CN204487548U - The bionical adjustable mass center inspection robot mechanism of both arms - Google Patents

The bionical adjustable mass center inspection robot mechanism of both arms Download PDF

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Publication number
CN204487548U
CN204487548U CN201520058618.3U CN201520058618U CN204487548U CN 204487548 U CN204487548 U CN 204487548U CN 201520058618 U CN201520058618 U CN 201520058618U CN 204487548 U CN204487548 U CN 204487548U
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China
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lifting
elbow
luffing
tire
wheel
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CN201520058618.3U
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许继葵
姜勇
王洪光
李瀚儒
岳湘
张钰
凌烈
张成巍
罗红
伍衡
宁宇
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Shenyang Institute of Automation of CAS
Guangzhou Power Supply Bureau Co Ltd
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Shenyang Institute of Automation of CAS
Guangzhou Power Supply Bureau Co Ltd
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Abstract

The utility model relates to mobile robot, specifically the bionical adjustable mass center inspection robot mechanism of a kind of both arms.Comprise front tire mechanism, front luffing mechanism, front elevating mechanism, front slew gear, front elbow mechanism, centroid adjustment mechanism, electric appliance box, rear tire mechanism, rear luffing mechanism, rear lifting mechanism, rear slew gear, rear elbow mechanism and rail brackets, wherein front elbow mechanism and rear elbow mechanism are arranged at the top of rail brackets respectively from front to back, described front elbow mechanism from bottom to up successively with front slew gear, front elevating mechanism, front luffing mechanism and front tire mechanism connect, described rear elbow mechanism from top to bottom successively with rear slew gear, rear lifting mechanism, rear luffing mechanism and rear tire mechanism connect, described electric appliance box is positioned at the below of rail brackets, and be connected with rail brackets by centroid adjustment mechanism.The utility model adopts bio-mechanism, the mechanism of imitative ape and monkey arm, and mechanism is simple, compact, and mechanism is reasonable, and quality is light.

Description

The bionical adjustable mass center inspection robot mechanism of both arms
Technical field
The utility model relates to mobile robot, specifically the bionical adjustable mass center inspection robot mechanism of a kind of both arms.
Background technology
Transmission line of electricity is the critical facility of power system, in order to ensure safely and steadily running of transmission line of electricity, needs regularly to carry out walkaround inspection.The method of current employing mainly contains manual inspection and helicopter routing inspection.The efficiency of manual inspection is low, and labour intensity is large, dangerous high; The cost of helicopter routing inspection is high, patrols and examines quality and is subject to climatic effect.Therefore, the robot needing development can carry inspection device and power tool replaces manually carrying out automatic detecting to transmission line of electricity, to raise the efficiency, guarantees the safe operation of transmission line of electricity.In existing EHV transmission line patrol robot mechanism, major part adopts the composite moving mechanism combined by wheel type mobile and compound linkages (see document 1:Jun Sawada, KazuyukiKusumoto, Tadashi Munakata, Yasuhisa Maikawa, Yoshinobu Ishikawa, " AMobile Robot For Inspection of Power Transmission Lines ", IEEE Trans.Power Delivery, 1991, Vol.6, No.1:pp..309-315, document 2:Mineo Higuchi, Yoichiro Maeda, Sadahiro Tsutani, Shiro Hagihara, " Development of aMobile Inspection Robot for Power Transmission Lines ", J.of theRobotics Society of Japan, Japan, Vol.9, No.4, pp.457-463, 1991), or adopt Multi-degree-of-freedom moving mechanism (the document 3:Shin-ichiAoshima that many group mobile units are composed in series, Takeshi Tsujimura, Tetsuro Yabut a, " A Wire Mobi le Robot withMulti-unit Structure ", IEEE/RSJ Intermational Workshop on IntelligentRobots and Systems, Sep.4-6, 1989, Tsukuba, Japan, pp.414-421).Complex structure, the weight of these mechanisms are large, and across obstacle process is complicated, should not control, cannot cross over for barrier more complicated in line environment, overwhelming majority crusing robot can only be used for ground wire patrol checking, therefore, is difficult to be applied to actual extra high voltage network and patrols and examines in operation.
Utility model content
For the problems referred to above, the purpose of this utility model is to provide a kind of both arms bionical adjustable mass center inspection robot mechanism.This robot mechanism structure is simple, be easy to control, and during strong, the operation of obstacle climbing ability simultaneously, security and stability is high.
To achieve these goals, the utility model is by the following technical solutions:
The bionical adjustable mass center inspection robot mechanism of a kind of both arms, comprise front tire mechanism, front luffing mechanism, front elevating mechanism, front slew gear, front elbow mechanism, centroid adjustment mechanism, electric appliance box, rear tire mechanism, rear luffing mechanism, rear lifting mechanism, rear slew gear, rear elbow mechanism and rail brackets, wherein front elbow mechanism and rear elbow mechanism are arranged at the top of rail brackets respectively from front to back, described front elbow mechanism from bottom to up successively with front slew gear, front elevating mechanism, front luffing mechanism and front tire mechanism connect, described rear elbow mechanism from top to bottom successively with rear slew gear, rear lifting mechanism, rear luffing mechanism and rear tire mechanism connect, described electric appliance box is positioned at the below of rail brackets, and be connected with rail brackets by centroid adjustment mechanism.
Described front tire mechanism is identical with rear tire mechanism structure, include wheel carrier, movable motor, road wheel, live axle, clamping motor, clamping leading screw, guide wheel, guide wheel shaft and clip claw mechanism, wherein live axle, clamping leading screw and guide wheel shaft are arranged on wheel carrier successively in parallel to each other, one end of described live axle is connected with the output shaft of movable motor, described one end of clamping leading screw is connected with the output shaft of clamping motor, described road wheel and guide wheel are sheathed on live axle and guide wheel shaft respectively, described clip claw mechanism and wheel carrier are slidably connected, and be connected with clamping threads of lead screw.
Described clip claw mechanism comprises left jaw and right jaw, described clamping leading screw is provided with two sections of contrary screw threads of rotation direction, two sections that one end of described left jaw and right jaw is contrary with rotation direction on clamping leading screw are respectively threaded, and the guide rod that the other end is all provided with wheel carrier is slidably connected.
Described front elevating mechanism is identical with rear lifting mechanism structure, include crane, lifting motor, first driving gear, first driven gear, lifting nut, elevating screw, riser guide and lifting slider, wherein lifting nut is installed in rotation on crane, described elevating screw and lifting nut threaded engagement, described lifting slider is fixedly mounted on crane, described riser guide and lifting slider are slidably connected, described elevating screw and riser guide are parallel to each other, and lower end is connected, described lifting motor is arranged on crane, and output is provided with the first driving gear, described first driven gear is set in the outside of lifting nut, and engage with the first driving gear, the upper end of described elevating screw is connected with front luffing mechanism or rear luffing mechanism.
Described front slew gear is identical with rear slew gear structure, include bracing frame, turning motor, worm shaft, worm screw and worm gear, wherein bracing frame is connected with front elevating mechanism or rear lifting mechanism, described worm shaft is arranged on bracing frame and one end and is connected with the output shaft of the turning motor be arranged on bracing frame, described worm gear set to be located on worm shaft and with the worm engaging be arranged on front elevating mechanism or rear lifting mechanism.
Described front luffing mechanism, rear luffing mechanism, front elbow mechanism and rear elbow mechanism are all identical with rear slew gear structure with front slew gear, are Worm and worm-wheel gearing.
Described centroid adjustment mechanism comprises mobile motor, the first guide wheel, the second guide wheel, moving slider and mobile leading screw, the two ends of wherein moving leading screw are rotatably installed on rail brackets and one end and are connected with the output of the mobile motor be arranged on rail brackets, to roll with rail brackets respectively by the first guide wheel and the second guide wheel and be connected in the two ends of described electric appliance box, described moving slider is threaded with mobile leading screw and is connected with electric appliance box.
Described centroid adjustment mechanism comprises Timing Belt driving wheel, Timing Belt, Timing Belt follower and Timing Belt slide block, wherein Timing Belt driving wheel and Timing Belt follower to be rotatably installed on rail brackets and to be connected by Timing Belt, and described electric appliance box is connected by Timing Belt slide block and Timing Belt.
Advantage of the present utility model and beneficial effect are:
1. the utility model adopts bio-mechanism design, and compact conformation, quality are light.The utility model adopts bio-mechanism, the mechanism of imitative ape and monkey arm, and mechanism is simple, compact, and mechanism is reasonable, and quality is light.
2. the utility model is easy to operate, controls simple.The utility model adopts bio-mechanism, and amount of articulation is few, both arms balanced configuration, and control simple, motion sequence is convenient to planning.
3. the utility model motion stabilization, it is high to patrol and examine operational reliability.The utility model robot mechanism has centroid adjustment mechanism, and by regulating robot center of gravity to enable robot keep better holding position, the wire simultaneously reduced due to gravity effect is out of shape.
4. the utility model obstacle climbing ability is strong.The tire mechanism of the utility model robot mechanism adopts the Double-wheel structure of road wheel and guide wheel, middle placement jaw, by jaw, road wheel, guide wheel three clamping wires, thus make robot have the ability that can clamp different conductor cross section, when complex barrier thing is crossed over by robot, robot can single armed hanging wire, and the arm designed by bio-mechanism interlock makes robot across obstacle.
5. the utility model applied range.The utility model can be widely used in the crusing robot travel mechanism of ultra-high-tension power transmission line and telephone line, can cross over the complex barrier such as drainage thread, suspension clamp thing etc.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present utility model;
Fig. 2 is the structural representation (eliminating guide rail and the slide block of upside) of forward and backward tire mechanism in the utility model;
Fig. 3 is the structural representation of the clip claw mechanism of forward and backward tire mechanism in the utility model;
Fig. 4 is the structure intention of elevating mechanism in the utility model;
Fig. 5 is the structural representation of slew gear in the utility model;
Fig. 6 is the structural representation of centroid adjustment mechanism in the utility model;
Fig. 7 is the another kind of structural representation of centroid adjustment mechanism in the utility model;
Fig. 8 is obstacle environment (strain clamp, the drainage thread) schematic diagram of extra high voltage network;
Fig. 9 a is the schematic diagram of the utility model obstacle detouring process first element;
Fig. 9 b is the schematic diagram of the utility model obstacle detouring process second action;
Fig. 9 c is the schematic diagram of the utility model obstacle detouring process the 3rd action;
Fig. 9 d is the schematic diagram of the utility model obstacle detouring process the 4th action.
Wherein: 1 is front tire mechanism, 2 is front luffing mechanism, 3 is front elevating mechanism, 4 is front slew gear, 5 is front elbow mechanism, 6 is centroid adjustment mechanism, 7 is electric appliance box, 8 is rear tire mechanism, 9 is rear luffing mechanism, 10 is rear lifting mechanism, 11 is rear slew gear, 12 is rear elbow mechanism, 13 is rail brackets, 14 is wheel carrier, 15 is movable motor, 16 is road wheel, 17 is live axle, 18 is clamping motor, 19 is clamping leading screw, 20 for stepping up leading screw left-hand thread, 21 is the left-hand thread of left jaw, 22 for stepping up leading screw right-hand thread, 23 is the right-hand thread of right jaw, 24 is guide wheel, 25 is guide wheel shaft, 26 is left jaw, 27 is right jaw, 28 is guide rod, 29 is crane, 30 lifting motors, 31 first driving gears, 32 is the first driven gear, 33 is lifting nut, 34 is elevating screw, 35 is riser guide, 36 is lifting slider, 37 is bracing frame, 38 is turning motor, 39 is worm shaft, 40 is worm screw, 41 is worm gear, 42 is mobile motor, 43 is the first guide wheel, 44 second guide wheels, 45 is moving slider, 46 is mobile leading screw, 47 is Timing Belt driving wheel, 48 is Timing Belt, 49 is Timing Belt follower, 50 is Timing Belt slide block, 51 is wire, 52 is strain clamp, 53 is insulator chain, 54 is drainage thread, 55 is shaft tower.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in further detail.
As shown in Figure 1, the utility model comprises front tire mechanism 1, front luffing mechanism 2, front elevating mechanism 3, front slew gear 4, front elbow mechanism 5, centroid adjustment mechanism 6, electric appliance box 7, rear tire mechanism 8, rear luffing mechanism 9, rear lifting mechanism 10, rear slew gear 11, rear elbow mechanism 12 and rail brackets 13, wherein front elbow mechanism 5 and rear elbow mechanism 12 are arranged at the top of rail brackets 13 respectively from front to back, described front elbow mechanism 5 from bottom to up successively with front slew gear 4, front elevating mechanism 3, front luffing mechanism 2 and front tire mechanism 1 connect, described rear elbow mechanism 12 from top to bottom successively with rear slew gear 11, rear lifting mechanism 10, rear luffing mechanism 9 and rear tire mechanism 8 connect, described electric appliance box 7 is positioned at the below of rail brackets 13, and be connected with rail brackets 13 by centroid adjustment mechanism 6.Centroid adjustment mechanism 6 is installed on rail brackets 13, is realized the adjustment of robot barycenter by centroid adjustment mechanism 6.
As shown in Figure 2, described front tire mechanism 1 is identical with rear tire mechanism 8 structure, include wheel carrier 14, movable motor 15, road wheel 16, live axle 17, clamping motor 18, clamping leading screw 19, guide wheel 24, guide wheel shaft 25 and clip claw mechanism, wherein live axle 17, clamping leading screw 19 and guide wheel shaft 25 are arranged on wheel carrier 14 successively in parallel to each other, one end of described live axle 17 is connected with the output shaft of movable motor 15, one end of described clamping leading screw 19 is connected with the output shaft of clamping motor 18, described road wheel 16 and guide wheel 24 are sheathed on live axle 17 and guide wheel shaft 25 respectively, described clip claw mechanism and wheel carrier 14 are slidably connected, and be threaded with clamping leading screw 19.
As shown in Figure 3, described clip claw mechanism comprises left jaw 26 and right jaw 27, described clamping leading screw 19 is provided with two sections of contrary screw threads of rotation direction (clamping leading screw left-hand thread 20 and clamping leading screw right-hand thread 22), contrary with rotation direction on clamping leading screw 19 respectively two sections in one end of described left jaw 26 and right jaw 27 are threaded (left-hand thread that left jaw 26 and right jaw 27 are provided with by end and right-hand thread respectively with the left side on clamping leading screw 19, right-hand thread forms spiral mobile link), the guide rod 28 that the other end is all provided with wheel carrier 14 is slidably connected, the two ends of guide rod 28 are arranged on wheel carrier 14.
The specific works process of described front tire mechanism 1 and rear tire mechanism 8 is:
Described movable motor 15 works, and ground-engaging wheel axle 17 rotates, and then drives road wheel 16 to rotate, and road wheel 16 is moved back and forth on wire 51; Clamping motor 15 rotates, and drives clamping leading screw 19 to rotate, and under the effect of guide rod 28, makes left jaw 26 and right jaw 27 is close to each other and separately, thus realizes clamping and the release function of left jaw 26 and right jaw 27 pairs of wires 51.
One end of described front tire mechanism 1 and rear tire mechanism 8 is clamped by left jaw 26 and right jaw 27 with wire 51 and is walked on wire 51 by road wheel 16 and guide wheel 24.Described front tire mechanism 1 is connected with rear luffing mechanism 9 with front luffing mechanism 2 respectively with the other end of rear tire mechanism 8, is realized the pitch rotation of front tire mechanism 1 and rear tire mechanism 8 by the driving of front luffing mechanism 2 and rear luffing mechanism 9.
As shown in Figure 4, described front elevating mechanism 3 is identical with rear lifting mechanism 10 structure, include crane 29, lifting motor 30, first driving gear 31, first driven gear 32, lifting nut 33, elevating screw 34, riser guide 35 and lifting slider 36, wherein lifting nut 33 is installed in rotation on crane 29, described elevating screw 34 and lifting nut 33 threaded engagement.Described lifting slider 36 is fixedly mounted on crane 29, and described riser guide 35 is slidably connected with lifting slider 36, and described elevating screw 34 is parallel to each other with riser guide 35 and lower end is connected.Described lifting motor 30 is arranged on crane 29 and output is provided with the first driving gear 31, described first driven gear 32 is set in the outside of lifting nut 33 and engages with the first driving gear 31, and the upper end of described elevating screw 34 is connected with front luffing mechanism 2 or rear luffing mechanism 9.
Described lifting motor 30 works, the first driving gear 31 is driven to rotate, the first driven gear 32 engaged with the first driving gear 31 is driven to rotate, and then the lifting nut 33 affixed with the first driven gear 32 is rotated, utilize being threaded of lifting nut 33 and elevating screw 34, drive elevating screw 34 to rise by riser guide 35 along lifting slider 36 or decline.
Described front elevating mechanism 3 is connected with rear luffing mechanism 9 with front luffing mechanism 2 respectively with one end of rear lifting mechanism 10, the other end is connected with rear slew gear 11 with front slew gear 4 respectively, realized the lifting of front luffing mechanism 2 and front tire mechanism 1 by front elevating mechanism 3, realized the lifting of rear luffing mechanism 9 and rear tire mechanism 8 by rear lifting mechanism 10.
As shown in Figure 5, described front slew gear 4 is identical with rear slew gear 11 structure, include bracing frame 37, turning motor 38, worm shaft 39, worm screw 40 and worm gear 41, wherein bracing frame 37 is connected with front elevating mechanism 3 or rear lifting mechanism 10, described worm shaft 39 is rotatably installed on bracing frame 37 and one end and is connected with the output shaft of the turning motor 38 be arranged on bracing frame 37, and described worm gear 41 to be sheathed on worm shaft 39 and to engage with the worm screw 40 be arranged on front elevating mechanism 3 or rear lifting mechanism 10.
Described turning motor 38 works, and drives worm screw 40 to rotate, and by engaging of worm screw 40 and worm gear 41, drive worm gear 41 rotates, and then crane 29 is rotated, and drives the rotations such as front tire mechanism 1 and rear tire mechanism 8.
Described front luffing mechanism 2, rear luffing mechanism 9, front elbow mechanism 5 and rear elbow mechanism 12 are all identical with rear slew gear 11 structure with front slew gear 4, are Worm and worm-wheel gearing.
Described front elbow mechanism 5 is connected with rear slew gear 11 with front slew gear 4 respectively with one end of rear elbow mechanism 12, the other end is connected with the both sides of rail brackets 13 respectively, the pitching of slew gear 4 before being realized by the driving of front elbow mechanism 5, front luffing mechanism 2 and front tire mechanism 1; The pitching of slew gear 11 after being realized by the driving of rear elbow mechanism 12, rear luffing mechanism 9 and rear tire mechanism 8.
As shown in Figure 6, described centroid adjustment mechanism 6 comprises mobile motor 42, first guide wheel 43, second guide wheel 44, moving slider 45 and mobile leading screw 46, and the two ends of wherein moving leading screw 46 are rotatably installed on rail brackets 13 and one end and are connected with the output of the mobile motor 42 be arranged on rail brackets 13.To roll with rail brackets 13 respectively by the first guide wheel 43 and the second guide wheel 44 and be connected in the two ends of described electric appliance box 7, described first guide wheel 43 and the second guide wheel 44 are placed in the groove of rail brackets 13 respectively.Described moving slider 45 is threaded with mobile leading screw 46 and is connected with electric appliance box 7, realizes the spiral of moving slider 45 on mobile leading screw 46 and moves, electric appliance box 7 and moving slider 45 interlock; Mobile motor 42 works, mobile leading screw 46 is driven to rotate, utilize being threaded of moving slider 45 and mobile leading screw 46, moving slider 45 and electric appliance box 7 are moved back and forth by the first guide wheel 43 and the second guide wheel 44 groove along rail brackets 13, realize the adjustment of center of gravity, improve the stress of the walking clipping mechanism of hanging wire, be conducive to lifting and the obstacle detouring of robot mechanism arm.
As shown in Figure 7, the pattern that described centroid adjustment mechanism 6 also can adopt Timing Belt to drive, comprise Timing Belt driving wheel 47, Timing Belt 48, Timing Belt follower 49, Timing Belt slide block 50 and synchronous pulley drive motors, wherein Timing Belt driving wheel 47 and Timing Belt follower 49 to be rotatably installed on rail brackets 13 and to be connected by Timing Belt 48, and described electric appliance box 7 is connected by Timing Belt slide block 50 and Timing Belt 48.Described synchronous pulley drive motors is arranged on rail brackets 13 and output is connected with Timing Belt driving wheel 47, described synchronous pulley drive motors drives Timing Belt driving wheel 47 to rotate, Timing Belt driving wheel 47 drives Timing Belt 48 to move, Timing Belt 48 drives Timing Belt slide block 50 to move, electric appliance box 7 and Timing Belt slide block 50 interlock, realize the adjustment of center of gravity.
As shown in Figure 8, main on wire 51 barrier is strain clamp 52, insulator chain 53, drainage thread 54.Driven by movable motor during the work of the utility model robot mechanism, robot mechanism is driven to walk on wire 51, by the routing motion of tire mechanism of the present utility model, luffing mechanism, elevating mechanism, slew gear, elbow mechanism and centroid adjustment mechanism, can advance along the line and cross over the barrier on wire 51, as shown in Fig. 9 a, 9b, 9c, 9d.
Current tire mechanism 1 stops at strain clamp 52 place, at this moment centroid adjustment mechanism 6 drives electric appliance box 7 to move forward, drive motors motion in front elbow mechanism 5, Shi Qian tire mechanism 1 rises, front slew gear 3 Shi Qian tire mechanism 1 turns round 180 °, rear elbow mechanism 12, drive motors in front elbow mechanism 5 drives arm motion, Shi Qian tire mechanism 1 forward downward moves, rear lifting mechanism 10 extends Shi Qian tire mechanism 1 and declines, after strain clamp 52 is crossed over by current tire mechanism 1, front slew gear 4 reversed turning, rear slew gear 11 turns round, Shi Qian tire mechanism 1 is positioned at directly over drainage thread 54, front elevating mechanism 3 shrinks, front luffing mechanism 2 pitching Shi Qian tire mechanism 1 line of fall (as Fig. 9 b).Repeat above-mentioned action sequence, after making robot, strain clamp 49 (as Fig. 9 d) is crossed over by tire mechanism 8.The motion of robot on drainage thread, repeats rear tire mechanism 1 exactly, the intersection of front tire mechanism 8 moves ahead.

Claims (8)

1. the bionical adjustable mass center inspection robot mechanism of both arms, is characterized in that: comprise front tire mechanism (1), front luffing mechanism (2), front elevating mechanism (3), front slew gear (4), front elbow mechanism (5), centroid adjustment mechanism (6), electric appliance box (7), rear tire mechanism (8), rear luffing mechanism (9), rear lifting mechanism (10), rear slew gear (11), rear elbow mechanism (12) and rail brackets (13), wherein front elbow mechanism (5) and rear elbow mechanism (12) are arranged at the top of rail brackets (13) respectively from front to back, described front elbow mechanism (5) from bottom to up successively with front slew gear (4), front elevating mechanism (3), front luffing mechanism (2) and front tire mechanism (1) connect, described rear elbow mechanism (12) from top to bottom successively with rear slew gear (11), rear lifting mechanism (10), rear luffing mechanism (9) and rear tire mechanism (8) connect, and described electric appliance box (7) is positioned at the below of rail brackets (13), and be connected with rail brackets (13) by centroid adjustment mechanism (6), described front elbow mechanism (5) and rear elbow mechanism (12) are Worm and worm-wheel gearing.
2. by the bionical adjustable mass center inspection robot mechanism of both arms according to claim 1, it is characterized in that: described front tire mechanism (1) is identical with rear tire mechanism (8) structure, include wheel carrier (14), movable motor (15), road wheel (16), live axle (17), clamping motor (18), clamping leading screw (19), guide wheel (24), guide wheel shaft (25) and clip claw mechanism, wherein live axle (17), clamping leading screw (19) and guide wheel shaft (25) are arranged on wheel carrier (14) successively in parallel to each other, one end of described live axle (17) is connected with the output shaft of movable motor (15), one end of described clamping leading screw (19) is connected with the output shaft of clamping motor (18), described road wheel (16) and guide wheel (24) are sheathed on live axle (17) and guide wheel shaft (25) respectively, described clip claw mechanism and wheel carrier (14) are slidably connected, and be threaded with clamping leading screw (19).
3. by the bionical adjustable mass center inspection robot mechanism of both arms according to claim 2, it is characterized in that: described clip claw mechanism comprises left jaw (26) and right jaw (27), described clamping leading screw (19) is provided with two sections of contrary screw threads of rotation direction, two sections that one end of described left jaw (26) and right jaw (27) is contrary with clamping the upper rotation direction of leading screw (19) are respectively threaded, and the guide rod (28) that the other end is all provided with wheel carrier (14) is slidably connected.
4. by the bionical adjustable mass center inspection robot mechanism of both arms according to claim 1, it is characterized in that: described front elevating mechanism (3) is identical with rear lifting mechanism (10) structure, include crane (29), lifting motor (30), first driving gear (31), first driven gear (32), lifting nut (33), elevating screw (34), riser guide (35) and lifting slider (36), wherein lifting nut (33) is installed in rotation on crane (29), described elevating screw (34) and lifting nut (33) threaded engagement, described lifting slider (36) is fixedly mounted on crane (29), described riser guide (35) and lifting slider (36) are slidably connected, described elevating screw (34) and riser guide (35) are parallel to each other, and lower end is connected, described lifting motor (30) is arranged on crane (29), and output is provided with the first driving gear (31), described first driven gear (32) is set in the outside of lifting nut (33), and engage with the first driving gear (31), the upper end of described elevating screw (34) is connected with front luffing mechanism (2) or rear luffing mechanism (9).
5. by the bionical adjustable mass center inspection robot mechanism of both arms described in any one of claim 1-4, it is characterized in that: described front slew gear (4) is identical with rear slew gear (11) structure, include bracing frame (37), turning motor (38), worm shaft (39), worm screw (40) and worm gear (41), wherein bracing frame (37) is connected with front elevating mechanism (3) or rear lifting mechanism (10), described worm shaft (39) is rotatably installed on bracing frame (37), and one end is connected with the output shaft of the turning motor (38) be arranged on bracing frame (37), described worm gear (41) is sheathed on worm shaft (39), and engage with the worm screw (40) be arranged on front elevating mechanism (3) or rear lifting mechanism (10).
6. by the bionical adjustable mass center inspection robot mechanism of both arms according to claim 5, it is characterized in that: described front luffing mechanism (2), rear luffing mechanism (9), front elbow mechanism (5) and rear elbow mechanism (12) are all identical with rear slew gear (11) structure with front slew gear (4), are Worm and worm-wheel gearing.
7. by the bionical adjustable mass center inspection robot mechanism of both arms according to claim 1, it is characterized in that: described centroid adjustment mechanism (6) comprises mobile motor (42), first guide wheel (43), second guide wheel (44), moving slider (45) and mobile leading screw (46), the two ends of wherein moving leading screw (46) are rotatably installed on rail brackets (13), and one end is connected with the output of the mobile motor (42) be arranged on rail brackets (13), to roll with rail brackets (13) respectively by the first guide wheel (43) and the second guide wheel (44) and be connected in the two ends of described electric appliance box (7), described moving slider (45) is threaded with mobile leading screw (46), and be connected with electric appliance box (7).
8. by the bionical adjustable mass center inspection robot mechanism of both arms according to claim 1, it is characterized in that: described centroid adjustment mechanism (6) comprises Timing Belt driving wheel (47), Timing Belt (48), Timing Belt follower (49) and Timing Belt slide block (50), wherein Timing Belt driving wheel (47) and Timing Belt follower (49) are rotatably installed in rail brackets (13) and go up and pass through Timing Belt (48) and be connected, and described electric appliance box (7) is connected by Timing Belt slide block (50) and Timing Belt (48).
CN201520058618.3U 2015-01-27 2015-01-27 The bionical adjustable mass center inspection robot mechanism of both arms Active CN204487548U (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105983958A (en) * 2015-01-27 2016-10-05 中国科学院沈阳自动化研究所 Dual-arm bionic mass-center-adjustable inspection robot mechanism
CN109048961A (en) * 2018-09-19 2018-12-21 哈尔滨工业大学 It can swing and grasp the climbing truss robot and its control method of remote truss rod
CN110994460A (en) * 2019-12-27 2020-04-10 安徽天卓信息技术有限公司 Cable inspection robot

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105983958A (en) * 2015-01-27 2016-10-05 中国科学院沈阳自动化研究所 Dual-arm bionic mass-center-adjustable inspection robot mechanism
CN109048961A (en) * 2018-09-19 2018-12-21 哈尔滨工业大学 It can swing and grasp the climbing truss robot and its control method of remote truss rod
CN110994460A (en) * 2019-12-27 2020-04-10 安徽天卓信息技术有限公司 Cable inspection robot

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