CN204264311U - Climbing level robot actuating unit - Google Patents
Climbing level robot actuating unit Download PDFInfo
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- CN204264311U CN204264311U CN201420710917.6U CN201420710917U CN204264311U CN 204264311 U CN204264311 U CN 204264311U CN 201420710917 U CN201420710917 U CN 201420710917U CN 204264311 U CN204264311 U CN 204264311U
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- rectangular shaft
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- climbing
- actuating unit
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Abstract
The utility model provides a kind of climbing level robot actuating unit, belongs to robotics.It can solve the problem that climbing robot actuating unit adapts to multiple bar footpath or cross sectional shape effectively.Comprise matrix, arm and actuating device, matrix assembly Chengs Swastika structure, the left side of lower substrate is provided with elevating screw, the both sides of elevating screw are provided with guide rod, the right of lower substrate is provided with the flexible chute with rectangular shaft free-running fit, rectangular shaft is provided with, by S. A. pin joint between the connection bayonet socket of rectangular shaft end and the horizontal ends of sagging hollow legn in the flexible chute on the left side.Motor drives elevating screw to rotate, the alternately dipping and heaving of matrix, lower substrate and lower substrate in drive, motor drives S. A. to drive the rotation of arm, and motor drives the rotation of tensioning leading screw to control loosening and pinching action of claw bar, claw bar with fixed by self-locking by pole-climbing.Multiple section shape pillar climbing can be adapted to, bar footpath is adjustable, can obstacle detouring, fix by self-locking during work.Be mainly used in column climbing.
Description
Technical field
The utility model belongs to robotics, particularly the actuating unit of climbing level robot.
Background technology
The development of science and technology, people more and more need a kind of machinery to go to replace aloft work is thisly in extreme danger, labour intensity is large and inefficient work, the research of climbing level robot also produces along with this demand just.Climbing level robot research is very popular topic, as Chinese Patent Application No. 201220173402.8 disclose a kind of two sectional type climbing level robot, Chinese Patent Application No. 201110101717.1 discloses 200910013976.1 multifunctional pole-climbing robots, Chinese Patent Application No. 200620088771.1 disclosed in a kind of legged climbing level robot, Chinese Patent Application No. and describes a kind of structure starting climbing level robot etc.Can see, existing achievement in research is all mainly carry out for the less cylinder of diameter or class cylinder, the subject matter existed is the cylinder that can not adapt to larger bar footpath, can not adapt to square-section cylinder, and at present electrified railway contact system electric pole along the line is square section pyramidal structure.In order to overcome the above-mentioned defect of existing climbing level robot, be necessary to design a kind of can adapt to multiple section shape, bar footpath adjustable, can the robot actuating mechanism of obstacle detouring.
Utility model content
The purpose of this utility model is to provide a kind of climbing level robot actuating unit, and it can solve the problem that climbing robot actuating unit adapts to multiple bar footpath or cross sectional shape effectively.
The purpose of this utility model is achieved through the following technical solutions: a kind of climbing level robot actuating unit, comprise matrix, arm and actuating device, matrix assembly Chengs Swastika structure, the left side of lower substrate is provided with elevating screw, the both sides of elevating screw are provided with guide rod, the right of lower substrate is provided with the flexible chute with rectangular shaft free-running fit, and one end of rectangular shaft is provided with the connection bayonet socket of band horizontal slot, and the horizontal ends of hollow legn is by S. A. and the horizontal slot pin joint being connected bayonet socket; The both sides of middle matrix are equipped with flexible chute, rectangular shaft is provided with in the flexible chute on the left side, by S. A. pin joint between the connection bayonet socket of rectangular shaft end and the horizontal ends of sagging hollow legn, also rectangular shaft is provided with, by S. A. pin joint between the connection bayonet socket of rectangular shaft end and the horizontal ends of the hollow legn that raises up in the flexible chute on the right; The right and the guide rod upper end of upper matrix are fixed, and are provided with rectangular shaft in the flexible chute on the left side, and by S. A. pin joint between the connection bayonet socket of rectangular shaft end and hollow legn horizontal ends, the upper end of S. A. and the axle of steer motor are fixed; Elevating screw and guide rod (middle part cross in the middle part of matrix be right-angled crossing, elevating screw and upper matrix are fixed by bearing, and end is connected with the axle of mair motor, and middle part is threaded with middle matrix, and lower end is connected by bearing with lower substrate; Be equipped with tensioning leading screw in described three kinds of hollow legns, left-handed claw bar and the dextrorotation claw bar of band anti-slip rubber are threaded with tensioning leading screw, and end and the tensioning motor shaft of tensioning leading screw are fixed.
The screw thread at described tensioning leading screw two ends is respectively left-handed and dextrorotation.
Described three kinds of hollow legns all angles at 45 ° with horizontal surface.
One end of described connection bayonet socket is provided with horizontal slot, and two walls of horizontal slot are provided with the through hole coordinated with S. A., and the other end is the rectangular shaft being threaded hole.
Described rectangular shaft is fixed by lock bolt and flexible chute.
The upper end of described three kinds of hollow legns is equipped with the end cap of fixed tensioning motor, and lower end is fixed by bearing.
Principle of work of the present utility model
The motion of this robot actuating mechanism is divided into clamping and loosening up, keeps away barrier action, lifting action, fore and aft motion.
Clamping and loosening up: to tensioning electrical power, tensioning motor is rotated forward, drive tensioning screw turns, left-handed claw bar and dextrorotation claw bar is driven mutually to draw close motion by tensioning leading screw, when clamping by pole for climbing, tensioning motor is stopped power supply, and relies on self-locking and the claw bar of tensioning screw mandrel and claw bar and by the self-locking between pole-climbing, robot is fixed on by pole-climbing, completing pinching action.To tensioning electrical power, make tensioning motor reversal, drive tensioning screw turns, drive left-handed claw bar and dextrorotation pawl mutually away from motion by tensioning leading screw, complete loosening up.Directing mechanism adopts the alternating movement of alternately bottom right, upper left and lower-left upper right to realize climbing action.
Keep away barrier action: to steer motor energising, steer motor is rotated forward, control arm to inner rotary; When after avoiding obstacles, again to steer motor energising, steer motor is reversed, control arm inwardly rotates and returns to control position.
Lifting action: upper end arm action together with the arm of lower end, after being fixed by pole-climbing, to mair motor energising, mair motor is rotated forward, drive elevating screw to rotate forward, during elevating screw drives, matrix rises; When middle two arms and after being fixed by pole-climbing, mair motor reverses, and drives elevating screw reversion, and elevating screw drives above matrix and lower substrate to rise.Down maneuver and vertical motion are just in time contrary.
Fore and aft motion: connect bayonet socket and regulate the length of stretching out before use as required, be fixed on matrix with lock bolt.
The utility model advantage compared with prior art and beneficial effect are that this robot actuating mechanism can adapt to multiple section shape pillar climbing, visual by pole-climbing footpath adjustable claw distance between tie rods, can obstacle detouring, fix by self-locking during work, have good energy-saving effect.
Accompanying drawing explanation
Fig. 1 is integral structure schematic diagram of the present utility model
Fig. 2 is that figure cuts open in hollow legn office of the present utility model
Fig. 3 is that figure cuts open in upper matrix of the present utility model and elevating screw and guide rod office
Fig. 4 is that figure cuts open in lower substrate of the present utility model and elevating screw and guide rod office
Fig. 5 is front view of the present utility model
Fig. 6 is left view of the present utility model
Fig. 7 is birds-eye view of the present utility model
Detailed description of the invention
Below in conjunction with drawings and Examples, the utility model is further illustrated.
A kind of climbing level robot actuating unit, comprise matrix, arm and actuating device, matrix assembly Chengs Swastika structure, the left side of lower substrate 17 is provided with elevating screw 19, the both sides of elevating screw 19 are provided with guide rod 18, the right of lower substrate 17 is provided with the flexible chute 15 with rectangular shaft 16 free-running fit, and one end of rectangular shaft 16 is provided with the connection bayonet socket 2 of band horizontal slot 21, and the horizontal ends of hollow legn 5 is by S. A. 22 and horizontal slot 21 pin joint being connected bayonet socket 2; The both sides of middle matrix 20 are equipped with flexible chute 15, rectangular shaft 16 is provided with in the flexible chute 15 on the left side, by S. A. 22 pin joint between the connection bayonet socket 2 of rectangular shaft 16 end and the horizontal ends of sagging hollow legn 1, also rectangular shaft 16 is provided with, by S. A. 22 pin joint between the connection bayonet socket 2 of rectangular shaft 16 end and the horizontal ends of the hollow legn 10 that raises up in the flexible chute 15 on the right; The right and guide rod 18 upper end of upper matrix 12 are fixed, and are provided with rectangular shaft 16 in the flexible chute 15 on the left side, and by S. A. 22 pin joint between the connection bayonet socket 2 of rectangular shaft 16 end and hollow legn 5 horizontal ends, the upper end of S. A. 16 and the axle of steer motor 14 are fixed; The middle part of elevating screw 19 and guide rod 18 cross in the middle part of matrix 20 be right-angled crossing, elevating screw 19 and upper matrix 12 are fixed by bearing, and end is connected with the axle of mair motor 11, and middle part is threaded with middle matrix 20, and lower end is connected by bearing with lower substrate 17; Be equipped with tensioning leading screw 9 in described three kinds of hollow legns, left-handed claw bar 6 and the dextrorotation claw bar 7 of band anti-slip rubber 8 are threaded with tensioning leading screw 9, and end and tensioning motor 4 axle of tensioning leading screw 9 are fixed.
The screw thread at described tensioning leading screw 9 two ends is respectively left-handed and dextrorotation.
Described three kinds of hollow legns all angles at 45 ° with horizontal surface.
One end of described connection bayonet socket 2 is provided with horizontal slot 21, and two walls of horizontal slot 21 are provided with the through hole coordinated with S. A. 22, and the other end is the rectangular shaft 16 being threaded hole.
Described rectangular shaft 16 is fixed by lock bolt 13 and flexible chute 15.
The upper end of described three kinds of hollow legns is equipped with the end cap 3 of fixed tensioning motor 4, and lower end is fixed by bearing.
The motion of this robot actuating mechanism is divided into clamping and loosening up, keeps away barrier action, lifting action, fore and aft motion.
Clamping and loosening up: be energized to tensioning motor 4, tensioning motor is rotated forward, tensioning leading screw 9 is driven to rotate, left-handed claw bar 6 and dextrorotation claw bar 7 is driven mutually to draw close motion by tensioning leading screw 9, when clamping by pole for climbing, tensioning motor 4 is stopped power supply, and relies on the self-locking of tensioning screw mandrel 9 and left-handed claw bar 6 and dextrorotation claw bar 7 and by the self-locking between pole-climbing, robot actuating mechanism is fixed on by pole-climbing, completing pinching action.Be energized to tensioning motor 4, tensioning motor 4 is reversed, drive tensioning leading screw 9 to rotate, drive left-handed claw bar 6 and dextrorotation claw bar 7 mutually away from motion by tensioning leading screw 9, complete loosening up.Actuating unit adopts the alternating movement of alternately bottom right, upper left and lower-left upper right to realize climbing action.
Keep away barrier action: be energized to steer motor 14, steer motor 14 is rotated forward, control hollow legn to inner rotary; When after avoiding obstacles, be energized again, steer motor 14 is reversed to steer motor 14, control hollow legn inwardly rotates and returns to control position.
Lifting action: upper end hollow legn action together with the hollow legn of lower end, after being fixed by pole-climbing, is energized to mair motor 11, and mair motor 11 is rotated forward, and drives elevating screw 19 to rotate forward, and during elevating screw 19 drives, matrix 20 rises; When middle two hollow legns with fixed by pole-climbing after, mair motor 11 reverses, and drives elevating screw 19 to reverse, and elevating screw 19 drives upper matrix 12 and lower substrate 17 to rise.Down maneuver and vertical motion are just in time contrary.
Fore and aft motion: connect bayonet socket 2 and regulate the length of stretching out before use as required, be fixed on the matrix of upper, middle and lower with lock bolt 13.
Claims (6)
1. a climbing level robot actuating unit, comprise matrix, arm and actuating device, it is characterized in that: matrix assembly Chengs Swastika structure, the left side of lower substrate (17) is provided with elevating screw (19), the both sides of elevating screw (19) are provided with guide rod (18), the right of lower substrate (17) is provided with the flexible chute (15) with rectangular shaft (16) free-running fit, one end of rectangular shaft (16) is provided with the connection bayonet socket (2) of band horizontal slot (21), the horizontal ends of hollow legn (5) is by S. A. (22) and horizontal slot (21) pin joint being connected bayonet socket (2), the both sides of middle matrix (20) are equipped with flexible chute (15), rectangular shaft (16) is provided with in the flexible chute (15) on the left side, by S. A. (22) pin joint between the connection bayonet socket (2) of rectangular shaft (16) end and the horizontal ends of sagging hollow legn (1), also rectangular shaft (16) is provided with, by S. A. (22) pin joint between the connection bayonet socket (2) of rectangular shaft (16) end and the horizontal ends of the hollow legn that raises up (10) in the flexible chute (15) on the right, the right and guide rod (18) upper end of upper matrix (12) are fixed, rectangular shaft (16) is provided with in the flexible chute (15) on the left side, by S. A. (22) pin joint between the connection bayonet socket (2) of rectangular shaft (16) end and hollow legn (5) horizontal ends, the upper end of S. A. (22) and the axle of steer motor (14) are fixed, the middle part of elevating screw (19) and guide rod (18) cross in the middle part of matrix (20) be right-angled crossing, elevating screw (19) and upper matrix (12) are fixed by bearing, end is connected with the axle of mair motor (11), middle part is threaded with middle matrix (20), and lower end is connected by bearing with lower substrate (17), tensioning leading screw (9) is equipped with in described three kinds of hollow legns, left-handed claw bar (6) and the dextrorotation claw bar (7) of band anti-slip rubber (8) are threaded with tensioning leading screw (9), and end and tensioning motor (4) axle of tensioning leading screw (9) are fixed.
2. a kind of climbing level robot actuating unit according to claim 1, is characterized in that: the screw thread at described tensioning leading screw (9) two ends is respectively left-handed and dextrorotation.
3. a kind of climbing level robot actuating unit according to claim 1, is characterized in that: described three kinds of hollow legns all angles at 45 ° with horizontal surface.
4. a kind of climbing level robot actuating unit according to claim 1, it is characterized in that: one end of described connection bayonet socket (2) is provided with horizontal slot (21), two walls of horizontal slot (21) are provided with the through hole with S. A. (22), and the other end is the rectangular shaft (16) being threaded hole.
5. a kind of climbing level robot actuating unit according to claim 1, is characterized in that: described rectangular shaft (16) is fixed by lock bolt (13) and flexible chute (15).
6. a kind of climbing level robot actuating unit according to claim 1, is characterized in that: the upper end of described three kinds of hollow legns is equipped with the end cap (3) of fixed tensioning motor (4), and lower end is fixed by bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420710917.6U CN204264311U (en) | 2014-11-24 | 2014-11-24 | Climbing level robot actuating unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420710917.6U CN204264311U (en) | 2014-11-24 | 2014-11-24 | Climbing level robot actuating unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204264311U true CN204264311U (en) | 2015-04-15 |
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ID=52799194
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420710917.6U Withdrawn - After Issue CN204264311U (en) | 2014-11-24 | 2014-11-24 | Climbing level robot actuating unit |
Country Status (1)
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| CN (1) | CN204264311U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104386156A (en) * | 2014-11-24 | 2015-03-04 | 西南交通大学 | Actuator of pole-climbing robot |
| CN105128969A (en) * | 2015-07-30 | 2015-12-09 | 华中农业大学 | Pole-climbing robot |
| CN106184450A (en) * | 2016-07-20 | 2016-12-07 | 东南大学 | A kind of climbing level robot |
| CN108454723A (en) * | 2018-05-17 | 2018-08-28 | 香港中文大学（深圳） | A kind of cable climbing robot |
| CN110539316A (en) * | 2019-08-02 | 2019-12-06 | 国网安徽省电力有限公司电力科学研究院 | Ground potential operation method, live working robot for distribution network overhead line and manipulator |
| CN110877646A (en) * | 2019-08-02 | 2020-03-13 | 国网安徽省电力有限公司淮南供电公司 | Holding rod mechanism for manned pole-climbing operation platform |
| CN111688837A (en) * | 2020-06-19 | 2020-09-22 | 重庆大学 | High-speed climbing robot based on active clamping device |
| US20230001269A1 (en) * | 2019-08-02 | 2023-01-05 | State Grid Anhui Electric Power Co., Ltd. Huainan Power Supply Company | Pole-gripping mechanism and manned pole-climbing work platform |
-
2014
- 2014-11-24 CN CN201420710917.6U patent/CN204264311U/en not_active Withdrawn - After Issue
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104386156B (en) * | 2014-11-24 | 2016-08-24 | 西南交通大学 | A kind of climbing level robot actuator |
| CN104386156A (en) * | 2014-11-24 | 2015-03-04 | 西南交通大学 | Actuator of pole-climbing robot |
| CN105128969A (en) * | 2015-07-30 | 2015-12-09 | 华中农业大学 | Pole-climbing robot |
| CN106184450A (en) * | 2016-07-20 | 2016-12-07 | 东南大学 | A kind of climbing level robot |
| CN106184450B (en) * | 2016-07-20 | 2018-05-08 | 东南大学 | A kind of climbing level robot |
| CN108454723B (en) * | 2018-05-17 | 2024-01-05 | 香港中文大学（深圳） | Cable climbing robot |
| CN108454723A (en) * | 2018-05-17 | 2018-08-28 | 香港中文大学（深圳） | A kind of cable climbing robot |
| CN110539316A (en) * | 2019-08-02 | 2019-12-06 | 国网安徽省电力有限公司电力科学研究院 | Ground potential operation method, live working robot for distribution network overhead line and manipulator |
| US20230001269A1 (en) * | 2019-08-02 | 2023-01-05 | State Grid Anhui Electric Power Co., Ltd. Huainan Power Supply Company | Pole-gripping mechanism and manned pole-climbing work platform |
| CN110877646B (en) * | 2019-08-02 | 2023-09-22 | 国网安徽省电力有限公司淮南供电公司 | Holding rod mechanism for manned climbing rod operation platform |
| CN110877646A (en) * | 2019-08-02 | 2020-03-13 | 国网安徽省电力有限公司淮南供电公司 | Holding rod mechanism for manned pole-climbing operation platform |
| CN111688837A (en) * | 2020-06-19 | 2020-09-22 | 重庆大学 | High-speed climbing robot based on active clamping device |
| CN111688837B (en) * | 2020-06-19 | 2021-11-23 | 重庆大学 | High-speed climbing robot based on active clamping device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20150415 Effective date of abandoning: 20160824 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |