CN204819538U - A arm for creeping steel pipe pole robot - Google Patents
A arm for creeping steel pipe pole robot Download PDFInfo
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- CN204819538U CN204819538U CN201520579494.3U CN201520579494U CN204819538U CN 204819538 U CN204819538 U CN 204819538U CN 201520579494 U CN201520579494 U CN 201520579494U CN 204819538 U CN204819538 U CN 204819538U
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- Prior art keywords
- steering wheel
- horizontal
- arm
- output shaft
- permanent magnet
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 22
- 239000010959 steel Substances 0.000 title claims abstract description 22
- 230000005611 electricity Effects 0.000 claims abstract description 5
- 238000001179 sorption measurement Methods 0.000 claims abstract description 4
- 230000009193 crawling Effects 0.000 abstract 1
- BGPVFRJUHWVFKM-UHFFFAOYSA-N N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] Chemical compound N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] BGPVFRJUHWVFKM-UHFFFAOYSA-N 0.000 description 12
- 230000009286 beneficial effect Effects 0.000 description 4
- 239000003463 adsorbent Substances 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 208000033999 Device damage Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Abstract
The utility model discloses an arm for creeping steel pipe pole robot, it includes: horizontal steering wheel, the axis of the output shaft of horizontal steering wheel is vertical setting, horizontal steering wheel is fixed on the truck of robot, first steering wheel support, one end cup joint in on the output shaft of horizontal steering wheel, first vertical steering wheel, first vertical steering wheel install in the other end of first steering wheel support, the axis of the output shaft of first vertical steering wheel is the level setting, and electric permanent magnet, the bottom surface of electricity permanent magnet is the adsorption plane, contacts with waiting the steel pipe pole of crawling, the electricity permanent magnet the top surface with the output shaft of first vertical steering wheel with it rotates to carry out vertical direction under the drive of first vertical steering wheel. The utility model discloses four directions are rotated about making the arm can go on from top to bottom, it can rotate in arbitrary orientation still to enable electric permanent magnet, easy operation still has, convenient to carry, and bearing force is strong, the high characteristics of practicality.
Description
Technical field
The utility model relates to steel pipe pole and patrols and examines field, particularly a kind of mechanical arm for steel pipe pole robot of creeping.
Background technology
Steel pipe pole takes up an area few due to it, the features such as easy installation widely use in urban power distribution network, it is indispensable important infrastructure in electrical power system transmission process, but the steel pipe pole soldered produced by steel pipe pole manufacture is in operation and needs to bear the dynamic load such as wire tension, strong wind, soldered stretcher strain may be caused, produce crack, the accident of falling tower of causing, the steel pipe pole accident of falling tower annoyings the safe operation of power system always, causes a large amount of losses of personal injury, device damage, electric energy to the operations staff of power supply department.
In prior art, when steel pipe pole soldered generally climbs steel pipe pole by operations staff, hand-held defectoscope goes to detect, and in urban power distribution network, steel pipe pole quantity is many, and distribution is wide, so significant wastage manpower and materials in testing process.Need to provide a kind of robotic arm, it is for climbing the robot of steel pipe pole for this reason.
Summary of the invention
In order to solve problems of the prior art, the utility model provides a kind of mechanical arm for steel pipe pole robot of creeping, it comprises: horizontal steering wheel, and the axis of the output shaft of described horizontal steering wheel is in vertically arranging, and described horizontal steering wheel is fixed on the trunk of robot; First steering wheel support, one end is socketed on the output shaft of described horizontal steering wheel; First longitudinal steering wheel, described first longitudinal steering wheel is installed on the other end of described first steering wheel support, and the axis of the output shaft of described first longitudinal steering wheel is in being horizontally disposed with; And electric permanent magnet, the bottom surface of described electric permanent magnet is adsorption plane, contacts with steel pipe pole to be creeped, and the end face of described electric permanent magnet is connected to carry out vertical direction rotation under the driving of described first longitudinal steering wheel with the output shaft of described first longitudinal steering wheel.
In mechanical arm as above, preferably, described mechanical arm also comprises: universal drive shaft, and the top of described universal drive shaft is connected with the output shaft of described first longitudinal steering wheel; And universal joint, the bottom that described universal joint holds described universal drive shaft spherical in shape is rotated relative to described universal drive shaft to make described universal joint, and described universal joint is also connected with the end face of described electric permanent magnet.
In mechanical arm as above, preferably, described mechanical arm also comprises: second longitudinal steering wheel, and be arranged between described first longitudinal steering wheel and described electric permanent magnet, the axis of the output shaft of described second longitudinal steering wheel is in being horizontally disposed with.
In mechanical arm as above, preferably, the quantity of described second longitudinal steering wheel is one.
In mechanical arm as above, preferably, described first steering wheel support comprises: vertically framework, there is the first horizontal arm, the first vertical arm and the second horizontal arm that connect successively, described first horizontal arm, the first vertical arm and the second horizontal arm are in turn connected to form opening and the U-shaped vertically arranged left, and described first horizontal arm and described second horizontal arm are socketed on the output shaft of described first steering wheel respectively; And the first horizontal correct frame, there is the second vertical arm and the 3rd vertical arm, described second vertical arm, described first vertical arm and described 3rd vertical arm are in turn connected to form opening and horizontally disposed U-shaped to the right, and described first longitudinal steering wheel is arranged in the opening that described first horizontal correct frame formed.
In mechanical arm as above, preferably, the end face of described electric permanent magnet is connected with the output shaft of the first horizontal left frame with described first longitudinal steering wheel by fixed mount; Described first horizontal left frame is horizontal positioned and opening U-shaped left, and the left end of described first horizontal left frame is connected with the output shaft of described first longitudinal steering wheel; Described fixed mount is connected to the right-hand member of described first horizontal left frame; The end face of described electric permanent magnet is arranged on described fixed mount.
The beneficial effect that the technical scheme that the utility model embodiment provides is brought is:
By adopting electric permanent magnet as adsorbent equipment, solving when unexpected power-off, occurring the problem that machine falls from height in the air.By adopting horizontal steering wheel and longitudinal steering wheel, robot arm (i.e. mechanical arm) can be made to carry out four direction up and down and to rotate.By with the addition of universal joint and universal drive shaft on electric permanent magnet, electric permanent magnet is rotated in any direction.Also have simple to operate, easy to carry, load capacity is strong, practicality high.
Accompanying drawing explanation
The structural representation of a kind of mechanical arm for steel pipe pole robot of creeping that Fig. 1 provides for the utility model preferred embodiment;
The structural representation of a kind of universal drive shaft that Fig. 2 provides for the utility model embodiment, universal joint and electric permanent magnet;
In figure, symbol description is as follows:
1 horizontal steering wheel, 2 first longitudinal steering wheels, 3 first steering wheel supports, 4 electric permanent magnets, 5 universal drive shafts, 6 universal joints, 7 fixed mounts, 8 second longitudinal steering wheels, 10 fixed axis, 11 output shafts.
Detailed description of the invention
For making the purpose of this utility model, technical scheme and advantage clearly, below in conjunction with accompanying drawing, the utility model embodiment is described in further detail.
See Fig. 1, the utility model embodiment provides a kind of mechanical arm for steel pipe pole robot of creeping, and it comprises: horizontal steering wheel 1, first steering wheel support 3, first longitudinal steering wheel 2 and electric permanent magnet 4.
Wherein, horizontal steering wheel 1 carries out horizontal direction (i.e. left and right directions) for driving machine mechanical arm and rotates, and the axis of its output shaft is vertical direction, and horizontal steering wheel 1 is fixed on the trunk of robot.First longitudinal steering wheel 2 carries out vertical direction (i.e. above-below direction) for driving machine mechanical arm and rotates, and the axis of its output shaft is horizontal direction.First steering wheel support 3 is for connecting horizontal steering wheel 1 and first longitudinal steering wheel 2, its one end is socketed on the output shaft of horizontal steering wheel 1, the other end is provided with first longitudinal steering wheel 2, thus the first steering wheel support 3 is horizontally rotated under the driving of horizontal steering wheel 1, thus first longitudinal steering wheel is driven to horizontally rotate.Electricity permanent magnet 4 is for for providing absorption affinity when robot creeps on steel pipe pole, act freely when walking to allow robotic arm, its end face is connected to carry out above-below direction rotation under the driving of first longitudinal steering wheel 2 with the output shaft of first longitudinal steering wheel 2, its bottom surface is adsorption plane, contacts with steel pipe pole to be creeped.Adopt electric permanent magnet 4 to provide absorption affinity (namely adopting electric permanent magnet as adsorbent equipment), solve the problem that machine falls from height when unexpected power-off in the air.
See Fig. 2, for the ease of realizing electric permanent magnet 4 at any angle motion, namely realize any direction and rotate, mechanical arm also comprises: universal drive shaft 5 and universal joint 6.Wherein, the top of universal drive shaft 5 is connected with the output shaft of first longitudinal steering wheel, and the bottom of universal drive shaft 5 is spherical in shape; Universal joint 6 holds the bottom of universal drive shaft 5 to realize the relative universal drive shaft 5 of universal joint 6 at any angle motion, because universal joint 6 is also connected with the end face of electric permanent magnet 4, therefore can realize electric permanent magnet 4 at any angle motion.Universal joint 6 with the fixed form of electric permanent magnet 4 can be: see Fig. 2, universal joint 6 is provided with a fixed screw holes 61, electric permanent magnet 4 with can by screw and coordinating of fixed screw holes realizing fixing between universal joint 6.
Realize large rotation in order to realize electric permanent magnet 4 at above-below direction, mechanical arm also comprises second longitudinal steering wheel 8, and be arranged between first longitudinal steering wheel 2 and electric permanent magnet 4, the axis of the output shaft of second longitudinal steering wheel 8 is in being horizontally disposed with.First longitudinal steering wheel 2 drives second longitudinal steering wheel 8 to carry out above-below direction rotation, and then second longitudinal steering wheel 8 drives electric permanent magnet 4 to carry out above-below direction rotation.The quantity of second longitudinal steering wheel 8 is preferably 1.
Carry out four direction up and down rotate to be beneficial to horizontal steering wheel 1 and first longitudinal steering wheel 2 driving machine mechanical arm, the first steering wheel support 3 comprises: vertically framework and the first horizontal correct frame.
Wherein, vertical framework has the first horizontal arm, the first vertical arm and the second horizontal arm that connect successively, the right-hand member of the first horizontal arm, the upper end of the first vertical arm, the lower end of the first vertical arm and the right-hand member of the second horizontal arm are in turn connected to form opening U-shaped left, this U-shaped is in vertically arranging, that is the height of the first horizontal arm is higher than the height of the second horizontal arm, and the first horizontal arm and the second horizontal arm are socketed on the output shaft of the first steering wheel 1 respectively.First horizontal correct frame has the second vertical arm and the 3rd vertical arm, the left end of the second vertical arm, the front end of the first vertical arm right flank, the rear end of the first vertical arm right flank and the left end of the 3rd vertical arm are in turn connected to form opening U-shaped to the right, this U-shaped is in being horizontally disposed with, that is the height of the second vertical arm is identical with the height of the 3rd vertical arm, first longitudinal steering wheel 2 is arranged in the opening of the first horizontal correct frame formation, and be connected with the second vertical arm and the 3rd vertical arm respectively by fixed axis 10, the output shaft 11 of first longitudinal steering wheel 2 is positioned at outside opening.
In order to be beneficial to the connection between electric permanent magnet 4 and first longitudinal steering wheel 2, the end face of electric permanent magnet is connected with the output shaft of the first horizontal left frame with first longitudinal steering wheel by fixed mount; First horizontal left frame has the 4th vertical arm, the 5th vertical arm and the 6th vertical arm, the right-hand member of the 4th vertical arm, the front end of the 5th vertical arm, the rear end of the 5th vertical arm and the right-hand member of the 6th vertical arm are in turn connected to form opening U-shaped left, this U-shaped is in being horizontally disposed with, and that is the first horizontal left frame is horizontal positioned and opening U-shaped left.The left end of the first horizontal left frame is connected with the output shaft of first longitudinal steering wheel; Fixed mount is connected to the right-hand member of the first horizontal left frame; The end face of electricity permanent magnet is arranged on fixed mount.
In sum, the beneficial effects of the utility model are as follows:
By adopting electric permanent magnet as adsorbent equipment, solving when unexpected power-off, occurring the problem that machine falls from height in the air.By adopting horizontal steering wheel and longitudinal steering wheel, robot arm (i.e. mechanical arm) can be made to carry out four direction up and down and to rotate.By with the addition of universal joint and universal drive shaft on electric permanent magnet, electric permanent magnet is rotated in any direction.Also have simple to operate, easy to carry, load capacity is strong, practicality high.
As known by the technical knowledge, the utility model can be realized by other the embodiment not departing from its Spirit Essence or essential feature.Therefore, above-mentioned disclosed embodiment, with regard to each side, all just illustrates, is not only.Allly all to be included in the utility model within the scope of the utility model or being equal to the change in scope of the present utility model.
Claims (6)
1. for a mechanical arm for steel pipe pole robot of creeping, it is characterized in that, described mechanical arm comprises:
Horizontal steering wheel, the axis of the output shaft of described horizontal steering wheel is in vertically arranging, and described horizontal steering wheel is fixed on the trunk of robot;
First steering wheel support, one end is socketed on the output shaft of described horizontal steering wheel;
First longitudinal steering wheel, described first longitudinal steering wheel is installed on the other end of described first steering wheel support, and the axis of the output shaft of described first longitudinal steering wheel is in being horizontally disposed with; And
Electricity permanent magnet, the bottom surface of described electric permanent magnet is adsorption plane, contacts with steel pipe pole to be creeped, and the end face of described electric permanent magnet is connected to carry out vertical direction rotation under the driving of described first longitudinal steering wheel with the output shaft of described first longitudinal steering wheel.
2. mechanical arm according to claim 1, is characterized in that, described mechanical arm also comprises:
Universal drive shaft, the top of described universal drive shaft is connected with the output shaft of described first longitudinal steering wheel; And
Universal joint, the bottom that described universal joint holds described universal drive shaft spherical in shape is rotated relative to described universal drive shaft to make described universal joint, and described universal joint is also connected with the end face of described electric permanent magnet.
3. mechanical arm according to claim 1, is characterized in that, described mechanical arm also comprises:
Second longitudinal steering wheel, be arranged between described first longitudinal steering wheel and described electric permanent magnet, the axis of the output shaft of described second longitudinal steering wheel is in being horizontally disposed with.
4. mechanical arm according to claim 3, is characterized in that, the quantity of described second longitudinal steering wheel is one.
5. mechanical arm according to claim 1, is characterized in that, described first steering wheel support comprises:
Vertical framework, there is the first horizontal arm, the first vertical arm and the second horizontal arm that connect successively, described first horizontal arm, the first vertical arm and the second horizontal arm are in turn connected to form opening and the U-shaped vertically arranged left, and described first horizontal arm and described second horizontal arm are socketed on the output shaft of described first steering wheel respectively; And
First horizontal correct frame, there is the second vertical arm and the 3rd vertical arm, described second vertical arm, described first vertical arm and described 3rd vertical arm are in turn connected to form opening and horizontally disposed U-shaped to the right, and described first longitudinal steering wheel is arranged in the opening that described first horizontal correct frame formed.
6. mechanical arm according to claim 1, is characterized in that, the end face of described electric permanent magnet is connected with the output shaft of the first horizontal left frame with described first longitudinal steering wheel by fixed mount;
Described first horizontal left frame is horizontal positioned and opening U-shaped left, and the left end of described first horizontal left frame is connected with the output shaft of described first longitudinal steering wheel;
Described fixed mount is connected to the right-hand member of described first horizontal left frame; The end face of described electric permanent magnet is arranged on described fixed mount.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520579494.3U CN204819538U (en) | 2015-08-04 | 2015-08-04 | A arm for creeping steel pipe pole robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520579494.3U CN204819538U (en) | 2015-08-04 | 2015-08-04 | A arm for creeping steel pipe pole robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204819538U true CN204819538U (en) | 2015-12-02 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520579494.3U Active CN204819538U (en) | 2015-08-04 | 2015-08-04 | A arm for creeping steel pipe pole robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204819538U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113581305A (en) * | 2021-08-13 | 2021-11-02 | 西南石油大学 | Angle steel tower automated inspection robot |
-
2015
- 2015-08-04 CN CN201520579494.3U patent/CN204819538U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113581305A (en) * | 2021-08-13 | 2021-11-02 | 西南石油大学 | Angle steel tower automated inspection robot |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |