CN109367637A - Electric power tower climbing robot foot clamping device - Google Patents
Electric power tower climbing robot foot clamping device Download PDFInfo
- Publication number
- CN109367637A CN109367637A CN201811258821.XA CN201811258821A CN109367637A CN 109367637 A CN109367637 A CN 109367637A CN 201811258821 A CN201811258821 A CN 201811258821A CN 109367637 A CN109367637 A CN 109367637A
- Authority
- CN
- China
- Prior art keywords
- clamp plate
- crank
- robot foot
- lower clamp
- electric power
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000009194 climbing Effects 0.000 title claims abstract description 30
- 229910000831 Steel Inorganic materials 0.000 description 28
- 239000010959 steel Substances 0.000 description 28
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 14
- 230000007246 mechanism Effects 0.000 description 9
- 229910052742 iron Inorganic materials 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 5
- 239000000463 material Substances 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of electric power tower climbing robot foot clamping devices, including connecting rod, crank, upper clamp plate and for drive crank rotate motor, crank is connected to motor, upper clamp plate is installed in robot foot section, on upper clamp plate can with respect to its close to or far from be slidably equipped with lower clamp plate, connecting rod one end is articulated with crank, and the other end is articulated with lower clamp plate, motor is arranged on robot foot section, and lower clamp plate slides to upper clamp plate with cleat angle.The clamping device has many advantages, such as of simple structure and low cost and being capable of cleat angle.
Description
Technical field
The present invention relates to steel tower climbing clamping machine technical field more particularly to the clampings of electric power tower climbing robot foot
Mechanism.
Background technique
Demand of the modern industrialization society to electric power is very huge, and the production and living and electric power of people are closely related, this is just
Very high requirement is proposed to the stable operation of power transmission electric network.In order to guarantee the stable operation of power grid, periodically to high voltage power transmission
Route, which carries out inspection, just becomes a necessary job.Since ultra-high-tension power transmission line passes through the complicated ring such as high mountain, great river, forest more
Border, inspection work become very difficult.Meanwhile in order to guarantee operation of power networks, all working is all livewire work.Livewire work is not
Only extremely dangerous and big to the physical demands of worker, worker is easy fatigue, it is prone to contingency.It is therefore desirable to adopt
Inspection work is executed with robot technology.For electric power tower climbing robot, how effectively cleat angle is one
A important technical problem.Complicated barrier, such as bolt need on steel tower corner iron and angle steel in order to adapt to various specifications
Design a kind of foot of dexterity.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the deficiencies in the prior art, provide a kind of of simple structure and low cost
And it is capable of the electric power tower climbing robot foot clamping device of cleat angle.
In order to solve the above technical problems, the invention adopts the following technical scheme:
A kind of electric power tower climbing robot foot clamping device, including connecting rod, crank, upper clamp plate and described for driving
The motor of crank rotation, the crank are connected to the motor, and the upper clamp plate is installed in robot foot section, on the upper clamp plate
Can with respect to its close to or far from be slidably equipped with lower clamp plate, described connecting rod one end is articulated with the crank, and the other end is articulated with institute
Lower clamp plate is stated, the motor is arranged on the robot foot section, and the lower clamp plate slides to the upper clamp plate with cleat angle.
As a further improvement of the above technical scheme:
The side of the lower clamp plate is equipped with traveller, and the traveller is equipped with hinged seat, the upper folder far from one end of the lower clamp plate
Plate is equipped with through-hole corresponding to the side of the lower clamp plate, and for the traveller sliding sleeve in the through-hole, the other end of the connecting rod is hinged
In the hinged seat.
On the upper clamp plate be all provided on the lower clamp plate it is fluted, on groove on the upper clamp plate and the lower clamp plate
Groove be correspondingly arranged and its opening is opposite.
The output shaft of the motor is connected with shaft joint, and the crank is connected to the shaft joint.
Compared with the prior art, the advantages of the present invention are as follows:
Electric power tower climbing robot foot clamping device of the invention, including connecting rod, crank, upper clamp plate and for driving
The motor of crank rotation, crank are connected to motor, and upper clamp plate is installed in robot foot section, can be close or remote with respect to its on upper clamp plate
From be slidably equipped with lower clamp plate, connecting rod one end is articulated with crank, and the other end is articulated with lower clamp plate, and motor is arranged in robot foot section
On, lower clamp plate slides to upper clamp plate with cleat angle.Slider-crank mechanism is formed by connecting rod, crank, upper clamp plate and lower clamp plate, is made
It is compact-sized to obtain electric power tower climbing robot foot clamping device, reduces the weight of foot, therefore reduce electric power tower
The motor load of climbing robot foot clamping device movement, can select lower-powered motor, but also cost reduces；When
When crank and connecting rod are in same straight line, slider-crank mechanism is in unusual state, can reach self-locking effect, so that pressing from both sides
The load of motor is smaller when tight angle steel, is conducive to work long hours；Therefore electric power tower climbing robot foot clamping device can
With effectively cleat angle, it can adapt to the angle steel of various specifications, iron tower climbing robot climbed along iron tower main material
It climbs at the top of steel tower.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of electric power tower climbing robot foot clamping device of the present invention.
Fig. 2 is a kind of structural schematic diagram of angle steel state of electric power tower climbing robot foot gripper mechanism grips of the present invention
(angle steel non-bolted joint plate).
Fig. 3 is the structural representation of electric power tower climbing robot foot gripper mechanism grips another kind angle steel state of the present invention
Figure (angle steel has bolt plate).
Each label indicates in figure:
1, robot foot section；2, connecting rod；3, crank；4, upper clamp plate；41, through-hole；5, lower clamp plate；51, traveller；52, hinged seat；6,
Motor；7, angle steel；71, bolt plate；8, groove；9, shaft joint.
Specific embodiment
The present invention is described in further details below with reference to Figure of description and specific embodiment.
As shown in Figure 1 to Figure 3, the electric power tower climbing robot foot clamping device of the present embodiment, including connecting rod 2, song
Handle 3, upper clamp plate 4 and the motor 6 for driving crank 3 to rotate, crank 3 are connected to motor 6, and upper clamp plate 4 is installed in robot
Foot 1, on upper clamp plate 4 can with respect to its close to or far from be slidably equipped with lower clamp plate 5,2 one end of connecting rod is articulated with crank 3, another
End is articulated with lower clamp plate 5, and motor 6 is arranged on robot foot section 1, and lower clamp plate 5 slides to upper clamp plate 4 with cleat angle 7.The structure
In, electric power tower climbing robot foot clamping device, including connecting rod 2, crank 3, upper clamp plate 4 and motor 6, connecting rod 2, song
Handle 3, upper clamp plate 4 and lower clamp plate 5 form slider-crank mechanism, and for motor 6 for driving crank 3 to rotate, crank 3 passes through 2 band of connecting rod
Dynamic lower clamp plate 5 is moved close to or far from upper clamp plate 4, to realize clamping or unclamp angle steel 7.It will be electric by above-mentioned slider-crank mechanism
The rotary motion of machine 6 is converted into sliding motion of the lower clamp plate 5 with respect to upper clamp plate 4, completes this task of cleat angle 7.Pass through
Connecting rod 2, crank 3, upper clamp plate 4 and lower clamp plate 5 form slider-crank mechanism, so that electric power tower climbing robot foot clamping machine
Structure is compact-sized, reduces the weight of foot, therefore reduces the electricity of electric power tower climbing robot foot clamping device movement
Machine 6 loads, and can select lower-powered motor 6, but also cost reduces.When crank 3 and connecting rod 2 are in same straight line
When, slider-crank mechanism is in unusual state, self-locking effect can be reached so that when clamping angle steel 7 motor 6 load compared with
It is small, be conducive to work long hours.Therefore electric power tower climbing robot foot clamping device can effectively cleat angle 7, energy
The angle steel 7 for enough adapting to various specifications enables iron tower climbing robot along iron tower main material climbing to steel tower top.
In the present embodiment, the side of lower clamp plate 5 is equipped with traveller 51, and traveller 51 is equipped with hinged seat far from one end of lower clamp plate 5
52, upper clamp plate 4 is equipped with through-hole 41 corresponding to the side of lower clamp plate 5, and for 51 sliding sleeve of traveller in through-hole 41, the other end of connecting rod 2 is hinged
In hinged seat 52.In the structure, the traveller 51 that one end is connected to lower clamp plate 5 is two, and the through-hole 41 of upper clamp plate 4 is two, two
The other end of root traveller 51 is all connected to hinged seat 52, and lower clamp plate 5 is by 51 sliding sleeve of traveller thereon in the side of 4 through-hole 41 of upper clamp plate
Formula, realize balance close to or far from upper clamp plate 4 to clamp or unclamp angle steel 7, the cleat angle 7 that can consolidate or smoothly
Unclamp angle steel 7.
In the present embodiment, on upper clamp plate 4 with fluted 8 are all provided on lower clamp plate 5, the groove 8 on upper clamp plate 4 and lower clamp plate 5
On groove 8 be correspondingly arranged and its opening is opposite.In the structure, this can be improved with the groove 8 on lower clamp plate 5 on upper clamp plate 4
Clamping device to the adaptability of iron tower main material angle steel 7, that is, enable the upper and lower clamping plate 5 of upper clamp plate 4 effectively on upper shield angle
Bolt plate 71 is on steel 7 with cleat angle 7.
In the present embodiment, the output shaft of motor 6 is connected with shaft joint 9, and crank 3 is connected to shaft joint 9.It is bent in the structure
Handle 3 is connected to motor 6 by shaft joint 9, changes convenient for mutual.
It is equipped with electric power tower climbing robot foot clamping device of the invention, along the side that iron tower main material angle steel 7 advances
Formula is: just starts multiple robot foot sections 1 and has been clamped on angle steel 7, in order to advance along electric power tower main material angle steel 7, and one first
Robot foot section 1 needs to unclamp angle steel 7, and by the movement of motor 6 on robot foot section 1, lower clamp plate 5 will be far from upper clamp plate 4, this
Sample robot foot section 1 can be detached from from angle steel 7, then, when which moves to predetermined pose, insert angle steel 7
Enter the gap between upper clamp plate 4 and lower clamp plate 5, the rotation of motor 6 drives lower clamp plate 5 to move to upper clamp plate 4, to clamp angle steel 7.
The above process is the process of electric power tower climbing robot single step walking.Fig. 2 illustrates electric power tower climbing machine of the invention
People's foot clamping device how cleat angle 7.For having the angle steel 7 of bolt plate 71, due to upper clamp plate 4 and lower clamp plate 5
It is provided with groove 8, can effectively clamp the angle steel 7 with bolt plate 71, as shown in Figure 3.
Although the present invention is disclosed as above with preferred embodiment, however, it is not intended to limit the invention.It is any to be familiar with ability
The technical staff in domain, without deviating from the scope of the technical scheme of the present invention, all using the technology contents pair of the disclosure above
Technical solution of the present invention makes many possible changes and modifications or equivalent example modified to equivalent change.Therefore, all
Without departing from the content of technical solution of the present invention, according to the present invention technical spirit any simple modification made to the above embodiment,
Equivalent variations and modification, all shall fall within the protection scope of the technical scheme of the invention.
Claims (4)
1. a kind of electric power tower climbing robot foot clamping device, it is characterised in that: including connecting rod (2), crank (3), upper folder
Plate (4) and for drive the crank (3) rotate motor (6), the crank (3) is connected to the motor (6), described
Upper clamp plate (4) is installed in robot foot section (1), on the upper clamp plate (4) can with respect to its close to or far from be slidably equipped with lower clamp plate
(5), described connecting rod (2) one end is articulated with the crank (3), and the other end is articulated with the lower clamp plate (5), the motor (6)
It is arranged on the robot foot section (1), the lower clamp plate (5) slides to the upper clamp plate (4) with cleat angle (7).
2. electric power tower climbing robot foot clamping device according to claim 1, it is characterised in that: the lower clamp plate
(5) side is equipped with traveller (51), and the traveller (51) is equipped with hinged seat (52) far from the one end of the lower clamp plate (5), described
Upper clamp plate (4) is equipped with through-hole (41) corresponding to the side of the lower clamp plate (5), and traveller (51) sliding sleeve is in the through-hole
(41), the other end of the connecting rod (2) is articulated with the hinged seat (52).
3. electric power tower climbing robot foot clamping device according to claim 2, it is characterised in that: the upper clamp plate
(4) on be all provided with fluted (8) on the lower clamp plate (5), on the groove (8) on the upper clamp plate (4) and the lower clamp plate (5)
Groove (8) be correspondingly arranged and its opening is opposite.
4. electric power tower climbing robot foot clamping device according to any one of claim 1 to 3, feature exist
In: the output shaft of the motor (6) is connected with shaft joint (9), and the crank (3) is connected to the shaft joint (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811258821.XA CN109367637A (en) | 2018-10-26 | 2018-10-26 | Electric power tower climbing robot foot clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811258821.XA CN109367637A (en) | 2018-10-26 | 2018-10-26 | Electric power tower climbing robot foot clamping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109367637A true CN109367637A (en) | 2019-02-22 |
Family
ID=65389685
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811258821.XA Pending CN109367637A (en) | 2018-10-26 | 2018-10-26 | Electric power tower climbing robot foot clamping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109367637A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202987324U (en) * | 2012-07-03 | 2013-06-12 | 中国科学院合肥物质科学研究院 | Wall climbing robot with bionic claws |
| CN105270501A (en) * | 2015-11-05 | 2016-01-27 | 东南大学 | Climbing robot based on crank block |
| CN105690414A (en) * | 2016-03-08 | 2016-06-22 | 四川大学 | Terminal clamping device for iron tower automatic overhauling climb robot |
| CN105834927A (en) * | 2016-03-21 | 2016-08-10 | 青岛众瑞智能仪器有限公司 | Single-motor bidirectional opening and closing filter membrane clamping device |
| JP2017060286A (en) * | 2015-09-16 | 2017-03-23 | 株式会社九建 | Overhead wire inspection device |
| CN108340983A (en) * | 2018-02-12 | 2018-07-31 | 三峡大学 | The climbing robot and operating method safeguarded for Nuclear piping detection |
-
2018
- 2018-10-26 CN CN201811258821.XA patent/CN109367637A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202987324U (en) * | 2012-07-03 | 2013-06-12 | 中国科学院合肥物质科学研究院 | Wall climbing robot with bionic claws |
| JP2017060286A (en) * | 2015-09-16 | 2017-03-23 | 株式会社九建 | Overhead wire inspection device |
| CN105270501A (en) * | 2015-11-05 | 2016-01-27 | 东南大学 | Climbing robot based on crank block |
| CN105690414A (en) * | 2016-03-08 | 2016-06-22 | 四川大学 | Terminal clamping device for iron tower automatic overhauling climb robot |
| CN105834927A (en) * | 2016-03-21 | 2016-08-10 | 青岛众瑞智能仪器有限公司 | Single-motor bidirectional opening and closing filter membrane clamping device |
| CN108340983A (en) * | 2018-02-12 | 2018-07-31 | 三峡大学 | The climbing robot and operating method safeguarded for Nuclear piping detection |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190222 |
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| RJ01 | Rejection of invention patent application after publication |