CN111572666A - A manipulator and wall climbing robot for setting up material - Google Patents
A manipulator and wall climbing robot for setting up material Download PDFInfo
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- CN111572666A CN111572666A CN202010550535.1A CN202010550535A CN111572666A CN 111572666 A CN111572666 A CN 111572666A CN 202010550535 A CN202010550535 A CN 202010550535A CN 111572666 A CN111572666 A CN 111572666A
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- 239000000463 material Substances 0.000 title claims abstract description 52
- 230000009194 climbing Effects 0.000 title claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims abstract description 96
- 238000005192 partition Methods 0.000 claims description 8
- 230000006835 compression Effects 0.000 claims description 5
- 238000007906 compression Methods 0.000 claims description 5
- 239000000523 sample Substances 0.000 abstract description 56
- 238000001514 detection method Methods 0.000 abstract description 42
- 238000009434 installation Methods 0.000 abstract description 8
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 238000007689 inspection Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 206010040007 Sense of oppression Diseases 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 239000007822 coupling agent Substances 0.000 description 1
- 230000001808 coupling effect Effects 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000009432 framing Methods 0.000 description 1
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- 238000005259 measurement Methods 0.000 description 1
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/14—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object using acoustic emission techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/223—Supports, positioning or alignment in fixed situation
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Abstract
The invention relates to a manipulator and a wall-climbing robot for setting materials. The manipulator includes: a base extending in a first direction; the driving mechanism is arranged on the base, and the movable section of the driving mechanism can move along a first direction; the material arranging mechanism is provided with a bin for containing materials, and the bin is provided with a through hole and a discharge hole; the telescopic mechanism is movably connected with the base so as to move along a first direction under the driving of the driving mechanism, and a telescopic section of the telescopic mechanism is inserted into the storage bin through the through hole and can move along a second direction perpendicular to the first direction so as to push the material out of the discharge hole when the telescopic mechanism extends; and when the telescopic mechanism retracts, the material can be retracted from the discharge hole. The wall climbing robot is provided with the mechanical arm. Therefore, the problems that in the prior art, the detection probe is low in installation efficiency and high in labor intensity and has certain potential safety hazards are solved.
Description
Technical Field
The invention relates to the technical field of material installation equipment, in particular to a manipulator for arranging materials and a wall-climbing robot using the manipulator.
Background
In the field acoustic emission detection project, firstly, an acoustic emission probe is arranged on the surface of an object to be detected, and a cable is connected. Since the effective detection range of the acoustic emission probe is limited, the larger the size of the object to be detected, the larger the number of probes required.
Currently, the work of placing the probes is done by the inspector. Before acoustic emission detection is carried out, the detection probes need to be installed on an object to be detected one by one. And after finishing the detection work, need the manual work to take off detection probe one by one in order to carry out recycle.
Since the position of the inspection probe is high, inspection personnel must reach the site with a scaffold or ladder in most cases. This work, while not too high of a technical content, is very time and labor consuming, increasing the labor intensity of the workers. And in the process of acoustic emission detection, if a certain probe is found to be in fault, the inspector needs to climb to the position of the fault probe again and replace the probe. And if in the detection process, a plurality of probes or cables have problems, the detection personnel climb for a plurality of times. In addition, after the detection work is finished, the inspector also climbs a scaffold or a ladder to withdraw all the probes. When the inspector climbs the platform, the inspector still needs to hold the replacement part, so that the potential safety hazard is increased. In addition, the detection period is inevitably increased by setting up a scaffold, and the cost of an owner is also increased.
In the prior art, though, the climbing robot has been applied. However, the method is mostly used in the fields of high-altitude measurement or cleaning and the like, and cannot realize the high-altitude installation work of the detection probe.
Therefore, aiming at the problems of low installation efficiency, high labor intensity and certain potential safety hazard of the detection probe in the prior art, a more reasonable technical scheme is required to be provided to solve the current problems.
Disclosure of Invention
The invention provides a manipulator for arranging materials and a wall-climbing robot using the manipulator, and aims to solve the problems that in the prior art, a detection probe is low in installation efficiency and high in labor intensity and has certain potential safety hazard.
In order to realize the effect, the invention adopts the technical scheme that:
a robot for setting up material, comprising:
a base extending in a first direction;
the driving mechanism is arranged on the base, and the movable section of the driving mechanism can move along a first direction;
the material arranging mechanism is provided with a bin for containing materials, and the bin is provided with a through hole and a discharge hole; and
the telescopic mechanism is movably connected with the base so as to move along a first direction under the driving of the driving mechanism, and a telescopic section of the telescopic mechanism is inserted into the storage bin through the through hole and can move along a second direction perpendicular to the first direction so as to push the material out of the discharge hole when the telescopic mechanism extends; and when the telescopic mechanism retracts, the material can be retracted from the discharge hole.
Optionally, a partition plate is arranged in the bin and divides the bin into a material placing area and a buffer area, wherein the movable section of the telescopic mechanism is connected to the partition plate through a pressure spring.
Optionally, the manipulator further comprises at least two groups of buffer mechanisms, and the stock bin is provided with a slotted hole corresponding to the buffer mechanisms; the buffer mechanism comprises a tension spring and a limiting part connected with the tension spring, and the limiting part is arranged in the groove hole and abuts against the side wall of the material.
Optionally, the telescopic mechanism comprises a mounting parallel to the first direction and a linear actuator that is telescopic in a second direction, the linear actuator 42 being detachably connected to the mounting.
Optionally, the telescopic mechanism is movably connected to the base through a sliding structure, and the sliding structure includes:
the guide rail is connected to the base, and the extending direction of the guide rail is the same as that of the base; and
and the sliding block is formed into a structure matched with the guide rail and is connected with the telescopic mechanism.
Optionally, a support member is further disposed between the slider and the telescopic mechanism, and the support members are configured as at least one pair and disposed on two sides of the telescopic mechanism respectively.
Optionally, the driving mechanism includes a top abutting plate, a connecting member and an electric push rod, the electric push rod is connected to the base through the connecting member, the pushing section of the electric push rod can move along the first direction, and the top abutting plate is parallel to the second direction and is arranged at the end of the push rod of the electric push rod.
Optionally, the robot further comprises:
the positioning device is used for detecting the current position of the stock bin; and
and the controller is respectively in communication connection with the driving mechanism and the telescopic mechanism so as to control the driving mechanism to move according to the current position of the storage bin.
Optionally, the positioning device comprises a camera and at least three groups of laser ranging sensors, wherein the three groups of laser ranging sensors are arranged on the same straight line, and the camera is connected to the telescopic mechanism in an angle-adjustable manner; and/or the controller is a PLC logic controller or a single chip microcomputer.
According to a second aspect of the present disclosure, there is also provided a wall climbing robot having a manipulator as described above.
Compared with the prior art, the invention has the beneficial effects that:
through above-mentioned technical scheme, based on the characteristics that wall climbing robot can scramble on perpendicular wall, through predetermineeing material (promptly test probe) in the feed bin, can extrude test probe and make it be fixed in on the object that awaits measuring based on telescopic machanism's the extension action. Because actuating mechanism's movable segment can move along first direction, can adjust telescopic machanism for the position of base to accurately set up the object on the object that awaits measuring. Therefore, the installation efficiency of the detection probe is improved, the labor intensity of workers is reduced, and potential safety hazards are avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic structural diagram of a manipulator for arranging materials according to the present invention;
FIG. 2 is a schematic structural diagram of a linear actuator provided by the present invention;
FIG. 3 is a schematic structural view of the electric putter provided in the present invention;
fig. 4 is a schematic diagram of the action of force of the linear driver, the compression spring and the tension spring in a working state.
In the above drawings, the meaning of each reference numeral is:
r-material, 1-base, 2-driving mechanism, 21-top abutting plate, 22-connecting piece, 23-electric push rod, 3-material setting mechanism, 31-bin, 32-partition plate, 33-pressure spring, 41-mounting piece, 42-linear driver, 5-buffer mechanism, 51-tension spring, 52-limiting piece, 6-sliding structure, 61-guide rail, 62-sliding block, 63-supporting piece, 7-positioning device, 71-camera and 72-laser ranging sensor.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In addition, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, or orientations or positional relationships that the products of the present invention conventionally lay out when in use, or orientations or positional relationships that are conventionally understood by those skilled in the art, which are merely for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
According to a first aspect of the present invention, there is provided a manipulator for setting a material, which is used for a wall-climbing robot and can set a material R (e.g., a part such as a detection probe) at a high position of an object to be measured. Fig. 1 to 3 show one specific embodiment thereof. The following will describe the specific embodiments of the present invention in detail by taking a detection probe as an example.
As shown in fig. 1 to 3, the robot for setting materials includes: a base 1, the base 1 extending in a first direction. And the driving mechanism 2 is arranged on the base 1, and the movable sections of the driving mechanism 2 can move in the same direction along the first direction. The device comprises a material arranging mechanism 3, wherein the material arranging mechanism 3 is provided with a bin 31 for containing a material R, and the bin 31 is provided with a through hole and a discharge hole; the telescopic mechanism is movably connected with the base 1 so as to move along a first direction under the driving of the driving mechanism 2, and a telescopic section of the telescopic mechanism is inserted into the bin 31 through the through hole and can move along a second direction perpendicular to the first direction so as to push the material R out of the discharge hole when the telescopic mechanism extends; and when the telescopic mechanism retracts, the material R can be retracted from the discharge hole.
Through above-mentioned technical scheme, based on the characteristics that wall climbing robot can climb on perpendicular wall, through predetermineeing material R (promptly test probe) in feed bin 31, can extrude test probe and make it be fixed in on the object that awaits measuring when can extending based on telescopic machanism's flexible section. Because the movable section of actuating mechanism 2 can move along first direction, can adjust telescopic machanism for the position of base 1 to accurately set up the object on the object that awaits measuring. Therefore, the installation efficiency of the detection probe is improved, the labor intensity of workers is reduced, and potential safety hazards are avoided.
Herein, the first direction may be a horizontal direction, a vertical direction, or an oblique direction, and may be flexibly set according to actual conditions. It should be noted, however, that the second direction should be made perpendicular to the first direction. In some particular cases, the second direction may also be in a substantially perpendicular relationship to the first direction, for example, the angle between the two may be slightly greater than 90 ° or slightly less than 90 °, which is not limited by the present disclosure.
Before the operation of attaching the detection probe, an appropriate amount of the coupling agent may be applied to the center of the detection probe. After the probe is pushed out from the material placing area, the probe can be pressed between the probe and the object to be tested, and therefore installation work is completed.
In the specific working process, for the detection probes with different models and sizes, the good coupling effect of the probes can be ensured by replacing the guide tubes of the detection probes.
In the detection process, if a fault is found in which probe or cable, the wall-climbing robot can be driven to a place which can be contacted by a detection person within a few minutes, so that the fault finding work of the probe or cable is carried out, and the replaced detection probe or cable is rearranged. In addition, after the inspection work is finished, all the wall-climbing robots can be retracted in a short time, so that the detection probes and the cables can be tidied on the ground, and the detection device is time-saving, labor-saving, safe and quick.
As shown in fig. 1, in one embodiment of the present invention. Be equipped with baffle 32 in the feed bin 31, baffle 32 will feed bin 31 is divided into and is put material district and buffer zone, wherein, telescopic machanism's active segment pass through pressure spring 33 connect in baffle 32. Based on the flexible characteristics of pressure spring 33, can extrude test probe steadily slowly from putting the material district, then when test probe and the object contact that awaits measuring, reduce to cause impact and oppression to it. In one embodiment as shown in fig. 1, to ensure the reliability and accuracy of the working process, two ends of the compressed spring 33 may be respectively connected to the movable section of the telescopic mechanism and the partition 32. In other embodiments, the two ends of the compressed spring 33 may abut against the partition 32 and the movable section of the telescopic mechanism, respectively.
In addition, the pressure spring 33 may be replaced by an elastic arm, so that the cross-sectional shape and size of the elastic arm are adapted to the cross-sectional shape and size of the buffer area as much as possible, and a person skilled in the art may set the elastic arm as any suitable elastic component, which is not limited by the invention.
In a specific embodiment of the present invention, the robot may further include at least two sets of buffer mechanisms 5. The stock bin 31 is provided with a slotted hole corresponding to the buffer mechanism 5. The buffering mechanism 5 may include a tension spring 51 and a limiting member 52 connected to the tension spring 51, wherein the limiting member 52 is disposed in the slot and abuts against the sidewall of the material R.
Thus, after the detection work is finished, the movable section of the telescopic mechanism is retracted, the pressure spring 33 is reset, the elastic load of the pressure spring is weakened, and in this state, the limiting part 52 abuts against the detection probe of the material placing area tightly, so that the detection probe can be driven to retract under the tension of the tension spring 51, and the probe is completely pulled back to the initial position of the material placing area, so that the next detection work can be conveniently carried out.
Of course, the above schemes can also be combined by those skilled in the art. For example, as shown in fig. 1, two sets of the damper mechanism 5 and the compression spring 33 are provided at the same time. When the spring force F1 of the pressure spring 33 is 50N, the tension force F2 of the tension spring 51 provided on both sides of the detection probe is 20N, and since two sets are provided, the total force of the two is 40N. Therefore, the resultant force of the elastic force of the compression spring 33 and the tensile force of the tension spring 51 is 90N. And the thrust F3 of linear actuator 42 is 105N. As shown in fig. 4, the calculation formula of the difference between the pushing force of the linear actuator 42 and the resultant force of the pulling force of the spring (including a tension spring and a compression spring) is F3- (F1+ F2), where F denotes the force finally applied to the inspection probe. It follows that the direction of the final force F coincides with the direction of the thrust force F3 and that the force is 15N. That is, the pushing force finally applied to the detecting probe is only 15N, which ensures good contact between the probe and the surface of the object to be measured.
Wherein, the skilled person can select the tension spring 51 with any suitable specification and material, and the invention is not limited thereto. In addition, in order to guide the tension spring 51 to be pulled and pressed in the second direction, a guide bar may be further provided at the center of the tension spring 51, thereby ensuring accuracy of the moving direction of the tension spring 51.
The shape and specification of the slot can be determined according to the shape and specification of the limiting member 52, and those skilled in the art can flexibly set the shape and specification according to the specific application environment.
In embodiments of the invention, the telescoping mechanism may be constructed in any suitable configuration.
Alternatively, the telescopic mechanism comprises a mounting 41 parallel to the first direction and a linear actuator 42 which is telescopic in the second direction, the linear actuator 42 being detachably connected to the mounting 41. This allows the detection probe to be indirectly pushed out or retracted by the expansion and contraction of the linear actuator 42. The linear actuator 42 may be any one of an air cylinder, a hydraulic rod, or a linear module, which is not limited in the present invention. In addition, based on the detachable connection mode of the linear mechanism, the product can be replaced or maintained conveniently. In particular, the linear drive mechanism 2 may be connected to the mounting member 41 by any suitable means, such as, but not limited to, a threaded connection, a snap connection, and the like.
Further, referring to fig. 1, in an embodiment of the present invention, the telescopic mechanism may be movably connected to the base 1 through a sliding structure 6, where the sliding structure 6 includes: a guide rail 61, wherein the guide rail 61 is connected to the base 1, and the extending direction of the guide rail 61 is the same as the extending direction of the base 1; and a slider 62, wherein the slider 62 is formed in a structure matched with the guide rail 61, and the slider 62 is connected to the telescopic mechanism. The base 1 is thus movably connected to the telescopic mechanism by means of the cooperation of the guide rails 61 and the slide blocks 62. Here, a guide groove may be provided on the guide rail 61, and the slider 62 is embedded in the guide groove so as to move in a length direction thereof. The slide block 62 may be provided with a guide groove, and the guide rail 61 may be configured to fit the guide groove.
In the particular embodiments provided herein, the drive mechanism 2 may be configured in any suitable configuration.
As shown in fig. 1, the driving mechanism 2 includes a top abutting plate 21, a connecting member 22 and an electric push rod 23, the electric push rod 23 is connected to the base 1 through the connecting member 22, a pushing section of the electric push rod 23 can move along a first direction, and the top abutting plate 21 is parallel to a second direction and is disposed at a push rod end of the electric push rod 23. Thereby when the pushing section is pushed out, the telescopic mechanism can be driven to move. The setting of propping roof 21 can guarantee that electric putter 23 can accurately promote telescopic machanism and remove. Since the abutting plate 21 is perpendicular to the pushing section, it is beneficial for the abutting plate 21 to accurately and reliably push the telescoping mechanism to move.
In order to accurately and effectively set the detection probe at the corresponding position of the object to be detected, the manipulator further comprises: the positioning device 7 is used for detecting the current position of the stock bin 31; and a controller, which is respectively connected with the driving mechanism 2 and the telescopic mechanism in a communication way, so as to control the driving mechanism 2 to move according to the current position of the storage bin 31.
In this way, the position of the bin 31 relative to the object to be detected can be adjusted in time, that is, the position of the detection probe relative to the object to be detected can be indirectly adjusted, thereby effectively completing the detection work.
In the present invention, the positioning device 7 includes a camera 71 and at least three sets of laser ranging sensors 72, wherein the three sets of laser ranging sensors 72 are arranged on the same straight line, and the camera 71 is connected to the telescopic mechanism in an angle-adjustable manner. Thus, when the wall climbing robot carries the probe and the cable to climb to a specified approximate position, 3 groups of laser ranging sensors 72 are simultaneously started to emit light beams. The three sets of laser range sensors 72 are all fixed to the telescopic mechanism such that the laser range sensors 72 are on a line perpendicular to the direction of crawling.
Of the three laser range sensors 72, 2 sets of the three laser range sensors 72 emit parallel beams having the same width as the probe on both sides of the diameter of the probe, and the other 1 set of the laser range sensors 72 emit beams perpendicular to the two beams at a position a distance (e.g., 30mm) in front of the center of the probe, thereby framing the outline of the probe in a U-shaped frame surrounded by the three sets of the laser range sensors 72. At this time, the camera 71 is turned on to observe the position of the laser frame, and the position information is fed back to the controller, so as to determine whether the position of the detection probe is exactly the accurate position of the object to be detected. If not, the position of the detection probe can be corrected by adjusting the motion state of the driving mechanism 2, so that the detection probe to be arranged is accurately set at the corresponding position.
In other embodiments, the positioning device 7 may also be a device that only contains the laser ranging sensor 72 or a displacement sensor.
In addition, the controller is a PLC logic controller. In particular, any suitable type of programmable logic controller may be used in the Mitsubishi Q series. Of course, the controller can also be a single chip microcomputer or a CPU, and the controller in the prior art can be obtained by performing conventional improvement on the technical concept in the field.
In addition, the detection device, the controller and the driving mechanism 2 may be connected by a wire through a communication cable, or may be connected by communication through wireless signal transmission such as bluetooth and WiFi, and those skilled in the art may flexibly configure the detection device, the controller and the driving mechanism according to the application environment, the cost and the like.
According to a second aspect of the present invention there is provided a wall climbing robot provided with a manipulator according to the first aspect of the present invention. Therefore, the same technical effect as that of the robot is achieved. The manipulator may be disposed on a mechanical arm of the wall-climbing robot, or may be disposed on a body structure of the wall-climbing robot, which is not limited in the present invention.
In addition, since the structure and the operation principle of the wall climbing robot body are common knowledge, the skilled person can obtain the wall climbing robot of the second aspect by performing conventional improvements on the basis of the above technical concept and combining with the prior art.
The present invention is not limited to the above-described alternative embodiments, and various other embodiments can be obtained by those skilled in the art from the above-described embodiments in any combination, and any other embodiments can be obtained in various forms while still being within the spirit of the present invention. The above detailed description should not be taken as limiting the scope of the invention, which is defined in the claims, and which the description is intended to be interpreted accordingly.
Claims (10)
1. A manipulator for setting up material, characterized by, includes:
a base (1), the base (1) extending in a first direction;
the driving mechanism (2) is arranged on the base (1), and the movable section of the driving mechanism (2) can move along a first direction;
the feeding mechanism (3) is provided with a bin (31) for containing a material (R), and the bin (31) is provided with a through hole and a discharge hole; and
the telescopic mechanism is movably connected with the base (1) to move along a first direction under the driving of the driving mechanism (2), and a telescopic section of the telescopic mechanism is inserted into the storage bin (31) through the through hole and can move along a second direction perpendicular to the first direction so as to push the material (R) out of the discharge hole when the telescopic mechanism extends; and when the telescopic mechanism retracts, the material (R) can be retracted from the discharge hole.
2. The manipulator for setting material according to claim 1, characterized in that a partition plate (32) is arranged in the storage bin (31), the partition plate (32) divides the storage bin (31) into a material setting area and a buffer area, wherein the movable section of the telescopic mechanism is connected to the partition plate (32) through a compression spring (33).
3. The manipulator for arranging the materials according to claim 1, further comprising at least two groups of buffer mechanisms (5), wherein the bin (31) is provided with slotted holes corresponding to the buffer mechanisms (5); the buffer mechanism (5) comprises a tension spring (51) and a limiting piece (52) connected with the tension spring (51), and the limiting piece (52) is arranged in the groove hole and abuts against the side wall of the material (R).
4. Manipulator for arranging material according to claim 1, characterized in that the telescopic mechanism comprises a mounting (41) parallel to the first direction and a linear drive (42) which is telescopic in a second direction, the linear drive (42) being detachably connected to the mounting (41).
5. Manipulator for arranging material according to claim 1, characterized in that the telescopic mechanism is movably connected to the base (1) by means of a sliding structure (6), the sliding structure (6) comprising:
a guide rail (61), wherein the guide rail (61) is connected to the base (1), and the extension direction of the guide rail (61) is the same as the extension direction of the base (1); and
a slider (62), the slider (62) being formed in a structure to be engaged with the guide rail (61), and the slider (62) being connected to the telescopic mechanism.
6. The manipulator for setting the materials according to claim 5, characterized in that a support member (63) is further provided between the slide block (62) and the telescoping mechanism, and the support members (63) are configured as at least one pair and are respectively provided at two sides of the telescoping mechanism.
7. The manipulator for setting material according to claim 1, characterized in that the driving mechanism (2) comprises a top abutting plate (21), a connecting piece (22) and an electric push rod (23), the electric push rod (23) is connected to the base (1) through the connecting piece (22) and a pushing section of the electric push rod (23) can move along the first direction, and the top abutting plate (21) is parallel to the second direction and is arranged at the end of the electric push rod (23).
8. The manipulator for setting up material as claimed in any one of claims 1 to 7, further comprising:
a positioning device (7) for detecting a current position of the magazine (31); and
a controller communicatively connected to the driving mechanism (2) and the telescoping mechanism, respectively, to control the driving mechanism (2) to move according to the current position of the bin (31).
9. The manipulator for setting the material according to claim 8, characterized in that the positioning device (7) comprises a camera (71) and at least three sets of laser ranging sensors (72), wherein the three sets of laser ranging sensors (72) are arranged on the same line, and the camera (71) is connected to the telescopic mechanism in an angle-adjustable manner; and/or the controller is a PLC logic controller or a single chip microcomputer.
10. A wall climbing robot having the manipulator according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010550535.1A CN111572666A (en) | 2020-06-16 | 2020-06-16 | A manipulator and wall climbing robot for setting up material |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010550535.1A CN111572666A (en) | 2020-06-16 | 2020-06-16 | A manipulator and wall climbing robot for setting up material |
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Citations (6)
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|---|---|---|---|---|
| JPH0721696U (en) * | 1991-12-12 | 1995-04-21 | 敏雄 相馬 | Manual mounting means for automatic work equipment for construction |
| CN108161920A (en) * | 2017-12-01 | 2018-06-15 | 苏州科爱佳自动化科技有限公司 | A kind of contractile running gear of manipulator |
| US20180264641A1 (en) * | 2017-03-20 | 2018-09-20 | Georgia Tech Research Corporation | Mobile manipulation device |
| CN109572849A (en) * | 2019-01-28 | 2019-04-05 | 山东建筑大学 | A kind of transmission tower robot clamping device and climbing robot |
| CN208713972U (en) * | 2018-09-11 | 2019-04-09 | 哈工大机器人集团有限公司 | A kind of robot automatic loading/unloading control device |
| CN110749913A (en) * | 2019-09-27 | 2020-02-04 | 中核四川环保工程有限责任公司 | Radiation measurement wall-climbing robot |
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2020
- 2020-06-16 CN CN202010550535.1A patent/CN111572666A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0721696U (en) * | 1991-12-12 | 1995-04-21 | 敏雄 相馬 | Manual mounting means for automatic work equipment for construction |
| US20180264641A1 (en) * | 2017-03-20 | 2018-09-20 | Georgia Tech Research Corporation | Mobile manipulation device |
| CN108161920A (en) * | 2017-12-01 | 2018-06-15 | 苏州科爱佳自动化科技有限公司 | A kind of contractile running gear of manipulator |
| CN208713972U (en) * | 2018-09-11 | 2019-04-09 | 哈工大机器人集团有限公司 | A kind of robot automatic loading/unloading control device |
| CN109572849A (en) * | 2019-01-28 | 2019-04-05 | 山东建筑大学 | A kind of transmission tower robot clamping device and climbing robot |
| CN110749913A (en) * | 2019-09-27 | 2020-02-04 | 中核四川环保工程有限责任公司 | Radiation measurement wall-climbing robot |
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