CN108382479B - Anti-falling climbing robot - Google Patents
Anti-falling climbing robot Download PDFInfo
- Publication number
- CN108382479B CN108382479B CN201810281256.2A CN201810281256A CN108382479B CN 108382479 B CN108382479 B CN 108382479B CN 201810281256 A CN201810281256 A CN 201810281256A CN 108382479 B CN108382479 B CN 108382479B
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- arm
- climbing
- end effector
- main body
- joint
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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
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- 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
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- 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 an anti-falling climbing robot, and belongs to the technical field of robots. It comprises the following steps: the climbing main body and the mechanical arm are connected with the climbing main body; the climbing main body comprises a first end effector, a first climbing arm, a second end effector and a connecting rod which are sequentially connected in a rotating way through a rotating joint, wherein two ends of the connecting rod are respectively connected to the middle parts of arm bodies of the first climbing arm and the second climbing arm, a screw rod mechanism is arranged in the second climbing arm, and a screw rod of the screw rod mechanism is connected with the connecting rod; the mechanical arm is arranged on the first climbing arm and comprises a tail end adsorption piece, a first operation arm and a second operation arm which are sequentially connected. The automatic safety buckle tying and hanging device can perform automatic safety buckle tying and hanging operation, avoids complex operation of safety buckle tying and hanging by power grid maintenance personnel, and ensures operation safety of climbing the power iron tower by the power grid maintenance personnel, thereby preventing personnel from falling, improving working efficiency, and improving climbing speed and obstacle crossing capability.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an anti-falling climbing robot.
Background
In recent years, the high-voltage and extra-high-voltage power transmission technology in the power industry in China reaches a very high level, but the intelligent degree of inspection and maintenance of a transmission line iron tower is relatively backward. In order to ensure safe and reliable operation of the transmission line, the line iron tower needs to be detected and maintained regularly. At present, inspection maintenance is mainly carried out manually or semi-manually. The erection height of the transmission line iron tower is often tens meters or even tens meters, wind power on the tower is large, operation risk of climbing tower personnel is large, the existing safety belt ensures climbing tower anti-falling in the climbing tower, but operation and complexity are realized, and climbing tower personnel are unwilling to use, so that great risk exists in climbing tower operation.
At present, the iron tower climbing robot technology is not mature, the main body of the robot climbing is slow, obstacle surmounting capability is poor, terminal fixing mechanism adaptability is poor, most stay in the test stage, and the safety belt tying function is not provided.
Disclosure of Invention
The invention aims to provide an anti-falling climbing robot which solves the problems that an existing iron tower climbing robot is low in climbing speed, poor in obstacle crossing capability, poor in adaptability of a tail end fixing mechanism and incapable of achieving safe buckling and hanging.
The technical scheme for solving the technical problems is as follows:
an anti-fall climbing robot, comprising: the climbing main body and the mechanical arm are connected with the climbing main body;
the climbing main body comprises a first end effector, a first climbing arm, a second climbing arm and a second end effector which are sequentially connected in a rotating way through a rotating joint, the climbing main body further comprises a connecting rod, two ends of the connecting rod are respectively connected to the middle parts of arm bodies of the first climbing arm and the second climbing arm, a screw rod mechanism is arranged in the second climbing arm, and a screw rod of the screw rod mechanism is connected with the connecting rod; the mechanical arm is arranged on the first climbing arm and comprises a tail end adsorption piece, a first operation arm and a second operation arm which are sequentially connected, the first operation arm is connected with the second operation arm through an arm joint assembly, and the second operation arm is connected with the first climbing arm through a waist assembly.
Further, in a preferred embodiment of the present invention, the rotational joints include a first rotational joint connecting the first end effector and the first climbing arm, a second rotational joint connecting the first climbing arm and the second climbing arm, and a third rotational joint connecting the second climbing arm and the second end effector; a first motor connected with the first rotary joint is arranged in the first climbing arm so as to drive the first rotary joint to move; a second motor connected with the third rotary joint is arranged in the second climbing arm so as to drive the second rotary joint to move.
Further, in a preferred embodiment of the present invention, the 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, the first end effector and the second end effector each include a gripper and an electromagnet disposed on a surface of the gripper.
Further, in a preferred embodiment of the present invention, the cross section of the gripper is L-shaped.
Further, in a preferred embodiment of the present invention, the end adsorbing element is an electromagnet.
Further, in a preferred embodiment of the present invention, the arm joint assembly includes a U-shaped first mounting seat and a first fixing sleeve movably connected to the first mounting seat, the first mounting seat is disposed at an end portion of the second operating arm far away from the climbing main body, a portion of the arm body of the first operating arm is disposed in the first fixing sleeve, and an outer portion of the first fixing sleeve is movably connected to the first mounting seat.
Further, in a preferred embodiment of the present invention, the waist unit includes a second U-shaped mounting seat, a second fixing sleeve, and a fixing plate, the second mounting seat is movably connected with the second fixing sleeve, and the fixing plate is connected with the second mounting seat and is disposed at an end portion of the first climbing arm near the first end effector.
Further, in a preferred embodiment of the present invention, a third motor for driving the first operating arm is further disposed in the first fixing sleeve, and a fourth motor for driving the second operating arm is further disposed in the second fixing sleeve.
Further, in a preferred embodiment of the present invention, the anti-falling climbing robot includes an automatic safety buckle attached to the end absorption member, the automatic safety buckle includes a housing having a U-shaped locking opening, and a locking pin is provided at the locking opening to be engaged with the locking opening.
The invention has the following beneficial effects:
according to the invention, the mechanical arm is added on the climbing main body to carry out the tying and hanging operation of the automatic safety buckle, so that the complicated operation of carrying out the safety buckle tying and hanging by power grid maintenance personnel is avoided, the operation safety of climbing the electric power iron tower by the power grid maintenance personnel is ensured, the personnel is prevented from falling, and the working efficiency is improved. In addition, the power source of the middle joint of the main body (the rotating joint connecting the first climbing arm and the second climbing arm) is placed on the adjacent side (in the second climbing arm) through the transmission mode of the screw mechanism between the first climbing arm and the second climbing arm of the climbing main body, so that the original motor drive is converted into the opening and closing movement of the first climbing arm and the second climbing arm, the rotation range of the middle joint of the main body is greatly increased through changing the included angle of the two arms, larger step length can be obtained, and the climbing speed and obstacle surmounting capability are greatly improved.
In addition, the end effector of each climbing arm of the climbing main body is designed into a composite system of an electromagnet and a mechanical claw, so that the climbing adaptability and the reliability are both considered; meanwhile, when climbing is fixed, the self-locking design of the mechanical claw can be utilized to reduce the electric energy consumption, so that the device is very suitable for operation in such environments; moreover, the climbing main body can complete the climbing action, and can also be tied and hung with a safety buckle at a designated position of the electric iron tower.
Drawings
FIG. 1 is a schematic diagram of a structure of an anti-falling climbing robot of the present invention;
fig. 2 is a schematic structural view of a climbing body of the anti-falling climbing robot of the present invention;
fig. 3 is a schematic structural view of a mechanical arm of the anti-falling climbing robot of the present invention.
In the figure: 100-an anti-falling climbing robot; 110-climbing a main body; 111-a first end effector; 112-a first climbing arm; 113-a second climbing arm; 114-a second end effector; 115-a connecting rod; 116-first rotary joint; 117-second revolute joint; 118-third revolute joint; 121-a gripper; 122-a first motor; 123-a second motor; 124-lead screw; 125-lead screw motor; 126-nuts; 210-a mechanical arm; 211-end adsorbent member; 212-a first operating arm; 213-a second operating arm; 214-an arm joint assembly; 215-a waist feature; 221-a first mount; 222-a first retaining sleeve; 223-a second mount; 224-a second retaining sleeve; 225-fixing plates; 226-a third motor; 227-a fourth motor; 228-a waist motor; 310-automatic safety buckle; 311-a housing; 312-locking pins.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
Examples
Referring to fig. 1, an anti-falling climbing robot 100 according to an embodiment of the present invention includes: a climbing body 110 and a robotic arm 210 connected to the climbing body 110.
Referring to fig. 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, which are sequentially rotatably connected by a rotational joint, and a link 115.
The rotational joints comprise a first rotational joint 116 connecting the first end effector 111 with the first climbing arm 112, a second rotational joint 117 connecting the first climbing arm 112 and the second climbing arm 113, and a third rotational joint 118 connecting the second climbing arm 113 and the second end effector 114. The rotary joint is a hinge mechanism capable of rotating. The rotational directions of the first rotational joint 116, the second rotational joint 117, and the third rotational joint 118 are parallel to each other.
The first end effector 111 and the second end effector 114 each include a gripper 121 and an electromagnet provided on a surface of the gripper 121. The cross section of the mechanical claw 121 is L-shaped, and can be well matched with angle steel of the electric tower, so that grabbing is stable.
A first motor 122 is provided in the first climbing arm 112 and coupled to the first pivot joint 116 to drive the first pivot joint 116. A second motor 123 is provided in the second climbing arm 113 that is coupled to the third pivot joint 118 to drive the second pivot joint 117.
The two ends of the link 115 are connected to the arm body middle portions of the first climbing arm 112 and the second climbing arm 113, respectively. A screw rod 124 mechanism is arranged in the second climbing arm 113, and a screw rod 124 of the screw rod 124 mechanism is connected with the connecting rod 115 and used for adjusting an included angle between the first climbing arm 112 and the second climbing arm 113 so as to realize large-range crossing. The screw 124 mechanism includes a screw 124, a screw motor 125 that drives the movement of the screw 124, and a nut 126 that mates with the screw 124. The screw is provided along the length direction of the second climbing arm 113. The nut 126 is connected with the connecting rod 115, and the rotation of the screw rod around the axis thereof is converted into linear motion of the nut 126 along the screw rod 124 under the drive of the screw rod motor 125, so as to drive the connecting rod 115 connected with the nut 126 to move along the screw rod 124.
Referring to fig. 1 and 3, the mechanical arm 210 is disposed on the first climbing arm 112, and the mechanical arm 210 includes a distal end adsorption member 211, a first operation arm 212, and a second operation arm 213 sequentially connected. The first operating arm 212 is connected to the second operating arm 213 via an arm joint assembly 214, and the second operating arm 213 is connected to the first climbing arm 112 via a waist assembly 215. The main task of the robot arm 210 is to grasp and release the automatic safety catch 310 and to operate the automatic safety catch 310 for positional movement. Wherein, the function of grabbing and loosening the automatic safety buckle 310 is realized by the tail end absorbing part 211 of the mechanical arm 210; the positional movement is accomplished by three degrees of freedom of the robotic arm 210. The end suction member 211 is an electromagnet, and attracts the automatic safety catch 310 by the attraction of the magnet.
Referring to fig. 3, the arm joint assembly 214 includes a U-shaped first mounting seat 221 and a first fixing sleeve 222 movably connected to the first mounting seat 221. The first mounting seat 221 is disposed at an end portion of the second operating arm 213 away from the climbing main body 110, a portion of the arm body of the first operating arm 212 is disposed in the first fixing sleeve 222, and an outer portion of the first fixing sleeve 222 is movably connected with the first mounting seat 221. The first fixing sleeve 222 is further provided therein with a third motor 226 driving the first operating arm 212.
Referring to fig. 3, the waist unit 215 includes a second mounting seat 223, a second fixing sleeve 224 and a fixing plate 225, wherein the second mounting seat 223 and the second fixing sleeve 224 are movably connected through a pin, and the fixing plate 225 is connected with the second mounting seat 223 and is disposed at an end portion of the first climbing arm 112 near the first end effector 111. The second fixing sleeve 224 is further provided therein with a fourth motor 227 driving the second operation arm 213. The lumbar assembly 215 further includes a lumbar motor 228, the lumbar motor 228 being disposed on a stationary plate 225. Driven by the lumbar motor 228, the robotic arm 210 may rotate 360 degrees on the first climbing arm 112, making the robotic arm 210 more flexible.
The automatic safety button 310 is attached to the end suction member 211. The automatic safety catch 310 includes a housing 311 having a U-shaped locking notch with a locking pin 312 engaged therewith. In this embodiment, the housing 311 is made of iron. The iron shell 311 is in adsorption connection with the electromagnet tail end adsorption piece 211.
In one embodiment of the invention, the locking pin 312 is a turbine structure automatic safety button 310 further comprising a motor disposed within the housing 311 but not shown in the figures, a worm screw that mates with the locking pin 312, a limit switch, a battery to power the motor, a battery cover, a cover, and a control module. A battery cavity for installing a battery is arranged on one side of the locking port, a motor is arranged on the other side of the locking port, and an output shaft of the motor is connected with the lock pin 312. The limit switch comprises a limit switch for controlling unlocking and stopping and a limit switch for locking and stopping, which are respectively and correspondingly arranged at two ends of the lock pin 312. In addition, the outer wall of the shell 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 with the control module, and the control module is connected with the motor and used for controlling forward and reverse rotation of the motor.
The operation of the anti-falling climbing robot 100 of the present invention will be described.
The anti-falling climbing robot 100 mainly climbs along the main material angle steel of the electric power iron tower, and the climbing process is as follows:
the electromagnet of the first end effector 111 is electrified and adsorbed on the angle steel to be fixed, the electromagnet of the second end effector 114 is powered off and loosened, the screw rod on the second climbing arm 113 rotates to drive the nut 126 to move downwards, the second rotating joint 117 is slowly retracted under the action of the connecting rod 115, the angle between the first climbing arm 112 and the second climbing arm 113 is reduced, the second climbing arm 113 moves upwards, the first rotating joint 116 and the third rotating joint 118 perform coordinated movement, and the second end effector 114 is fixed on the angle steel of the electric iron tower again.
Then, the second end effector 114 is electrified and fixed, the first end effector 111 is powered off and released, the second rotary joint 117 is slowly unfolded, the angle between the first climbing arm 112 and the second climbing arm 113 is increased, the first climbing arm 112 moves upwards, the first rotary joint 116 and the third rotary joint 118 perform coordinated movement, so that the first end effector 111 is electrified again and fixed on the angle steel of the main material of the electric power iron tower. At this time, the gesture of robot returns to initial state again, accomplishes the circulation of a climbing. The climbing is carried out circularly according to the process.
When climbing to the target position, the automatic safety buckle 310 is close to the cross arm of the electric power iron tower by using the mechanical arm 210, and the safety buckle is opened by remote control and hung on the cross arm. The end suction fitting 211 is powered off, the automatic safety buckle 310 and safety rope remain on the tower, and the robot returns to the ground. When the electric power worker finishes working, the robot climbs on the iron tower, the tail end absorbing part 211 extends to the side of the automatic safety buckle 310, and the automatic safety buckle 310 is electrified and absorbed. The remote control automatic safety buckle 310 is opened, the robot takes down the automatic safety buckle 310 and returns to the ground, and the operation is finished.
The switch lock process is as follows: the operator transmits signals to the wireless receiver through the remote controller, after no receiver receives the signals, the signals are transmitted to the control module on the circuit board, the signals are further transmitted to the motor, the motor is electrified to rotate to drive the worm to move, the lock pin 312 is further driven to rotate until the limit switch is triggered, the control module on the circuit board changes the circuit, the motor stops driving, the worm stops moving, and the lock pin 312 is unlocked. Otherwise, the lock is closed by reversing the movement of the lock pin 312 once according to the above procedure.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (7)
1. An anti-falling climbing robot, comprising: a climbing main body and a mechanical arm connected with the climbing main body;
the climbing main body comprises a first end effector, a first climbing arm, a second climbing arm and a second end effector which are sequentially connected in a rotating way through a rotating joint, the climbing main body further comprises a connecting rod, two ends of the connecting rod are respectively connected to the middle parts of arm bodies of the first climbing arm and the second climbing arm, a screw rod mechanism is arranged in the second climbing arm, and a screw rod of the screw rod mechanism is connected with the connecting rod;
the mechanical arm is arranged on the first climbing arm and comprises a tail end adsorption piece, a first operation arm and a second operation arm which are sequentially connected, the first operation arm is connected with the second operation arm through an arm joint assembly, and the second operation arm is connected with the first climbing arm through a waist assembly;
the arm joint assembly comprises a U-shaped first mounting seat and a first fixing sleeve movably connected with the first mounting seat, the first mounting seat is arranged at the end part of the second operation arm far away from the climbing main body, part of an arm body of the first operation arm is arranged in the first fixing sleeve, and the outer part of the first fixing sleeve is movably connected with the first mounting seat;
the waist component comprises a U-shaped second mounting seat, a second fixing sleeve and a fixing plate, wherein the second mounting seat is movably connected with the second fixing sleeve, and the fixing plate is connected with the second mounting seat and is arranged at the end part of the first climbing arm, which is close to the first end effector;
the anti-falling climbing robot comprises an automatic safety buckle adsorbed on the tail end adsorption piece, the automatic safety buckle comprises a shell with a U-shaped locking notch, and a locking pin matched with the locking notch is arranged at the locking notch.
2. The anti-fall climbing robot of claim 1, wherein the revolute joint comprises a first revolute joint connecting the first end effector to the first climbing arm, a second revolute joint connecting the first climbing arm and the second climbing arm, and a third revolute joint connecting the second climbing arm and the second end effector;
a first motor connected with the first rotary joint is arranged in the first climbing arm so as to drive the first rotary joint to move; and a second motor connected with the third rotary joint is arranged in the second climbing arm so as to drive the third rotary joint to move.
3. The anti-fall climbing robot of claim 1, wherein the screw mechanism further comprises a screw motor coupled to the screw to drive the screw to move.
4. The anti-fall climbing robot of claim 1, wherein the first end effector and the second end effector each comprise a gripper and an electromagnet disposed on a surface of the gripper.
5. The anti-fall climbing robot of claim 4, wherein the cross section of the gripper is L-shaped.
6. The anti-fall climbing robot of any one of claims 1-5, wherein the tip absorption member is an electromagnet.
7. The anti-falling climbing robot according to claim 1, wherein 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 CN108382479A (en) | 2018-08-10 |
| CN108382479B true 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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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| 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 |
| 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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