CN114084243B - 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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- CN114084243B CN114084243B CN202111628889.4A CN202111628889A CN114084243B CN 114084243 B CN114084243 B CN 114084243B CN 202111628889 A CN202111628889 A CN 202111628889A CN 114084243 B CN114084243 B CN 114084243B
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- clamping
- screw rod
- blocks
- lifting
- clamping unit
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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 application 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 application provides an important component mechanism of the electric power iron tower climbing robot, and the electric power iron tower climbing robot can realize the classified 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 electric power iron tower climbing robot can replace operators to perform high-altitude operation, and the problem that the high-altitude operation threatens personal safety is effectively solved.
Description
Technical Field
The application relates to the technical field of intelligent automation equipment, in particular to a hierarchical motion clamping mechanism of an electric iron tower climbing robot.
Background
At present, power transmission by adopting high-voltage and ultra-high-voltage overhead power lines is a main mode for long-distance power transmission. Power towers are a common electrical infrastructure. The assembly of the electric iron tower needs to utilize hoisting equipment and the participation of staff. In the assembly process, workers are required to climb the iron tower to operate, and high-altitude operation has great threat to personal safety of the workers.
With the development and progress of technology, the special electric robot becomes a research hot spot in the field of robots, and the research and development of robots for climbing electric iron towers to replace workers to perform aerial work are effective means for solving the problem that the aerial work threatens personal safety. The clamping mechanism is a basic constitution unit of the climbing robot, and research and development of the effective clamping mechanism has important significance for research and improvement of the climbing robot.
Disclosure of Invention
In order to solve the related technical problems, the application aims to provide a grading movement clamping mechanism of an electric iron tower climbing robot.
The application provides 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, wherein the lifting motor is arranged on the supporting platform;
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, lifting blocks are connected to the longitudinal screw rod in a threaded mode, two parallel connecting rods are respectively arranged on two sides of each lifting block, the two parallel connecting rods are respectively connected with a first clamping unit and a second clamping unit, and the longitudinal screw rod rotates to drive the lifting blocks to ascend or descend so as to drive the first clamping unit and the second clamping unit to axially move 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 connected with the sliding guide frames on the corresponding sides in a sliding manner; the first clamping unit and the second clamping unit have the same structure and 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 for use 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 angle steel, and each guide wheel is connected with a wheel shaft through a locking nut and a locking gasket and fixedly connected with the lower supporting platform through the wheel shaft; the lifting frame is characterized in that a spring mounting hole is formed in the upper end of the lifting frame, 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 in sliding connection, and the sliding blocks are used for guiding the lifting frame and the lifting blocks, so that when a longitudinal screw rod rotates, the lifting blocks do lifting movement; the lifting frame is provided with two support plates, a transverse screw rod penetrates through the two support plates and is connected in a rotating mode, one end of the transverse screw rod is connected with an output shaft of a clamping motor, the clamping motor is installed on one support plate, the clamping motor rotates to drive the transverse screw rod to rotate, two transverse moving blocks which are identical in structure and installed in the reverse mode are connected to the transverse screw rod, and the two transverse moving blocks move in opposite directions or in the 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, the two transverse moving blocks are respectively connected with one sliding block and drive the connected sliding blocks to synchronously move in the transverse sliding groove, the transverse moving blocks are connected with the sliding blocks through second pin shafts, one ends of first connecting rods are further connected to pin shafts between the two sliding blocks, the other ends of the first connecting rods are connected with the upper ends of the clamping arms through third pin shafts, two limiting grooves are respectively formed in two sides of the lifting frame, a first pin shaft is arranged in each limiting groove, limiting blocks with arc-shaped grooves are arranged at the upper ends of the clamping arms, the moving range of each limiting block is in the corresponding limiting groove, the limiting grooves are matched with the first pin shafts in use, the upper ends of the clamping arms can rotate around the first pin shafts, the lower ends of the clamping arms are connected with self-locking cams through cam shafts, and two spring pins are arranged on the self-locking cams.
Wherein, elevating motor and clamp motor are two-way rotating electrical machines.
Compared with the prior art, the application has the beneficial effects that:
the application provides a grading movement clamping mechanism of an electric power 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, and is an important component mechanism of the electric power iron tower climbing robot.
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 view of the structure of the clamp arm;
FIG. 5 is a schematic view of the structure of the present application in a slightly opened state;
FIG. 6 is a schematic view of the structure of the present application in a fully opened state;
FIG. 7 is a schematic view of the structure of the support platform of the present application;
FIG. 8 is a schematic view of the support platform of the present application in an exploded condition;
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.
Description of the embodiments
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.
The application is described in further detail below with reference to the drawings and the specific examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
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 exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the singular is "a," an, "and/or" the "include" when used in this specification is taken to mean that there are features, steps, operations, components or modules, assemblies, and/or combinations thereof.
As used in this document, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, as will be understood by those skilled in the art.
It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Examples
As shown in fig. 1-8, the grading movement clamping mechanism of the electric iron tower climbing robot provided by the embodiment comprises 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, and the upper supporting platform 6 and the lower supporting platform 3 can be integrally formed.
The upper end of the upper supporting platform 6 is provided with a lifting motor 5, 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 longitudinal screw rod 8 is in threaded connection with a lifting block 2, 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 4, and the longitudinal screw rod 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 4 to axially move along the longitudinal screw rod 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 and lowering 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 4 are respectively connected with the sliding guide frames on the corresponding sides in a sliding manner; the first clamping unit 1 and the second clamping unit 4 have the same structure and comprise two clamping arms 15 which can be opened and closed and are arranged on the outer sides of the two sides of the lower supporting platform 3; two guide wheels 9 which are matched with each other and have the same structure are arranged on the lower support platform 3, a V-shaped chute for supporting the whole clamping mechanism to slide on angle steel is arranged on the circumferential surface of the guide wheels 9, and the guide wheels 9 are connected with a wheel shaft through locking nuts and locking gaskets and fixedly connected with the lower support 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, wherein T-shaped blocks are arranged on the inner side of the lifting frame 13, each sliding guide frame comprises two sliding blocks which are longitudinally arranged at intervals in parallel, the T-shaped blocks penetrate through the space between the two sliding blocks and are in sliding connection, and the sliding blocks are used for guiding the lifting frame and the lifting blocks, so that when a longitudinal screw rod rotates, the lifting blocks do lifting movement; the lifting frame 13 is provided with two support plates 20, a transverse screw rod passes through the two support plates and is rotationally connected, one end of the transverse screw rod is connected with an output shaft of the clamping motor 10, the clamping motor 10 is arranged on one support plate, the clamping motor 10 rotates to drive the transverse screw rod to rotate, two transverse moving blocks 19 with the same structure and reversely arranged are connected to the transverse screw rod, and the two transverse moving blocks 19 move oppositely or reversely; 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 blocks 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 ends of first connecting rods 11 are further connected to pin shafts between the two sliding blocks, the other ends of the first connecting rods 11 are connected with the upper ends of clamping arms through third pin shafts, two limiting grooves are respectively formed in two sides of the lifting frame, a first pin shaft is arranged in each limiting groove, limiting blocks with arc-shaped grooves are arranged at the upper ends of the clamping arms, the moving range of the limiting blocks is 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, the lower ends of the clamping arms are connected with self-locking cams through cam shafts, and two spring pins are arranged on the self-locking cams. When the clamping mechanism is clamped on the inner side of the angle steel, the self-locking cam can reversely rotate under the action of gravity of the mechanism, so that acting force for tightly holding the inner side of the angle steel can be generated, and the action generated by the gravity can be offset. The first clamping unit 1 and the first clamping unit 2 can drive the corresponding opposite side clamping arms to open and close in parallel through the rotation of the clamping motor, and turn over synchronously.
Wherein, elevating motor and clamp motor are two-way rotating electrical machines.
Opening and closing processes of the clamping arms:
the clamping motor rotates to drive the transverse screw rod to rotate, and two transverse moving blocks 19 with the same structure and reverse installation are connected to the transverse screw rod, and the two transverse moving blocks 19 move in opposite directions. And limiting blocks with arc grooves arranged at the upper ends of the clamping arms are respectively enabled to rotate around the first pin shafts by opposite movement. After rotating to a certain position, the clamping motor continues to rotate, the two clamping arm limiting blocks are separated from the first pin shaft, the two clamping arms continue to move in opposite directions along with the sliding blocks, the two clamping arms move in opposite directions in a translation mode, after being clamped to a certain position, the clamping arms rotate through the lifting motor to adjust the positions of the first clamping unit 1 and the second clamping unit 4, the first clamping unit 1 and the second clamping unit move upwards, the two clamping arms are lifted upwards, and the clamping mechanism is clamped on the inner side of the angle steel.
On the contrary, the lifting motor is reversed, the longitudinal screw rod is rotated, the first clamping unit 1 and the second clamping unit 4 are enabled to move downwards, the two clamping arms are enabled to move downwards, and the clamping mechanism is separated from the inner side of the angle steel. The clamping motor reversely rotates to drive the transverse screw rod to reversely rotate, the two transverse moving blocks reversely move to drive the two clamping arms to reversely translate, and when the limiting block with the arc-shaped groove arranged at the upper end of the clamping arm is contacted with the first pin shaft, the clamping arm continuously reversely moves, and then the clamping arm rotates around the first pin shaft. Both clamping arms of the first clamping unit 1 and the second clamping unit 4 are opened at a certain angle.
In the present application, a technical solution not described in detail is adopted by a known technology.
The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application, which are intended to be comprehended within the scope of the present application.
Claims (3)
1. The grading movement clamping mechanism of the electric 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, lifting blocks (2) are connected to the longitudinal screw rod (8) in a threaded mode, parallel connecting rods (7) are respectively arranged on two sides of the lifting blocks (2), the two parallel connecting rods (7) are respectively connected with the first clamping unit (1) and the second clamping unit (4), and the longitudinal screw rod (8) rotates to drive the lifting blocks (2) to ascend or descend so as to drive the first clamping unit (1) and the second clamping unit (4) 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 (4) are respectively connected with the sliding guide frames on the corresponding sides in a sliding manner; the first clamping unit (1) and the second clamping unit (4) have the same structure and 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); two guide wheels (9) which are matched with each other and have the same structure are arranged on the lower supporting platform (3), a V-shaped chute used for supporting the whole clamping mechanism to slide on 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 first clamping unit (1) comprises a lifting frame (13), a spring mounting hole is formed in the upper end of the lifting frame (13), and a spring (12) is mounted in the spring mounting hole.
2. The grading movement clamping mechanism of the electric iron tower climbing robot according to claim 1, wherein 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 spaced and arranged in parallel, the T-shaped blocks penetrate through the two sliding blocks and are connected in a sliding manner, and the sliding blocks are used for guiding the lifting frame and the lifting blocks, so that when a longitudinal screw rod rotates, the lifting blocks do lifting movement; two supporting plates (20) are arranged on the lifting frame (13), a transverse screw rod penetrates through the two supporting plates and is connected in a rotating mode, one end of the transverse screw rod is connected with an output shaft of the clamping motor (10), the clamping motor (10) is arranged on one supporting plate, the clamping motor (10) rotates to drive the transverse screw rod to rotate, two transverse moving blocks (19) which are identical in structure and are arranged in the opposite direction are connected to the transverse screw rod, and the two transverse moving blocks (19) move in the opposite direction or the opposite direction; be provided with a horizontal slider groove on the crane, sliding connection has two sliders (21) in the slider groove, and two horizontal movable blocks (19) are connected slider (21) respectively and are driven slider (21) that are connected and move in synchronous in horizontal sliding groove, horizontal movable block (19) are connected through the second round pin axle with slider (21), and the epaxial one end that still is connected with first connecting rod (11) of round pin between the two, the other end of first connecting rod (11) pass through the third round pin axle with the upper end of arm lock is connected, the both sides of crane set up a spacing groove respectively, and every spacing inslot all sets up a first round pin axle, arm lock upper end is provided with the stopper that has the arc wall, the movable range of stopper is in the spacing inslot, just the spacing groove with first round pin axle cooperatees the use, arm lock upper end can be around first round pin axle is rotatory, the lower extreme of every arm lock all is provided with two spring pins on the self-locking cam.
3. The hierarchical motion clamping mechanism of an 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114084243A CN114084243A (en) | 2022-02-25 |
| CN114084243B true CN114084243B (en) | 2023-09-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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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| Country | Link |
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| CN (1) | CN114084243B (en) |
Families Citing this family (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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| 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 |
| CN108454721A (en) * | 2018-02-06 | 2018-08-28 | 成都明杰科技有限公司 | A kind of transmission pole climbing detection robot |
| LU100822B1 (en) * | 2017-09-29 | 2019-03-29 | Univ Anhui Sci & Technology | Turnover multi-finger asynchronous gripper for casting robot |
| 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 |
-
2021
- 2021-12-28 CN CN202111628889.4A patent/CN114084243B/en active Active
Patent Citations (7)
| 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 |
| CN108454721A (en) * | 2018-02-06 | 2018-08-28 | 成都明杰科技有限公司 | A kind of transmission pole climbing detection robot |
| CA3059845A1 (en) * | 2018-10-26 | 2020-04-26 | Moritz Benjamin OETIKER | Magnetic adhesive force monitoring system for magnetic wheeled robot |
| 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 |
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| Publication number | Publication date |
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| CN114084243A (en) | 2022-02-25 |
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