CN112719865B - Rotation and plane scanning positioning mechanism - Google Patents
Rotation and plane scanning positioning mechanism Download PDFInfo
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- CN112719865B CN112719865B CN202011413245.9A CN202011413245A CN112719865B CN 112719865 B CN112719865 B CN 112719865B CN 202011413245 A CN202011413245 A CN 202011413245A CN 112719865 B CN112719865 B CN 112719865B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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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
Abstract
The invention relates to a rotary and plane scanning positioning mechanism, which comprises a robot framework, an intermediate mechanism (7) and a clamping mechanism (1), wherein the intermediate mechanism and the clamping mechanism are arranged on the same side of the robot framework; the clamping mechanism (1) is connected with a robot framework through an intermediate mechanism (7) and comprises a track (2) with a rack (202), a cross rod, a camera (504) and the intermediate mechanism (7), wherein the camera (504) is arranged on the cross rod, the cross rod is vertically arranged on the track (2), the intermediate mechanism (7) is connected with the cross rod, and the intermediate mechanism (7) is used for rotating the cross rod; according to the invention, the cross rod is arranged on the track, and the rotation of the cross rod is controlled through the rotation of the intermediate mechanism, so that the camera on the robot frame can inspect the transmission tower in all directions, and the flaw detection and paint spraying of the angle steel structural member are realized through the fastening operation of the angle steel tower connecting plate bolt by the fastening tool.
Description
Technical Field
The invention relates to a mechanical structure and a control technology thereof, in particular to a rotary and plane scanning positioning mechanism.
Background
The construction of the tower assembly, which is one of the main branch projects in the construction of the power transmission line project, has the disadvantages of large bolt fastening workload and high torque precision requirement after the tower material is hoisted in place. And the tightness of the main material bolt of the angle steel tower plays an important role in the vibration resistance and the overall structure stability of the iron tower.
At present, the fastening of the angle steel tower bolt mainly depends on manual operation by means of simple tools or electric wrenches; after the line is put into operation, the fastening torque of the main material bolt of the angle steel tower needs to be regularly monitored so as to tighten the loosened nut with unqualified torque, and the tightening is also completed by manual measurement. The risk of workers in the high-altitude operation environment is high; the manual operation also has the defects of substandard fastening torque, poor consistency of the fastening torque and tightness leakage, which undoubtedly brings great potential safety hazard to later operation.
The surface of the angle steel tower is complex, and common obstacles comprise foot nails, connecting plates, bolts and the like for a person to climb the iron tower; angle steel tower and tower body foot nail, bolt. The existing climbing robot is not suitable for climbing on an angle steel tower which is a steel structure with a complex surface, and cannot realize an effective obstacle crossing function; the device has no load capacity or limited load capacity, and is not suitable for the bolt fastening operation of the angle steel tower due to the limitation of the structural form; the self structure and the control system are complex, the dead weight is large, and the high-altitude operation risk is high.
The existing climbing robot can be divided into foot type, wheel type, crawler type, snake-shaped attachment type and other mechanism forms.
(1) Foot type climbing robot
The foot type robot with the foot type climbing structure can flexibly change direction and cross obstacles on the climbing surface, the current climbing robot at home and abroad is generally different from two feet to eight feet, and the foot end of the robot is provided with a vacuum sucker, a grabbing mechanism or a magnetic adsorption device. A disadvantage of such robots is that the larger the number of feet, the corresponding increase in weight, size and control complexity of the robot. The two-legged robot is widely researched and applied due to the advantages of flexible movement and simple control; the other type is a four-degree-of-freedom double-foot wall-climbing robot RAMR1, and a vacuum suction cup is adopted at the foot end, so that the robot can climb on a relatively smooth plane.
The industry university of tokyo designs a 4-foot robot NINJA, which utilizes a valve-controlled multi-sucker rod to enable the robot to be adsorbed on uneven surfaces, wherein the 6-foot climbing robot has 3 degrees of freedom of each foot and has the functions of moving, obstacle crossing and steering; the foot end of the electromagnetic adsorption mechanism is provided with an electromagnetic adsorption mechanism which is used for adsorbing the surface of the ferromagnetic wall; because the robot adopts a high-power adsorption mechanism, the whole structure of the robot has larger size and the mass reaches 250 Kg; the robot can carry heavier loads and has stronger obstacle crossing capability, but the walking is slow and the control is complex.
A double-arm type electric iron tower climbing robot is designed for Li brave soldiers at the national Harbin industrial university, but due to the complex system, the robot cannot realize climbing and obstacle crossing of an angle steel tower and cannot perform any effective operation.
(2) Wheeled climbing robot
The wheel type climbing robot generates advancing power by means of friction force between the wheels and the wall surface, is high in driving speed and flexible to move; the negative pressure adsorption is adopted, the movement speed is high, and the control is easy; for example, three generations of wheel type climbing robot prototypes (UT-PCR1, UT-PCR2 and UT-PCR3) developed by scientific research team at Germany-Bland university. Due to the special structure of the tower material, the contact area between the wheel-type climbing robot and the tower surface is small, the load capacity is greatly limited, the robot is difficult to maintain to climb under a stable state, and obstacle crossing is not facilitated, so that the wheel-type climbing robot is not suitable for climbing of an angle steel tower.
(3) Crawler-type climbing robot
The MINI Climber robot developed by International Climbinding Machines (ICM) is composed of a suction cup, a vacuum pump, a sensor module and the like, and adsorbs a wall through a built-in vacuum system. Although this type of robot can climb and cross various obstacles on various surfaces, the maximum obstacle crossing height is 20mm, but it is not free from the effort of a tower pole with a complex structure.
(4) Snake-shaped climbing robot
The snake-shaped robot is an active part in the research of the bionic robot, most of prototypes have three-dimensional space motion capabilities of raising heads, climbing steps, crossing lower obstacles and the like, and the prototypes of the snake-shaped robot developed in recent years have more pertinence and diversity in functions and can vertically climb to a height of several meters. In the climbing process, the snake-shaped robot is attached to the outer surface of a climbing object through winding and then climbs up and down with a certain gait. The CRS snake-shaped climbing robot developed by Shanghai university of traffic can adopt inchworm-like creeping gait along the direction of an equidistant spiral line to transmit moving waves upwards through fluctuation of partial joints in the form of longitudinal waves, the joints of other parts are wound on a trunk to generate friction force to offset the integral gravity, and climbing is always along a fixed track. The snake-shaped robot prototype studied in the university of Enoku-Temminck Biorobotics laboratory in the card in recent years is based on orthogonal connection, adopts 'adhesion type' motion to complete obstacle crossing, and has the characteristics of good motion stability, strong terrain adaptability, large traction force and the like, but has more degrees of freedom, difficult control and low speed. This robot structure is not suitable for non-circular structures such as angle steel towers.
In the prior art, the robot cannot identify operation at fixed points.
Disclosure of Invention
Aiming at the problem that the prior art can not identify the operation at fixed points and check the condition of bolts, the invention provides a rotary and plane scanning positioning mechanism, which comprises a robot framework, a middle mechanism (7) and a clamping mechanism (1), wherein the middle mechanism and the clamping mechanism are arranged on the same side of the robot framework; the clamping mechanism (1) is connected with the robot framework through an intermediate mechanism (7) and comprises a track (2) with a rack (202), a cross bar, a camera (504) and the intermediate mechanism (7);
the camera (504) is arranged on the cross rod, the cross rod is vertically arranged on the track (2), the middle mechanism (7) is connected with the cross rod, and the middle mechanism (7) is used for rotating the cross rod.
Preferably, the number of the cross rods is multiple, the cross rods are arranged on the guide rod, and the cross rods arranged on two sides of the guide rod are connected with the middle mechanism (7);
the camera (504) is arranged on the cross rod arranged in the middle of the track (2).
Preferably, the cross bar of the middle portion includes: the sliding rails, the lead screw and the linkage gear shaft are axially parallel to each other and are sequentially arranged; the stepping motor is positioned at one end of the middle cross beam, and the lead screw drive and the sliding chute are positioned at the inner side of the stepping motor; a camera (504), a moving member (501), a fastening tool (503), and a fastening tool driving member (502);
the fastening tool (503) is arranged on one side of the fastening tool driving part (502), the fastening tool (503) is connected with the moving part (501), and the camera (504) is arranged inside the moving part (501).
Preferably, the cross rods arranged on the two sides of the track (2) comprise a main cross beam, an auxiliary cross beam and a step motor, wherein linkage gears are arranged at the two ends of the main cross beam, the auxiliary cross beam and the step motor;
the axle center between the main beam and the auxiliary beam is perpendicular to the axle center of the track (2) and is on the same vertical plane, and the end point on one side of the main beam is connected with the step motor.
Preferably, the cross rods arranged on two sides of the track (2) further comprise connecting pieces, a plurality of sliding grooves and a plurality of support lugs, the sliding grooves are arranged at two ends of the auxiliary cross beam, the support lugs are perpendicularly arranged on the sliding grooves, and the connecting pieces are arranged on the auxiliary cross beam.
Preferably, the intermediate mechanism (7) comprises a built-in torque motor (706) and a rectangular connecting rod (708);
an output shaft of the torque motor (706) is fixedly connected with a far-end gear (701) arranged on an inner side axis of the rectangular connecting rod (708), an idle gear (702) and a fixed gear (703) in the fixed gear (703) with an opening; the far-end gear (701) is arranged at the other end of the inner side axis of the rectangular connecting rod (708); the shaft of the far-end gear (701) is arranged in the channel between the main beam and the auxiliary beam and is connected with the connecting piece on the cross rod.
Preferably, the rectangular link includes a connecting portion (710), a moving end (711), a gear connecting rod (712) and a fixed end (713), the connecting portion (710) is connected with the distal gear (701), the gear connecting rod (712) is connected with the idle gear (702), the fixed portion (713) is connected with the fixed gear (703), and the distal gear (701), the idle gear (702) and the fixed gear (703) are engaged with each other.
Preferably, the intermediate mechanism (7) further comprises an annular track (704) having an open end;
the outer side of one end of the gear (701) at the far end of the rectangular connecting rod (708) is provided with a groove matched with the annular guide rail (704) so as to form a torque motor (706) which drives the rectangular connecting rod (708) to move along the annular guide rail (704); an output shaft of the torque motor (706) is axially perpendicular to the cross rod.
Preferably, the device also comprises a limiting assembly and a plurality of annular track brackets (101) with inclined angles in an F shape, wherein the limiting assembly comprises a limiting rod (709) and a limiting plate (707), and the limiting rod (709) is movably connected with the limiting plate (707);
the limiting rod (709) is V-shaped, and the vertex of the limiting rod (709) is connected with the circle center of the fixed gear (703) through an opening of the fixed gear (703);
one side of each limiting plate (707) is movably connected with two ends of each limiting rod (709), and the other side of each limiting plate is connected with the annular track bracket (101).
Preferably, the clamping mechanism (1) comprises a clamping part (111) in a V shape, an adjusting core (112), a plurality of electromagnets (110) and a positioning bolt (113) penetrating through the central axis of the electromagnets (110);
the electromagnets (110) are vertically connected, one end of the positioning bolt (113) penetrates through the adjusting core (112) to be connected with the top point of the clamping part (111), the other end of the positioning bolt is connected with the electric push rod inclination angle frame (107), and the clamping part (111) is installed on the tower body of the iron tower.
Based on the same inventive concept, the invention provides a robot, which comprises a rotation and plane scanning positioning mechanism.
Compared with the closest prior art, the invention has the following beneficial effects:
1. the invention provides a rotation and plane scanning positioning mechanism, which comprises a robot framework, a middle mechanism 7 and a clamping mechanism 1, wherein the middle mechanism 7 and the clamping mechanism 1 are arranged on the same side of the robot framework; the clamping mechanism 1 is connected with a robot framework through an intermediate mechanism 7 and comprises a track 2 with a rack 202, a cross bar, a camera 504 and the intermediate mechanism 7, wherein the camera 504 is arranged on the cross bar, the cross bar is vertically arranged on the track 2, the intermediate mechanism 7 is connected with the cross bar, and the intermediate mechanism 7 is used for rotating the cross bar; according to the invention, the cross rod is arranged on the track, and the rotation of the cross rod is controlled through the rotation of the intermediate mechanism, so that the fact that the camera on the robot frame can inspect the transmission tower in all directions is effectively realized.
2. As the robot is arranged on the clamping mechanism 1 for moving the cross rod back and forth, the claw driving motor 102 is utilized to drive the L-shaped claws 105 which are symmetrically arranged on the plane thread turntable 108 and are provided with the reinforcing pieces, so as to form L-shaped clamps similar to the double arms of a person, and the climbing on a tower pole can be conveniently realized by means of the intermediate mechanism 7;
3. according to the climbing robot, the middle mechanism 7 arranged between the cross rod and the clamping mechanism 1 enables the robot to conveniently move along the horizontal direction of a tower as required and climb along the longitudinal (vertical) direction of the tower, and meanwhile, the middle cross rod is driven to move along the horizontal direction and the longitudinal direction of the tower as required, so that a camera 504, a moving member 501, a fastening tool 503 and a fastening tool driving member 502 carried on the middle cross rod move to required positions, and the operation on the operation position of the tower required is realized;
4. because the axial direction of the driving mechanism torque motor 706 in the intermediate mechanism 7 is perpendicular to the axial direction of the cross bar in the robot framework, the diameter ratio between the annular guide rail 704 and the far-end gear 701 is controlled to effectively control the movement along the horizontal direction of the tower pole, and simultaneously, the load and the safety of the robot can be effectively controlled;
5. because the rear end of the intermediate mechanism 7 is connected with the clamping mechanism 1 through the inclination electric push rod 106, and the intermediate mechanism 7 and the clamping mechanism 1 are respectively provided with the torque motor 706 which is axially vertical to the axial direction of the cross rod in the robot framework, the clamping force of the clamping mechanism 1 can be ensured by the arranged torque motor 706, and the robot has the function similar to a human body soft waist, so as to ensure the movement along the horizontal direction of a tower pole;
6. the front end of the intermediate mechanism 7 of the invention is connected with the same vertical plane channel or key slot between the shaft of the far-end gear 701 in the rectangular connecting rod 708 and the cross rod through the key slot such as the shaft or key of the far-end gear 701 of the rectangular connecting rod 708, so that the robot of the invention not only can ensure safety, but also can meet the requirements of load bearing and dexterity;
7. according to the climbing robot, the middle cross rod is driven to rotate through the rotation positioning of the middle mechanism 7, so that the operation platform is opposite to the surface to be operated of the power transmission tower, and the operation platform is switched between two work operation surfaces which are perpendicular to each other of the angle steel tower under the condition that the movement route of the robot is not changed; the identification and positioning of the point to be operated on the angle steel tower can be realized by matching with a scanning device, and the device has the advantages of simple structure, high positioning precision and the like;
8. in view of the fact that the robot framework composed of the cross rod, the middle mechanism 7 and the clamping mechanism 1 provides a safe, convenient and reliable environment for positioning, operating and fixing the middle movable cross rod arranged on the robot framework;
9. the control telescopic moving structure provided by the invention can realize autonomous bidirectional climbing of the robot along the angle steel, has a simple structure and is convenient to control, and the problems of complex structure, large dead weight and complex control system of the existing climbing robot are solved; the loading capacity is strong, and various operation tools can be loaded to carry out the fastening operation and the maintenance of the angle steel tower bolts;
10. the clamping device of the climbing robot is clamped at the edges of two right-angle sides of an angle iron through the L-shaped clamping jaws 105 with the stiffening members, the structure is simple, the contact area is small, the problems that the clamping device of the climbing robot needs to be clamped on the two right-angle sides of the angle iron in a large area in the prior art, the adaptability of a screw area of a connecting plate position of an angle steel tower is poor, and the clamping range is limited are solved, the effective clamping of positions with obstacles on the surfaces of the connecting plate, the foot nails and the like of the angle steel tower is realized, and the clamping range is large;
11. the claw 105 driving device provided by the invention drives the plane thread turntable 108 to rotate through the intermediate mechanism 7, and drives the claw 105 to grasp and release the angle steel, so that the problem that the robot falls off from an iron tower after power failure in the prior art is solved, the power failure self-locking of the climbing robot is realized, the control is simple, and the structure is safe and reliable.
Drawings
Figure 1 is a schematic structural view of a climbing robot according to the invention mounted on an angle iron stand;
FIG. 2 is a schematic view of the overall structure of the climbing robot of the present invention;
fig. 3 is a schematic structural view of a telescopic moving mechanism of the climbing robot of the present invention;
FIG. 4 is a schematic diagram of the operating components of a middle mobile crossbar of the climbing robot of the present invention mounted between front and rear foot crossbars;
figure 5 is a schematic view of the track structure of the climbing robot of the present invention;
FIG. 6 is a schematic view of the connection of the forefoot mobile crossbar and the rails of the climbing robot of the present invention;
figure 7 is a schematic front view of the gripping mechanism of the climbing robot of the present invention;
figure 8 is a schematic view of the reverse structure of the gripping mechanism of the climbing robot of the present invention;
figure 9 is a schematic view of a rectangular linkage of the climbing robot of the present invention;
figure 10 is a schematic view of the connection of the driving links of the climbing robot of the present invention;
figure 11 is a schematic view of the structure of the adjustment support of the climbing robot of the present invention;
figure 12 is a schematic view of the state of the forefoot gripping means of the climbing robot of the present invention in front movement;
figure 13 is a schematic view of the state of the heel grip of the climbing robot of the present invention in a heel position;
figure 14 is a schematic view of the state of the trackset following of the climbing robot of the present invention;
figure 15 is a schematic view of the gripping and releasing state of the jaws of the gripping mechanism of the climbing robot of the present invention;
figure 16 is a schematic view of the state of the tilt electric push rod of the climbing robot of the present invention driving the intermediate mechanism to move for foot lifting;
figure 17 is a schematic view of the position of the drive link of the climbing robot of the present invention driving the gear set to rotate along the endless track;
FIG. 18 is a schematic diagram of the position of the operation plane during the process of the climbing robot of the present invention switching the working plane along the horizontal direction of the tower;
in the figure; 1. a clamping mechanism; 2. a track; 3. a forefoot mobile crossbar; 4. a middle movable cross bar; 5. an operating component; 6. a hindfoot moving cross bar; 7. an intermediate mechanism; 8. tower rod angle iron;
101. an annular rail bracket; 102. the claw drives the motor; 103. a motor housing; 104. a support assembly; 105. a claw; 106. an inclination angle electric push rod; 107. an electric push rod tilt angle frame; 108. a planar threaded turntable; 109. a jaw guide hole; 110. an electromagnet; 111. a clamping part; 112. adjusting the core; 113. positioning bolts; 114. an upper positioning hole; 115. a lower positioning hole;
201. a rail plug; 202. a rack; 203. a slide rail;
301. the forefoot moves the cross bar linkage gear; 302. the forefoot secondary moving cross bar; 303. a forefoot keyway connection; 304. a forefoot main moving cross bar stepping motor; 305. a forefoot mobile cross bar chute; 306. the front foot moves the cross bar support lug;
401. the middle movable cross rod is linked with a gear; 402. a middle movable cross rod lead screw; 403. a middle movable cross bar slide rail; 404. the middle moving cross rod is driven by a lead screw; 405. a middle movable cross bar chute; 406. a middle moving cross bar stepping motor;
501. a moving member; 502. a fastening tool drive; 503. a fastening tool; 504. a camera;
601. the rear foot moving cross rod is linked with a gear; 602. the hindfoot pair moving cross bar; 606. a hindfoot keyway connection; 604. a hind-footed master moving cross-bar stepper motor; 605. the rear foot moves the cross bar chute; 606. the hind feet move the cross bar lugs;
701. a distal gear; 702. an idler pulley; 703. fixing a gear; 704. an annular guide rail; 705. a bell-jar housing; 706. a torque motor; 707. a limiting plate; 708. a rectangular connecting rod; 709. a limiting rod; 710. a connecting portion; 711. a mobile terminal; 712. a gear connecting rod; 713. and a fixed end.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
Embodiment 1, the invention provides a rotation and plane scanning positioning mechanism in combination with fig. 1, a robot frame, a middle mechanism 7 and a clamping mechanism 1 are arranged on the same side of the robot frame; the clamping mechanism 1 is connected with a robot framework through an intermediate mechanism 7 and comprises a track 2 with a rack 202, a cross bar, a camera 504 and the intermediate mechanism 7;
the camera 504 is arranged on the cross rod, the cross rod is vertically arranged on the track 2, the intermediate mechanism 7 is connected with the cross rod, and the intermediate mechanism 7 is used for rotating the cross rod.
The cross rods are arranged on the guide rods and connected with the middle mechanism 7;
the camera 504 is arranged on a cross bar mounted in the middle of the track 2.
The horizontal pole in middle part includes: the sliding rails, the lead screw and the linkage gear shaft are axially parallel to each other and are sequentially arranged; the stepping motor is positioned at one end of the middle cross beam, and the lead screw drive and the sliding chute are positioned at the inner side of the stepping motor; a camera 504, a moving member 501, a fastening tool 503 and a fastening tool driving member 502;
the fastening tool 503 is disposed on the side of the fastening tool driving member 502, the fastening tool 503 is connected to the moving member 501, and the camera 504 is disposed inside the moving member 501.
The cross rods arranged on the two sides of the track 2 comprise a main cross beam, an auxiliary cross beam and a step motor, wherein linkage gears are arranged at the two ends of the main cross beam, the auxiliary cross beam and the step motor;
the axis between the main beam and the auxiliary beam is perpendicular to the axis of the track 2 and is on the same vertical plane, and the end point on one side of the main beam is connected with a step motor.
The transverse rods arranged on two sides of the track 2 further comprise connecting pieces, a plurality of sliding grooves and a plurality of support lugs, the sliding grooves are arranged at two ends of the auxiliary transverse beam, the support lugs are vertically arranged on the sliding grooves, and the connecting pieces are arranged on the auxiliary transverse beam.
The intermediate mechanism 7 comprises a built-in torque motor 706 and a rectangular connecting rod 708;
an output shaft of the torque motor 706 is fixedly connected with a fixed gear 703 of a distal end gear 701, an idler gear 702 and a fixed gear 703 with an opening, which are provided on an inner side axis of the rectangular link 708; the distal gear 701 is disposed at the other end on the inner axis of the rectangular link 708; the shaft of the far-end gear 701 is arranged in a channel between the main beam and the auxiliary beam and is connected with the connecting piece on the cross bar.
The rectangular link includes a connecting portion 710, a moving end 711, a gear connecting rod 712 and a fixed end 713, the connecting portion 710 is connected with the distal gear 701, the gear connecting rod 712 is connected with the idle gear 702, the fixed end 713 is connected with the fixed gear 703, and the distal gear 701, the idle gear 702 and the fixed gear 703 are engaged with each other.
The intermediate mechanism 7 further comprises an annular track 704 with an open end;
the outer side of one end of the gear 701 at the far end of the rectangular connecting rod 708 is provided with a groove matched with the annular guide rail 704, so that the torque motor 706 drives the rectangular connecting rod 708 to move along the annular guide rail 704; the output shaft of the torque motor 706 is axially perpendicular to the crossbar.
The device also comprises a limiting component and a plurality of annular track brackets 101 with inclination angles in an F shape, wherein the limiting component comprises a limiting rod 709 and a limiting plate 707, and the limiting rod 709 is movably connected with the limiting plate 707;
the limiting rod 709 is V-shaped, and the vertex of the limiting rod 709 is connected with the circle center of the fixed gear 703 through an opening of the fixed gear 703;
one side of each of the plurality of limiting plates 707 is movably connected to two ends of the limiting rod 709, and the other side of each of the plurality of limiting plates is connected to the circular rail bracket 101.
The clamping mechanism 1 comprises a clamping part 111 in a V shape, an adjusting core 112, a plurality of electromagnets 110 and a positioning bolt 113 penetrating through the central axis of the electromagnets 110;
the electromagnets 110 are vertically connected, one end of a positioning bolt 113 passes through an adjusting core 112 to be connected with the vertex of the clamping part 111, the other end of the positioning bolt is connected with the electric push rod angle bracket 107, and the clamping part 111 is installed on the tower body of the iron tower.
Example 2
In order to realize the robot technology and the product which can realize the automatic climbing, the tower body attachment and the operation position locking, the bolt identification, the positioning and the full-automatic fastening operation, the invention mainly solves the following technical problems:
(1 the structural form of the existing climbing robot cannot adapt to climbing of a steel structure body with complex surface obstacles, such as an angle steel tower.
(2 the existing iron tower climbing robot can not realize the effective attachment and locking at any part of the body of the angle steel tower and carry tools to operate at the part of the body.
(3 the foot of the existing iron tower climbing robot is complex in structure and large in control difficulty, effective clamping cannot be achieved at positions with obstacles on the surfaces of yoke plates, foot nails and the like of an angle steel tower, mechanical self-locking performance is poor, the robot is easy to loosen and fall off under the condition of external load action or power failure, and safety is poor.
(4 at present, no mechanism for realizing identification and positioning of double-sided bolts at the position of the angle steel tower yoke plate exists.
The invention provides a technical scheme of a single-layer reversible telescopic mechanism for a climbing robot of a tower body of an iron tower of a power transmission line, and the overall technical scheme of the robot is combined with a figure 2:
the technical scheme mainly comprises the following contents in aspects:
(1 Single-layer reversible telescopic mechanism
Through the flexible mechanism of individual layer reversible type, can realize the autonomous two-way climbing along the angle steel of robot, but the flexible mechanism of individual layer reversible type comprises two rack 202 guide rails and three motion horizontal poles that have independent step motor, through the chucking of cooperation formula foot of embracing, unclamping and lifting up the action, can make up out the action that the guide rail of robot was fed, the forepaw is stepped on and the hindpaw is followed, and then realizes the climbing operation of robot.
(2 wrap-around foot
The design principle of the encircling foot is that a circular encircling is formed by a supporting point and two clamping points to clamp and fix the main material of the tower body. When the two clamping points extend out synchronously, the diameter of a circle formed by the 3 points is increased, and when the short arcs of the two clamping points exceed the width of the angle steel, the clamping mechanism can be smoothly separated from the angle steel fixation.
The surrounding foot part is driven by a torque motor 706 to rotate by a plane thread, and the plane thread drives two clamping claws to synchronously extend and retract, so that the clamping and releasing functions of the main material of the tower body are realized. The inclination angle electric push rod 106 is used for lifting feet, and the height of the front foot and the rear foot is adjusted when the adjusting support seat mainly participates in the climbing operation of the robot and the feet respectively fall on the position of the connecting plate and the position of the angle steel, so that the operation plane of the robot is parallel to the operation plane of the main material. The support seat is adjusted through the synergistic effect of two orthogonal electromagnets 110, the electromagnet 110 in the X direction drives the central rod to move up and down, and 2 pin holes are formed in the central rod; the Y-direction electromagnet 110 drives the side pin shaft to be inserted and pulled out, and strength support is provided for the current position.
(3 rotation and plane positioning mechanism
The rotation and plane positioning mechanism is mainly used for recognizing and positioning bolts, and realizes the movement of the rotation and plane positioning mechanism by matching the annular guide rail 704 with a gear set with a total rotation ratio of 3:1, wherein the track is clockwise rotation of 270 degrees, anticlockwise rotation of 90 degrees, and the combination of the figure 3 and the figure 4.
After the switching of the working surfaces is completed, the positions of all the bolts on the two working surfaces are identified and positioned through three movements (X/Y/Z matching with video identification) of the plane scanning mechanism, and the method is combined with the graph 5.
(1 through the individual layer formula telescopic machanism that can commutate, greatly simplified the problem that current climbing robot self structure is complicated, the dead weight is big, control system is complicated to the steel construction climbing of this kind of surface complicacy of adaptable angle steel tower, and load capacity is strong, can realize angle steel tower bolt-up operation demand.
(2 through the design of surrounding type feet, the problems that the structure of the existing mechanical clamping type feet is complex and the control difficulty is high are solved, the clamping range is large, the clamping device can be suitable for clamping the positions of the large-section angle steel tower and the connecting plate, the self-locking performance is good, the structure is safe and reliable, and the control is simple.
(3 through the design of the rotary and plane positioning mechanism, the video identification technology is matched, the technical difficulty of positioning and identifying the position bolt of the angle steel tower yoke plate is solved, and the device has the advantages of simple structure, high positioning precision and the like.
The invention can replace manpower to realize the fastening construction of the main material bolt in the angle steel tower assembling construction stage and the measurement, recording and re-tightening of the main material bolt fastening torque of the angle steel tower in the line transportation and inspection stage. The invention can greatly improve the operation efficiency of the angle steel tower bolt fastening construction and the operation inspection test, reduce the labor intensity of personnel, and greatly improve the operation safety while ensuring the construction quality.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described, and it is obvious that the described embodiments are a part of the embodiments of the present invention, but not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a climbing robot for a power transmission tower and a control method thereof, and with reference to fig. 6 to 18, the climbing robot for the power transmission tower comprises a robot framework, wherein the robot framework is composed of two parallel rails 221 and 7, a front foot moving cross bar 3, a middle moving cross bar and a rear foot moving cross bar 6, and the front foot moving cross bar 3, the middle moving cross bar and the rear foot moving cross bar are vertical to the rails 221 and 7;
an intermediate mechanism 7 is provided on one side of the robot frame, which mechanism is parallel to the forefoot or hindfoot movement crossbar 6 by the axis of the distal gear 1001.
Example 3
The three cross bars can move on the track 2 by arranging the forefoot moving cross bar 3, the hindfoot moving cross bar 6 and the middle moving cross bar 4 on the track 2;
the track 2 comprises: the track plug 201, the rack 202 and the slide rail 203 are axially connected in parallel, the axis of the rack 202 is in a vertical plane, and the track plug 201 is arranged at two ends of the slide rail 203;
the forefoot movement crossbar 3 includes: the device comprises a forefoot moving cross bar linkage gear 301, a forefoot auxiliary moving cross bar 302, a forefoot key groove connecting part 303, a forefoot main moving cross bar stepping motor 304, a forefoot moving cross bar sliding groove 305, a forefoot moving cross bar support lug 306, a main cross bar and an auxiliary cross bar which are arranged in parallel, wherein two ends of the forefoot moving cross bar linkage gear 301, the forefoot moving cross bar support lug 306, the forefoot key groove connecting part 303 and the forefoot moving cross bar sliding groove 305 are sequentially connected, and one end of the forefoot moving cross bar linkage gear 304 is connected with the forefoot main moving cross bar stepping motor;
the middle moving rail 4 includes: a middle moving cross bar linkage gear 401, a middle moving cross bar lead screw 402, a middle moving cross bar slide rail 403, a middle moving cross bar lead screw 402 drive, a middle moving cross bar chute 405, a middle moving cross bar stepper motor 406;
the hindfoot moving crossbar 6 includes: the rear foot moving cross bar linkage gear 601, the rear foot auxiliary moving cross bar 602, the rear foot key groove connecting part 603, the rear foot main moving cross bar stepping motor 604, the rear foot moving cross bar sliding groove 605, the rear foot moving cross bar support lug 606, the main cross bar and the auxiliary cross bar are arranged in parallel, the two ends of the main cross bar are sequentially connected with the rear foot moving cross bar linkage gear 601, the rear foot moving cross bar support lug 606, the rear foot key groove connecting part 603 and the rear foot moving cross bar sliding groove 605, and one end of the main rear foot moving cross bar stepping motor 604 is connected;
an operating assembly 5 is provided on the middle moving crossbar 4, the operating assembly 5 including: the moving part 501, a driving part 502 of a fastening tool 503, the fastening tool 503 and a camera 504, wherein the moving part 501 is arranged on the middle moving cross bar 4, and the camera 504 is arranged in the moving part 501;
the intermediate mechanism 7 includes: a distal gear 701, an idler gear 702, a fixed gear 703, a ring rail 704, a bell housing 705, a torque motor 706, a limit plate 707, a rectangular connecting rod 708, and a limit rod 709;
the stopper plate 707 includes: a connecting portion 710, a moving end 711, a gear connecting rod 712, a fixed end 713;
the connecting part 710, the moving end 711 and the fixed end 713 are sequentially connected, and the gear connecting rod 712 is vertically arranged on the moving end 711;
the chucking mechanism 1 includes: the device comprises an annular guide rail bracket 101, a jaw driving motor 102, a motor housing 103, a supporting component 104, jaws 105, an inclination electric push rod 106, an electric push rod inclination frame 107, a plane thread turntable 108, jaw guide holes, an electromagnet 110, a clamping part 111, an adjusting core 112 and a positioning bolt 113;
the positioning pin 113 includes: an upper positioning hole 114 and a lower positioning hole 115 for moving the magnet;
the invention consists of three parts;
1. according to the invention, the jack catch 105 driving motor 102 provides power for the plane thread turntable 108 to enable the plane thread turntable 108 to rotate, and the limit device of the jack catch 105 is arranged in the plane thread turntable 108 to drive the jack catch 105 to stretch and contract so as to tightly hold the tower body of the power transmission line tower to climb.
2. Because the jack catch 105 can stretch out and draw back, when the jack catch 105 contracts, the positioning bolt 113 arranged at the side of the plane thread turntable 108 supports the electric push rod inclination angle frame 107 and supports the inclination angle electric push rod 106, the inclination angle electric push rod 106 pushes the guide rail to translate, the cross rod arranged on the guide rail moves through the step motor, and the tower body of the power transmission line tower can translate.
3. Through setting up well removal horizontal pole 4 on the guide rail, under step motor provides power effect, well removal horizontal pole 4 can carry out the translation on the guide rail to carry out the control and the record to the bolt through setting up camera 504 on well removal horizontal pole 4, and rotatory to ring rail 704 through the motor, make the gear that sets up on rectangular connecting rod 708 on ring rail 704 rotate, drive the horizontal pole on the guide rail through the gear and carry out the skew, can vertically look over the bolt condition.
In conclusion, the climbing robot provided by the invention can realize the automatic climbing of main materials of the angle steel tower, the attachment of the tower body, the locking of an operation position, the identification and positioning of bolts and the full-automatic fastening operation.
The invention can replace manpower to realize the fastening construction of the main material bolt in the angle steel tower assembling construction stage and the measurement, recording and re-tightening of the main material bolt fastening torque of the angle steel tower in the line transportation and inspection stage. The invention can greatly improve the operation efficiency of the angle steel tower bolt fastening construction and the operation inspection test, reduce the labor intensity of personnel, and greatly improve the operation safety while ensuring the construction quality. As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Each flow and/or block in the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions which can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flow diagram flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The present invention is not limited to the above embodiments, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention are included in the scope of the claims of the present invention which are filed as the application.
Claims (7)
1. A rotation and plane scanning positioning mechanism comprises a robot framework, a middle mechanism (7) and a clamping mechanism (1), wherein the middle mechanism (7) and the clamping mechanism are arranged on the same side of the robot framework; the clamping mechanism (1) is connected with the robot framework through an intermediate mechanism (7);
the device is characterized by comprising a track (2) with a rack (202), a cross bar, a camera (504) and an intermediate mechanism (7);
the camera (504) is arranged on the cross rod, the cross rod is vertically arranged on the track (2), the middle mechanism (7) is connected with the cross rod, and the middle mechanism (7) is used for rotating the cross rod;
the plurality of cross rods are arranged on the track (2), and the cross rods arranged on two sides of the track (2) are connected with the middle mechanism (7);
the camera (504) is arranged on a cross bar arranged in the middle of the track (2);
the cross rods arranged on the two sides of the track (2) comprise a main cross beam, an auxiliary cross beam and a first stepping motor, wherein linkage gears are arranged at the two ends of the main cross beam, the auxiliary cross beam and the first stepping motor;
the axis between the main beam and the auxiliary beam is perpendicular to the axis of the track (2) and is on the same vertical plane, and the end point on one side of the main beam is connected with the first stepping motor;
the transverse rods arranged on two sides of the track (2) further comprise connecting pieces, a plurality of sliding grooves and a plurality of support lugs, the sliding grooves are arranged at two ends of the auxiliary transverse beam, the support lugs are vertically arranged in the sliding grooves, and the connecting pieces are arranged on the auxiliary transverse beam;
the intermediate mechanism (7) comprises a built-in torque motor (706) and a rectangular connecting rod (708);
an output shaft of the torque motor (706) is fixedly connected with a far-end gear (701) arranged on an inner side axis of the rectangular connecting rod (708), an idle gear (702) and a fixed gear (703) in the fixed gear (703) with an opening; the far-end gear (701) is arranged at the other end of the inner side axis of the rectangular connecting rod (708); and the shaft of the far-end gear (701) is arranged in a channel between the main beam and the auxiliary beam and is connected with the connecting piece on the cross rod.
2. A rotary plus planar scanning positioning mechanism as recited in claim 1, wherein the cross-bar of the central section comprises: a middle cross beam; the sliding rails, the lead screw and the linkage gear shaft are axially parallel to each other and are sequentially arranged; the second stepping motor is positioned at one end of the middle cross beam, and the screw rod drive and sliding chute is positioned at the inner side of the second stepping motor; a camera (504), a moving member (501), a fastening tool (503), and a fastening tool driving member (502);
the fastening tool (503) is arranged on one side of the fastening tool driving part (502), the fastening tool (503) is connected with the moving part (501), and the camera (504) is arranged inside the moving part (501).
3. A rotary plus planar scanning positioning mechanism according to claim 1, characterized in that the rectangular link comprises a connecting portion (710), a moving end (711), a gear connecting rod (712) and a fixed end (713), the connecting portion (710) is connected with the far-end gear (701), the gear connecting rod (712) is connected with the idle gear (702), the fixed end (713) is connected with the fixed gear (703), and the far-end gear (701), the idle gear (702) and the fixed gear (703) are engaged with each other.
4. A rotary plus planar scanning positioning mechanism as claimed in claim 1, characterized in that the intermediate mechanism (7) further comprises an endless guide (704) having an open end;
the outer side of one end of the gear (701) at the far end of the rectangular connecting rod (708) is provided with a groove matched with the annular guide rail (704) so as to form a torque motor (706) which drives the rectangular connecting rod (708) to move along the annular guide rail (704); an output shaft of the torque motor (706) is axially perpendicular to the cross rod.
5. The rotary and planar scanning positioning mechanism according to claim 4, further comprising a limiting assembly and a plurality of ring-shaped track brackets (101) with an inclined angle in an F shape, wherein the limiting assembly comprises a limiting rod (709) and a limiting plate (707), and the limiting rod (709) is movably connected with the limiting plate (707);
the limiting rod (709) is V-shaped, and the vertex of the limiting rod (709) is connected with the circle center of the fixed gear (703) through an opening of the fixed gear (703);
one side of each limiting plate (707) is movably connected with two ends of each limiting rod (709), and the other side of each limiting plate is connected with the annular track bracket (101).
6. The rotating and plane scanning positioning mechanism as claimed in claim 1, wherein the clamping mechanism (1) comprises a clamping part (111) in a V shape, an adjusting core (112), a plurality of electromagnets (110) and a positioning bolt (113) passing through the central axis of the electromagnets (110);
the electromagnets (110) are vertically connected, one end of the positioning bolt (113) penetrates through the adjusting core (112) to be connected with the top point of the clamping part (111), the other end of the positioning bolt is connected with the electric push rod inclination angle frame (107), and the clamping part (111) is installed on the tower body of the iron tower.
7. A robot comprising a rotational plus planar scanning positioning mechanism as claimed in any of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011413245.9A CN112719865B (en) | 2020-12-03 | 2020-12-03 | Rotation and plane scanning positioning mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011413245.9A CN112719865B (en) | 2020-12-03 | 2020-12-03 | Rotation and plane scanning positioning mechanism |
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| CN112719865A CN112719865A (en) | 2021-04-30 |
| CN112719865B true CN112719865B (en) | 2021-12-21 |
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| CN202011413245.9A Active CN112719865B (en) | 2020-12-03 | 2020-12-03 | Rotation and plane scanning positioning mechanism |
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| CN113223562B (en) * | 2021-05-27 | 2022-08-23 | 王旭 | Magneto-optical memory structure |
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| KR20140010467A (en) * | 2014-01-06 | 2014-01-24 | 한국교통대학교산학협력단 | Robot for exploring |
| CN104477272A (en) * | 2014-12-10 | 2015-04-01 | 武汉大学 | Line patrol robot capable of climbing poles and towers and climbing method |
| CN110341827A (en) * | 2019-07-22 | 2019-10-18 | 上海神谷电子科技有限公司 | Dropproof Climbing Robot and its traveling method |
| CN110539817A (en) * | 2019-05-27 | 2019-12-06 | 中国地质大学（武汉） | creeping type pipeline external detection robot |
| CN211995913U (en) * | 2020-04-28 | 2020-11-24 | 烟台大学 | High-voltage line inspection robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20140010467A (en) * | 2014-01-06 | 2014-01-24 | 한국교통대학교산학협력단 | Robot for exploring |
| CN104477272A (en) * | 2014-12-10 | 2015-04-01 | 武汉大学 | Line patrol robot capable of climbing poles and towers and climbing method |
| CN110539817A (en) * | 2019-05-27 | 2019-12-06 | 中国地质大学（武汉） | creeping type pipeline external detection robot |
| CN110341827A (en) * | 2019-07-22 | 2019-10-18 | 上海神谷电子科技有限公司 | Dropproof Climbing Robot and its traveling method |
| CN211995913U (en) * | 2020-04-28 | 2020-11-24 | 烟台大学 | High-voltage line inspection robot |
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