CN114084243A - Hierarchical motion clamping mechanism of electric power iron tower climbing robot - Google Patents
Hierarchical motion clamping mechanism of electric power iron tower climbing robot Download PDFInfo
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- CN114084243A CN114084243A CN202111628889.4A CN202111628889A CN114084243A CN 114084243 A CN114084243 A CN 114084243A CN 202111628889 A CN202111628889 A CN 202111628889A CN 114084243 A CN114084243 A CN 114084243A
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- clamping
- lifting
- sliding
- supporting platform
- screw rod
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Abstract
The invention discloses a grading movement clamping mechanism of an electric iron tower climbing robot, which comprises a lifting motor, a supporting platform, a longitudinal screw rod, a first clamping unit, a second clamping unit and a guide wheel. The clamping mechanism is an important component mechanism of the electric power iron tower climbing robot, and the electric power iron tower climbing robot can realize the grading clamping movement of the climbing robot on an iron tower by utilizing the clamping mechanism, so that an auxiliary mechanism is provided for iron tower climbing, the high-altitude operation can be performed by replacing operating personnel, and the problem that the high-altitude operation threatens the personal safety is effectively solved.
Description
Technical Field
The invention relates to the technical field of intelligent automation equipment, in particular to a grading motion clamping mechanism of an electric power iron tower climbing robot.
Background
At present, the main way of transmitting power remotely is to transmit power by using high-voltage and ultrahigh-voltage overhead power lines. Electric power towers are a common electric power infrastructure. The assembly of the electric power iron tower needs the participation of hoisting equipment and workers. In the assembling process, workers need to climb the iron tower to operate, and the personal safety of the workers is greatly threatened by high-altitude operation.
With the development and progress of the technology, the electric power special robot becomes a research hotspot in the robot field, researches and develops the robot for climbing the electric power iron tower to replace workers to carry out aloft work, and is an effective means for solving the problem that the aloft work threatens personal safety. The clamping mechanism is a basic constitution unit of the climbing robot, and the research and development of the effective clamping mechanism have important significance on the research and the improvement of the climbing robot.
Disclosure of Invention
In order to solve the related technical problem, the purpose of the application is to provide a hierarchical motion clamping mechanism of an electric power iron tower climbing robot.
In order to achieve the purpose of the application, the application provides a grading motion clamping mechanism of an electric iron tower climbing robot, which comprises a lifting motor, a supporting platform, a longitudinal screw rod, a first clamping unit, a second clamping unit and a guide wheel;
the supporting platform comprises an upper supporting platform and a lower supporting platform which are connected through bolts, a lifting motor is arranged at the upper end of the upper supporting platform, a longitudinal screw rod is arranged between the upper supporting platform and the lower supporting platform, an output shaft of the lifting motor is connected with the longitudinal screw rod and can drive the longitudinal screw rod to rotate, a lifting block is in threaded connection with the longitudinal screw rod, two parallel connecting rods are arranged on two sides of the lifting block respectively and are connected with a first clamping unit and a second clamping unit respectively, and the longitudinal screw rod rotates to drive the lifting block to ascend or descend so as to drive the first clamping unit and the second clamping unit to move axially along the longitudinal screw rod;
the lower end of the upper supporting platform is provided with two sliding guide frames, and the first clamping unit and the second clamping unit are respectively in sliding connection with the sliding guide frames on the corresponding sides; the first clamping unit and the second clamping unit have the same structure and respectively comprise two clamping arms which can be opened and closed and are arranged on the outer sides of two sides of the lower supporting platform; the lower supporting platform is provided with two guide wheels which are matched with each other and have the same structure, the circumferential surface of each guide wheel is provided with a V-shaped chute for supporting the whole clamping mechanism to slide on the angle steel, and each guide wheel is connected with a wheel shaft through a locking nut and a locking gasket and is fixedly connected with the lower supporting platform through the wheel shaft; the upper end of the lifting frame is provided with a spring mounting hole, and a spring is mounted in the spring mounting hole.
The first clamping unit comprises a lifting frame, T-shaped blocks are arranged on the inner side of the lifting frame, each sliding guide frame comprises two sliding blocks which are longitudinally arranged at intervals in parallel, the T-shaped blocks penetrate through the two sliding blocks and are connected in a sliding mode, and the sliding blocks are used for guiding the lifting frame and the lifting blocks, so that the lifting blocks do lifting motion when the longitudinal screw rod rotates; the lifting frame is provided with two supporting plates, a transverse screw penetrates through the two supporting plates and is connected with the two supporting plates in a rotating mode, one end of the transverse screw is connected with an output shaft of a clamping motor, the clamping motor is installed on one supporting plate, the clamping motor rotates to drive the transverse screw to rotate, two transverse moving blocks which are identical in structure and are installed in a reverse mode are connected onto the transverse screw, and the two transverse moving blocks move in a reverse mode or in a reverse mode; the lifting frame is provided with a transverse sliding block groove, two sliding blocks are connected in the sliding block groove in a sliding manner, two transverse moving blocks are respectively connected with one sliding block and drive the connected sliding block to synchronously move in the transverse sliding groove, the transverse moving blocks are connected with the sliding blocks through second pin shafts, one end of a first connecting rod is further connected onto a pin shaft between the transverse moving blocks and the sliding blocks, the other end of the first connecting rod is connected with the upper ends of the clamping arms through a third pin shaft, two sides of the lifting frame are respectively provided with a limiting groove, each limiting groove is internally provided with a first pin shaft, the upper ends of the clamping arms are provided with limiting blocks with arc-shaped grooves, the moving ranges of the limiting blocks are arranged in the limiting grooves, the limiting grooves are matched with the first pin shafts for use, the upper ends of the clamping arms can rotate around the first pin shafts, and the lower ends of the clamping arms are connected with a self-locking cam through cam shafts, two spring pins are arranged on the self-locking cam.
The lifting motor and the clamping motor are both bidirectional rotating motors.
Compared with the prior art, the invention has the beneficial effects that:
the utility model provides a hierarchical motion fixture of electric power iron tower climbing robot including elevator motor, supporting platform, vertical lead screw, first clamping unit, second clamping unit, the leading wheel, for the important constitution mechanism of electric power iron tower climbing robot, electric power iron tower climbing robot utilizes this fixture can realize climbing the hierarchical centre gripping motion of robot on the iron tower, thereby provide complementary unit for the iron tower climbing, can the alternative operation personnel carry out high altitude construction, high altitude construction threat personal safety problem has effectively been solved.
Drawings
FIG. 1 is a first schematic view of the structure of the present application in a closed state;
FIG. 2 is a second schematic view of the structure of the present application in a closed state;
FIG. 3 is a third schematic view of the structure of the present application in a closed state;
FIG. 4 is a schematic structural view of the clamp arm;
FIG. 5 is a schematic structural diagram of the present application in a slightly opened state;
FIG. 6 is a schematic structural diagram of the present application in a fully open state;
FIG. 7 is a schematic structural view of a support platform of the present application;
FIG. 8 is a schematic illustration of an exploded view of the support platform of the present application;
in the figure, a first clamping unit 1, a lifting block 2, a lower supporting platform 3, a second clamping unit 4, a lifting motor 5, an upper supporting platform 6, a parallel connecting rod 7, a longitudinal screw rod 8, a guide wheel 9, a clamping motor 10, a first connecting rod 11, a spring 12, a lifting frame 13, a first pin shaft 14, a clamping arm 15, a spring pin 16, a cam shaft 17, a self-locking cam 18, a transverse moving block 19, a supporting plate 20 and a sliding block 21.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The invention is described in further detail below with reference to the figures and specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when used in this specification the singular forms "a", "an" and/or "the" include "specify the presence of stated features, steps, operations, elements, or modules, components, and/or combinations thereof, unless the context clearly indicates otherwise.
As used herein, the singular forms "a," "an," "the," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It will be understood that when an element is referred to herein as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Examples
As shown in fig. 1 to 8, the clamping mechanism for staged movement of an electric iron tower climbing robot provided in this embodiment includes a lifting motor 5, a supporting platform, a longitudinal screw 8, a first clamping unit 1, a second clamping unit 4, and a guide wheel 9;
the supporting platform comprises an upper supporting platform 6 and a lower supporting platform 3 which are connected through bolts, and the upper supporting platform 6 and the lower supporting platform 3 can also be integrally formed.
The lifting device is characterized in that a lifting motor 5 is arranged at the upper end of the upper supporting platform 6, a longitudinal screw 8 is arranged between the upper supporting platform 6 and the lower supporting platform 3, an output shaft of the lifting motor 5 is connected with the longitudinal screw 8 and can drive the longitudinal screw 8 to rotate, a lifting block 2 is in threaded connection with the longitudinal screw 8, two parallel connecting rods 7 are respectively arranged on two sides of the lifting block 2, the two parallel connecting rods 7 are respectively connected with the first clamping unit 1 and the second clamping unit 2, and the longitudinal screw 8 rotates to drive the lifting block 2 to ascend or descend so as to drive the first clamping unit 1 and the second clamping unit 2 to axially move along the longitudinal screw 8;
the first clamping unit 1 and the second clamping unit 4 are driven to synchronously move up and down by a lifting motor. The lifting positions of the first clamping unit 1 and the second clamping unit 4 are detected by a mechanical torque sensor.
The lower end of the upper supporting platform 6 is provided with two sliding guide frames, and the first clamping unit 1 and the second clamping unit 2 are respectively in sliding connection with the sliding guide frames on the corresponding sides; the first clamping unit 1 and the second clamping unit 2 have the same structure and respectively comprise two clamping arms 15 which can be opened and closed and are arranged on the outer sides of two sides of the lower supporting platform 3; the lower supporting platform 3 is provided with two guide wheels 9 which are matched with each other and have the same structure, a V-shaped chute for supporting the whole clamping mechanism to slide on the angle steel is arranged on the circumferential surface of each guide wheel 9, and each guide wheel 9 is connected with a wheel shaft through a locking nut and a locking gasket and is fixedly connected with the lower supporting platform 3 through the wheel shaft; the upper end of the lifting frame 13 is provided with a spring mounting hole, and a spring 12 is arranged in the spring mounting hole.
The first clamping unit 1 comprises a lifting frame 13, the inner side of the lifting frame 13 is provided with T-shaped blocks, each sliding guide frame comprises two sliding blocks which are longitudinally arranged at intervals in parallel, the T-shaped blocks penetrate through the two sliding blocks and are connected in a sliding mode, and the sliding blocks are used for guiding the lifting frame and the lifting blocks, so that when the longitudinal screw rod rotates, the lifting blocks do lifting motion; the lifting frame 13 is provided with two support plates 20, a transverse screw rod penetrates through the two support plates and is rotatably connected with the two support plates, one end of the transverse screw rod is connected with an output shaft of a clamping motor 10, the clamping motor 10 is installed on one of the support plates, the clamping motor 10 rotates to drive the transverse screw rod to rotate, the transverse screw rod is connected with two transverse moving blocks 19 which are identical in structure and are installed in opposite directions, and the two transverse moving blocks 19 move in opposite directions or in opposite directions; the lifting frame is provided with a transverse sliding block groove, two sliding blocks 21 are connected in the sliding block groove in a sliding manner, two transverse moving blocks 19 are respectively connected with one sliding block 21 and drive the connected sliding block 21 to synchronously move in the transverse sliding groove, the transverse moving blocks 19 are connected with the sliding blocks 21 through second pin shafts, one end of a first connecting rod 11 is further connected onto a pin shaft between the transverse moving blocks and the sliding blocks, the other end of the first connecting rod 11 is connected with the upper end of each clamping arm through a third pin shaft, two sides of the lifting frame are respectively provided with a limiting groove, each limiting groove is internally provided with a first pin shaft, the upper end of each clamping arm is provided with a limiting block with an arc-shaped groove, the moving range of the limiting block is in the limiting groove, the limiting grooves are matched with the first pin shafts for use, the upper end of each clamping arm can rotate around the first pin shafts, and the lower end of each clamping arm is connected with a self-locking cam through a cam shaft, two spring pins are arranged on the self-locking cam. When the clamping mechanism is clamped on the inner side of the angle steel, the self-locking cam can rotate reversely under the action of gravity of the mechanism, so that acting force on the inner side of the angle steel can be generated, and the action generated by gravity can be offset. First clamping unit 1 and first clamping unit 2 all can open and shut through the parallel of the corresponding offside arm lock of the rotatory drive of clamp motor, and the synchronous upset.
The lifting motor and the clamping motor are both bidirectional rotating motors.
The opening and closing process of the clamping arm:
the clamping motor rotates to drive the transverse screw rod to rotate, the transverse screw rod is connected with two transverse moving blocks 19 which have the same structure and are installed in opposite directions, and the two transverse moving blocks 19 move oppositely. The limiting blocks with arc-shaped grooves arranged at the upper ends of the clamping arms rotate around the first pin shaft by moving in opposite directions. After rotating a certain position, press from both sides tight motor and continue to rotate, two arm lock stoppers break away from first round pin axle, two arm lock are along with the slider continues to move in opposite directions, two arm lock translation motion in opposite directions, after the arm lock pressed from both sides tightly a certain position, can adjust the position of first clamping unit 1 and second clamping unit 2 through the elevator motor rotation for first clamping unit 1 and second clamping unit rebound, make two arm lock upwards promote, the fixture chucking is inboard at the angle steel.
On the contrary, the lifting motor rotates reversely, the longitudinal screw rod rotates, so that the first clamping unit 1 and the second clamping unit 2 move downwards, the two clamping arms move downwards, and the clamping mechanism is separated from the inner side of the angle steel. The clamping motor rotates reversely to drive the transverse lead screw to rotate reversely, the two transverse moving blocks move reversely to drive the two clamping arms to move in a reverse translation mode, and after a limiting block with an arc-shaped groove and arranged at the upper ends of the clamping arms are in contact with the first pin shaft, the limiting block continues to move reversely, and then the clamping arms rotate around the first pin shaft. Two clamping arms of the first clamping unit 1 and the second clamping unit 2 are opened at a certain angle.
The technical means not described in detail in the present application are known techniques.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (3)
1. A grading movement clamping mechanism of an electric power iron tower climbing robot is characterized by comprising a lifting motor (5), a supporting platform, a longitudinal screw rod (8), a first clamping unit (1), a second clamping unit (4) and a guide wheel (9);
the supporting platform comprises an upper supporting platform (6) and a lower supporting platform (3) which are connected through bolts, a lifting motor (5) is arranged at the upper end of the upper supporting platform (6), a longitudinal screw rod (8) is arranged between the upper supporting platform (6) and the lower supporting platform (3), an output shaft of the lifting motor (5) is connected with the longitudinal screw rod (8), and can drive the longitudinal screw rod (8) to rotate, the lifting block (2) is connected with the longitudinal screw rod (8) through threads, two sides of the lifting block (2) are respectively provided with a parallel connecting rod (7), the two parallel connecting rods (7) are respectively connected with the first clamping unit (1) and the second clamping unit (2), the longitudinal screw rod (8) rotates to drive the lifting block (2) to ascend or descend, thereby driving the first clamping unit (1) and the second clamping unit (2) to axially move along the longitudinal screw rod (8);
the lower end of the upper supporting platform (6) is provided with two sliding guide frames, and the first clamping unit (1) and the second clamping unit (2) are respectively in sliding connection with the sliding guide frames on the corresponding sides; the first clamping unit (1) and the second clamping unit (2) are identical in structure and respectively comprise two clamping arms (15) which can be opened and closed and are arranged on the outer sides of two sides of the lower supporting platform (3); the lower supporting platform (3) is provided with two guide wheels (9) which are matched with each other and have the same structure, a V-shaped chute for supporting the whole clamping mechanism to slide on the angle steel is arranged on the circumferential surface of each guide wheel (9), and each guide wheel (9) is connected with a wheel shaft through a locking nut and a locking gasket and is fixedly connected with the lower supporting platform (3) through the wheel shaft; the upper end of the lifting frame (13) is provided with a spring mounting hole, and a spring (12) is mounted in the spring mounting hole.
2. The grading movement clamping mechanism of the electric power iron tower climbing robot as claimed in claim 1, wherein the first clamping unit (1) comprises a lifting frame (13), the inner side of the lifting frame (13) is provided with a T-shaped block, each sliding guide frame comprises two sliding blocks which are longitudinally arranged in parallel at intervals, the T-shaped block penetrates through the two sliding blocks and is connected with the two sliding blocks in a sliding manner, and the sliding blocks are used for guiding the lifting frame and the lifting blocks, so that when a longitudinal lead screw rotates, the lifting blocks do lifting movement; the lifting frame (13) is provided with two supporting plates (20), a transverse screw rod penetrates through the two supporting plates and is rotatably connected with the two supporting plates, one end of the transverse screw rod is connected with an output shaft of a clamping motor (10), the clamping motor (10) is installed on one of the supporting plates, the clamping motor (10) rotates to drive the transverse screw rod to rotate, the transverse screw rod is connected with two transverse moving blocks (19) which are identical in structure and are installed in opposite directions, and the two transverse moving blocks (19) move in opposite directions or opposite directions; the lifting frame is provided with a transverse sliding block groove, two sliding blocks (21) are connected in the sliding block groove in a sliding manner, two transverse moving blocks (19) are respectively connected with one sliding block (21) and drive the connected sliding block (21) to synchronously move in the transverse sliding groove, the transverse moving blocks (19) are connected with the sliding blocks (21) through second pin shafts, one end of a first connecting rod (11) is further connected onto a pin shaft between the transverse moving blocks and the sliding blocks, the other end of the first connecting rod (11) is connected with the upper end of the clamping arm through a third pin shaft, two sides of the lifting frame are respectively provided with a limiting groove, a first pin shaft is arranged in each limiting groove, a limiting block with an arc-shaped groove is arranged at the upper end of the clamping arm, the moving range of the limiting block is in the limiting groove, the limiting groove is matched with the first pin shaft for use, and the upper end of the clamping arm can rotate around the first pin shaft, the lower end of each clamping arm is connected with a self-locking cam through a cam shaft, and two spring pins are arranged on the self-locking cam.
3. The staged motion clamping mechanism of the electric iron tower climbing robot according to claim 1, wherein the lifting motor and the clamping motor are both bidirectional rotating motors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111628889.4A CN114084243B (en) | 2021-12-28 | 2021-12-28 | Hierarchical motion clamping mechanism of electric power iron tower climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111628889.4A CN114084243B (en) | 2021-12-28 | 2021-12-28 | Hierarchical motion clamping mechanism of electric power iron tower climbing robot |
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| Publication Number | Publication Date |
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| CN114084243A true CN114084243A (en) | 2022-02-25 |
| CN114084243B CN114084243B (en) | 2023-09-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111628889.4A Active CN114084243B (en) | 2021-12-28 | 2021-12-28 | Hierarchical motion clamping mechanism of electric power iron tower climbing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115095214A (en) * | 2022-06-22 | 2022-09-23 | 国网天津市电力公司建设分公司 | Mechanical arm for clamping butt joint structure of electric power iron tower |
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| CN109572850A (en) * | 2019-01-28 | 2019-04-05 | 山东建筑大学 | A kind of the clamping adjustment mechanism and climbing robot of transmission tower climbing robot |
| CA3059845A1 (en) * | 2018-10-26 | 2020-04-26 | Moritz Benjamin OETIKER | Magnetic adhesive force monitoring system for magnetic wheeled robot |
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2021
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104108432A (en) * | 2014-07-10 | 2014-10-22 | 国家电网公司 | Inspection robot for iron tower climbing |
| CN105966486A (en) * | 2016-07-12 | 2016-09-28 | 浙江工业大学 | Obstacle-crossing mechanism of rod piece climbing robot |
| AU2017101829A4 (en) * | 2017-09-29 | 2018-05-10 | Anhui University of Science and Technology | Omnidirectional multi-finger asynchronous gripper for casting robot |
| LU100822B1 (en) * | 2017-09-29 | 2019-03-29 | Univ Anhui Sci & Technology | Turnover multi-finger asynchronous gripper for casting robot |
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| CN115095214A (en) * | 2022-06-22 | 2022-09-23 | 国网天津市电力公司建设分公司 | Mechanical arm for clamping butt joint structure of electric power iron tower |
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| CN114084243B (en) | 2023-09-05 |
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