lead screw is along the length side of the second climbing arm 113
To setting.Nut 126 is connect with connecting rod 115, and under the driving of spindle motor 125, lead screw is converted into around the rotation of own axes
Nut 126 and then drives the connecting rod 115 that is connect with nut 126 to be moved along leading screw 124 along the linear motion of leading screw 124.
Fig. 1 and Fig. 3 are please referred to, mechanical arm 210 is set on the first climbing arm 112, and mechanical arm 210 includes sequentially connected
End-attachment part 211, the first motion arm 212 and the second motion arm 213.First motion arm 212 and the second motion arm 213 pass through arm
Joint assembly 214 connects, and the second motion arm 213 is connect by waist feature 215 with the first climbing arm 112.The master of mechanical arm 210
It is that crawl carries out position movement with release automatic safe button 310 and operation automatic safe button 310 to want task.Wherein, crawl with
The function of unclamping automatic safe button 310 is realized by the end-attachment part 211 of mechanical arm 210；It moves by the three of mechanical arm 210 position
A degree of freedom is realized.End-attachment part 211 is electromagnet, and automatic safe button 310 is sucked by magnetic pull.
Fig. 3 is please referred to, shoulder joint component 214 is lived including the first U-shaped mounting base 221 and with the first mounting base 221
First fixing sleeve 222 of dynamic connection.First mounting base 221 is set to the end of the separate scramble main body 110 of the second motion arm 213
The part arm body in portion, the first motion arm 212 is arranged in the first fixing sleeve 222, the outside of the first fixing sleeve 222 and the first installation
Seat 221 is flexibly connected.The third motor 226 of the first motion arm 212 of driving is additionally provided in first fixing sleeve 222.
Fig. 3 is please referred to, waist feature 215 includes the second U-shaped mounting base 223, the second fixing sleeve 224 and fixed plate
225, the second mounting base 223 is flexibly connected with the second fixing sleeve 224 by axis pin, and fixed plate 225 is connect with the second mounting base 223
And it is set to the end of the close first end actuator 111 of the first climbing arm 112.It is additionally provided with drive in second fixing sleeve 224
4th motor 227 of dynamic second motion arm 213.Waist feature 215 further includes waist motor 228, and the setting of waist motor 228 is solid
On fixed board 225.Under the driving of waist motor 228, mechanical arm 210 can climb 360 degree rotation on arm 112 first, make machine
Tool arm 210 is more flexible.
Automatic safe button 310 is adsorbed on end-attachment part 211.Automatic safe button 310 includes the shell for having U-shaped fore shaft
311, the lock pin 312 coordinated with it is equipped at fore shaft.In the present embodiment, shell 311 is irony.The shell 311 of irony and electricity
The absorption connection of magnet end adsorption piece 211.
In one embodiment of the invention, it further includes being arranged in shell that lock pin 312 buckles 310 for turbine structure automatic safe
311 worm screws interior but that motor and lock pin 312 coordinate not shown in figure, limit switch, the battery to motor power supply, battery
Lid, capping and control module.The battery cavities of installation battery are equipped in the side of fore shaft, the other side of fore shaft is equipped with motor, motor
Output shaft connect with lock pin 312.Limit switch include for control unlock stop limit switch and for lock stopping
Quick closing valve is limited, is correspondingly arranged at the both ends of lock pin 312 respectively.In addition, the outer wall of shell 311 is additionally provided with wireless receiver and electricity
Road plate, control module are arranged on circuit boards, and wireless receiver is connected with control module, and control module connects motor, for controlling
Forward and reverse rotation of motor processed.
The course of work of the anti-fall climbing robot 100 of the present invention is illustrated below.
The anti-fall climbing robot 100 of the present invention is climbed mainly along the main material angle steel of electric power tower, and climbing process is as follows：
First end actuator 111 electromagnet energization be adsorbed on it is fixed on angle steel, second end actuator 114
Electromagnet power-off is unclamped, and the lead screw rotation on the second climbing arm 113 drives nut 126 to move down, and passes through the effect of connecting rod 115
The second cradle head 117 is set slowly to pack up, the angle that the first climbing arm 112 and second is climbed between arm 113 becomes smaller, the second climbing
Arm 113 moves up, and the first cradle head 116 and third cradle head 118 carry out the coordinated movement of various economic factors, make second end actuator
114 are once again secured on electric power tower angle steels.
Then, second end actuator 114 is powered fixed, and the power-off of first end actuator 111 is unclamped, the second rotation
Joint 117 is slowly unfolded, and the angle that the first climbing arm 112 and second is climbed between arm 113 becomes larger, and the first climbing arm 112 is upward
Mobile, the first cradle head 116 and third cradle head 118 carry out the coordinated movement of various economic factors, and first end actuator 111 is made to lead to again
Electricity is fixed on electric power tower main material angle steel.The posture of robot is returned to original state at this time, and one climbing of completion follows
Ring.It recycles and climbs by this process.
After climbing to target location, automatic safe button 310 is passed through close to the cross-arm of electric power tower using mechanical arm 210
Remote control opens safety buckle, is suspended on cross-arm.End-attachment part 211 powers off, and automatic safe button 310 and safety rope stay in steel tower
On, robot returns to ground.Wait for that power worker's operation finishes, steel tower is climbed up by robot, and end-attachment part 211 reaches automatic safe
By button 310, it is powered and adsorbs automatic safe button 310.Remote control automatic safe button 310 is opened, and robot is by automatic safe button
310 remove and return ground, and operation terminates.
Switch lock process is as follows：Operator delivers a signal to wireless receiver by remote manipulator, and no receiver connects
After receiving signal, the control module on circuit board is passed to, and then signal is passed into motor, motor, which is powered to rotating, drives worm screw
Movement, and then rotated with pendulum lock pin 312, until triggering limit switch, the control module on circuit board, control module changes electricity
Road, motor stop driving, worm screw stop motion, and lock pin 312 is unlocked.Conversely, shutting 312 counter motion of lock pin as procedure described above
Once, realization is shut.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810281256.2A CN108382479B (en) | 2018-04-02 | 2018-04-02 | Anti-falling climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810281256.2A CN108382479B (en) | 2018-04-02 | 2018-04-02 | Anti-falling climbing robot |
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| CN108382479A true CN108382479A (en) | 2018-08-10 |
| CN108382479B CN108382479B (en) | 2023-05-30 |
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| CN201810281256.2A Active CN108382479B (en) | 2018-04-02 | 2018-04-02 | Anti-falling climbing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108909867A (en) * | 2018-08-31 | 2018-11-30 | 西南交通大学 | A kind of climbing robot |
| CN108909867B (en) * | 2018-08-31 | 2023-11-03 | 西南交通大学 | Climbing robot |
| CN109291036A (en) * | 2018-11-19 | 2019-02-01 | 广东技术师范学院 | A kind of industrial robot device |
| CN110665139A (en) * | 2019-09-05 | 2020-01-10 | 全球能源互联网研究院有限公司 | Robot and method for installing anti-falling equipment on tower |
| CN110665139B (en) * | 2019-09-05 | 2021-11-09 | 全球能源互联网研究院有限公司 | Robot and method for installing anti-falling equipment on tower |
| CN111017061A (en) * | 2019-12-19 | 2020-04-17 | 全球能源互联网研究院有限公司 | Transmission tower climbing robot, system and method |
| CN111017061B (en) * | 2019-12-19 | 2020-12-18 | 国网智能科技股份有限公司 | Transmission tower climbing robot, system and method |
| CN111591933A (en) * | 2020-06-12 | 2020-08-28 | 国网湖南省电力有限公司 | Power transmission line anti-falling track tower-climbing robot and method |
| CN111591933B (en) * | 2020-06-12 | 2023-09-22 | 国网湖南省电力有限公司 | Robot and method for climbing tower along anti-falling track of power transmission line |
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