CN206374856U - A kind of compound humanoid robot of utilization auxiliary rod pole-climbing - Google Patents

A kind of compound humanoid robot of utilization auxiliary rod pole-climbing Download PDF

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Publication number
CN206374856U
CN206374856U CN201621476830.2U CN201621476830U CN206374856U CN 206374856 U CN206374856 U CN 206374856U CN 201621476830 U CN201621476830 U CN 201621476830U CN 206374856 U CN206374856 U CN 206374856U
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CN
China
Prior art keywords
gear
climbing
plate
auxiliary rod
fixture
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Expired - Fee Related
Application number
CN201621476830.2U
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Chinese (zh)
Inventor
王满利
冯朝阳
李恩赐
王沛雄
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Henan University of Technology
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Henan University of Technology
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Priority to CN201621476830.2U priority Critical patent/CN206374856U/en
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Publication of CN206374856U publication Critical patent/CN206374856U/en
Expired - Fee Related legal-status Critical Current
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Abstract

The utility model belongs to aerial operation machine field, is related to a kind of compound humanoid robot of utilization auxiliary rod pole-climbing.Robot of the present utility model is made up of climbing section, three parts of fixed part and work jibs, and three parts are connected with each other;The climbing section is made up of upper plate, lower plate, asynchronous small jig, guide rod, drive lead screw and gear;The fixed part is made up of synchronous big fixture, gear mesh and gear;The work jibs are made up of support frame, fixed claw, horizontal rotation joint, shoulder bending joint, elbow bending joint, wrist joint, fixture.The utility model robot is based on lead screw transmission principle, is climbed on flexible moveable auxiliary rod, realizes job position flexibility and changeability, the big fixture of robot is locked in target stem, synthetic job can be carried out, while the design that 360 degree of work jibs are rotated freely, can be achieved the upkeep operation of multi-angle;The utility model light structure, lightweight, job site is flexibly, highly reliable, can replace artificial high-rise working, and cost is low, practical.

Description

A kind of compound humanoid robot of utilization auxiliary rod pole-climbing
Technical field
The utility model belongs to aerial operation machine field, is related to a kind of compound humanoid robot of utilization auxiliary rod pole-climbing.
Background technology
Current work high above the ground is more and more universal, and person skilled needs to carry out work high above the ground along bar climbing to eminence, enters The task such as row detection and maintenance, such as electric pole, wind tower rod, light pole.Because current high-altitude technology is mainly by large-scale Equipment relies on manually to complete, and this operational method cost is high, and risk is big, and efficiency is low, in the course of the work unavoidable meeting There is the generation of some fortuitous events, cause personal safety or property loss, therefore necessary one kind of designing is by auxiliary Bar replaces artificial work high above the ground to climb the compound climbing level robot to target stem.
Current climbing level robot species is more, but most of is directly to climb target stem knot using clamp structure up and down Structure, once running into barrier causes the unstable phenomenon such as cause to drop of robotic gripper so during pole-climbing, and only Adapt in thinner equal diameter bar, differ for thickness or thinner bar is then helpless, and robot volume is larger, Complicated, cost is higher, poor practicability, it is difficult to popularize.
The content of the invention
The utility model solves technical problem present in prior art:Do not adapted to during robot pole-climbing Straight-bar is creeped, and running into barrier can not surmount an obstacle, and it is limited to stablize fixed and pole-climbing scope for the bar that thickness differs The problems such as, it is desirable to a kind of robot climbed using auxiliary rod is designed, robot can be made flexibly freely to climb to target On bar, and coordinate multiple degrees of freedom flexibly free work jibs, robot can arrive eminence and carry out synthetic job.
The technical scheme that the utility model is used by solution its technical problem is:
A kind of compound humanoid robot of utilization auxiliary rod pole-climbing, is made up of climbing section, three parts of fixed part and work jibs, Three parts are connected with each other;The climbing section is made up of upper plate, lower plate, asynchronous small jig, guide rod, drive lead screw and gear;Institute Fixed part is stated to be made up of synchronous big fixture, gear mesh and gear;The work jibs by support frame, fixed claw, horizontal rotation joint, Shoulder bending joint, elbow bending joint, wrist joint, fixture composition.
Further, upper plate, lower end and the inner ring of first gear 9 of drive lead screw 11 are fixed in the upper end of the drive lead screw 11 Between carry out screw nut driving, gear 9 is fixedly connected in bottom bearing inner ring by transmission nut, and bottom bearing passes through axle Hold lid 21 to be fixedly connected in lower plate, the lower end of second gear 10 connection variable speed electric motors, particularly is simultaneously meshed with first gear 9, so as to drive First gear 9 carries out lead screw transmission with turn-screw 11.
Further, the guide rod 3 has two, and the upper end of guide rod 3 is respectively and fixedly installed on upper plate, the lower end of guide rod 3 Corresponding default aperture on through lower plate, two relative point of row are set, to prevent to both sides deviateing during lower plate lifting moving.
Further, the asynchronous small jig has two, is separately positioned on central through hole corresponding in upper plate and lower plate Place, i.e. top small jig 17 and bottom small jig 8, top small jig 17 passes through the upper bands moving gear that is connected with the first motor 12 18 drive carries out folding activity, and bottom small jig 8 is entered by the drive for the lower bands moving gear 14 being connected with the second motor 19 Row folding activity.
Further, the big fixture of the synchronization has the big fixture 6 of the big fixture 4 in two, i.e. top and bottom, is connected to On plate and lower plate, there is top meshing gear the big fixture 4 in top and upper plate junction to 15, and top meshing gear is to one in 15 Gear is meshed with top driving gear 16, and top driving gear 16 is connected with the 3rd motor 13 by pin, the big fixture 6 in bottom There is bottom meshing gear to 5 with lower plate junction, bottom meshing gear is engaged to a gear in 5 with bottom driving gear 7, Bottom driving gear 7 is connected with the 4th motor 20 by pin.
Further, the work jibs are fixedly connected on support frame 1 by fixed claw 27, and support frame as described above 1 is welded on On the big fixture 4 in portion, the work jibs are by horizontal rotation joint 26, shoulder bending joint 25, elbow bending joint 24, wrist joint 23, folder Tool 22 is sequentially connected composition.
Further, the fixed claw 27 is four paws structure, and there is manhole at the center of four paws structure, and through-hole wall has and spiral shell The screw thread of bar connection, the screw rod is welded on the lower end center of horizontal rotation joint 26
The utility model is had an advantageous effect in that compared with prior art:The auxiliary rod pole-climbing that the utility model is related to Compound humanoid robot be based on lead screw transmission principle, the climbing on flexible moveable auxiliary rod realizes job position flexible Variable, robot is after climbing to target stem position, and big fixture is locked in target stem, synthetic job can be carried out, while operation Arm can 360 degree of designs for rotating freely, the upkeep operation of multi-angle can be achieved;The utility model light structure, lightweight, work Flexibly, highly reliable, efficiency high can replace artificial pinnacled synthetic job, and cost is low, practical in place.
Brief description of the drawings
Fig. 1 is the utility model overall structure diagram.
Fig. 2 is the utility model overall structure diagram.
Fig. 3 is the structural representation of mechanical arm in the utility model.
Fig. 4 is operating diagram of the utility model on auxiliary rod.
Embodiment
Below by example, and Figure of description 1-4 is combined, the technical scheme to robot is made more specifically It is bright.
A kind of compound humanoid robot of utilization auxiliary rod pole-climbing, is made up of climbing section, three parts of fixed part and work jibs, Three parts are connected with each other.
The climbing section is made up of upper plate, lower plate, asynchronous small jig, guide rod, drive lead screw and gear;The drive lead screw Upper plate is fixed in 11 upper end, and screw nut driving, gear 9 are carried out between the lower end of drive lead screw 11 and the inner ring of first gear 9 It is fixedly connected on by transmission nut in bottom bearing inner ring, bottom bearing is fixedly connected in lower plate by bearing cap 21, the The lower end of two gear 10 connects variable speed electric motors, particularly and is meshed with first gear 9, so as to drive first gear 9 to be carried out with turn-screw 11 Lead screw transmission, in order to prevent bottom bearing longitudinal stress during lead screw transmission and the problem of cause to damage, in the both sides of bottom plate bearing Bearing cap 21 is added with robust structure;The guide rod 3 has two, and the upper end of guide rod 3 is respectively and fixedly installed on upper plate, guide rod 3 lower end is through default aperture corresponding in lower plate, and two relative point of row are set, to prevent during lower plate lifting moving to both sides Deviate;The asynchronous small jig has two, is separately positioned at central through hole corresponding in upper plate and lower plate, i.e., top is small Fixture 17 and bottom small jig 8, top small jig 17 are entered by the drive for the upper bands moving gear 18 being connected with the first motor 12 Row folding activity, bottom small jig 8 carries out folding activity by the drive for the lower bands moving gear 14 being connected with the second motor 19, Asynchronous small jig drives folding by different motors respectively, and cooperation is clamped and climbed by lead screw transmission on auxiliary rod.
The big fixture of synchronization has the big fixture 6 of the big fixture 4 in two, i.e. top and bottom, is connected to upper plate with On plate, there is top meshing gear the big fixture 4 in top and upper plate junction to 15, top meshing gear to a gear in 15 with Top driving gear 16 is meshed, and top driving gear 16 is connected with the 3rd motor 13 by pin, the big fixture 6 in bottom and lower plate There is bottom meshing gear junction to 5, and bottom meshing gear is engaged to a gear in 5 with bottom driving gear 7, bottom master Moving gear 7 is connected with the 4th motor 20 by pin;When motor is rotated, driving gear can be driven to rotate, driving gear and tooth Wheel is to engagement, so as to drive gear mesh engagement rotation, gear mesh is located at the rear end of synchronous big fixture, so as to drive synchronous big fixture Folding, because the big fixture 6 of the big fixture 4 in top and bottom is driven by different motors, folding degree is different, therefore adaptability It is fixedly clamped on the straight-bar that thickness differs.
The work jibs 2 are fixedly connected on support frame 1 by fixed claw 27, and support frame as described above 1 is welded on the big folder in top Tool 4 on, the work jibs by horizontal rotation joint 26, shoulder bending joint 25, elbow bending joint 24, wrist joint 23, fixture 22 according to Secondary connection composition;The fixed claw 27 is four paws structure, and there is manhole at the center of four paws structure, and through-hole wall has to be connected with screw rod The screw thread connect, the screw rod is welded on the lower end center of horizontal rotation joint 26;Horizontal rotation joint 26 can realize mechanical arm Rotate in place, shoulder bending joint 25, elbow bending joint 24 and wrist joint 23, it is possible to achieve mechanical arm appointing in surrounding space What position operation, front end sets fixture 22 to be overhauled and installation task.
Composite machine people working method and principle of the present utility model are that top small jig 17 and bottom small jig 8 be not With under motor driving, climbed by lead screw transmission on auxiliary rod 29, after target stem position is reached, then pass through the 3rd motor 13 With the driving of the 4th motor 20, the big fixture 4 in top and the big fixture 6 in bottom is driven to be locked in target stem, due to auxiliary rod 29 mobility, can be set by auxiliary rod base 28 near target stem, so operating location is more flexible;It is specific next Say, the climbing activity on auxiliary rod 29 is that upper plate small jig 17 is first fixed on auxiliary rod 29 under the driving of the first motor 12, Now lower plate small jig 8 is in open configuration under the driving of the second motor 19, and second gear 10 drives first under motor driving Gear 9 is rotated, and drives the lower plate that it is fixedly connected to be moved up under the constraint of guide rod 3 by screw nut driving, when upper When lower two plates are closer to the distance, lower plate small jig 8 is fixed under the driving of motor on auxiliary rod 29, rear upper plate small jig 17 exist Opened under the driving of motor, second gear 10 is rotated backward under the driving of motor, drive first gear 9 on leading screw 11 Move relatively downward, upper plate is moved upwards relative to lower low plate, the climbing on auxiliary rod is realized in so circulation;When arrival target Locking activity behind position is that the 3rd motor 13 and the 4th motor 20 drive driving gear 7 and 16 to rotate respectively, top driving tooth Wheel 16 drives the big opening and closing of fixture 4 in top by top meshing gear to 15, and bottom driving gear 7 is by bottom meshing gear to 5 The big opening and closing of fixture 6 in bottom are driven, are finally locked in target stem;After locking, work jibs 2 are started working on support frame 1, level Revolute joint 26 can realize that mechanical arm is rotated in place, shoulder bending joint 25, elbow bending joint 24 and wrist joint 23, Ke Yishi Existing any position operation of the mechanical arm in surrounding space, front end sets fixture 22 to be overhauled and installation task.
Embodiment:
The utility model meets robot and climbed by auxiliary rod onto electric pole, realizes that the inspection to transmission line of electricity is appointed It is engaged in, the process of implementing is:
Composite machine people is sleeved on auxiliary rod 29, auxiliary rod is set according to predeterminated position, passes through auxiliary rod base 28 Fixed, terminal points to target electric pole, and when top small jig 17 clamps auxiliary rod, bottom small jig 8 unclamps auxiliary rod, simultaneously Motor drives second gear 10 to be driven to first gear 9, and first gear 9 rises along turn-screw 11, drives lower plate integrally upward Mobile, now turn-screw 11 stretches out lower shoe, to shorten the distance between two plates, realizes climbing, same when bottom small jig 8 is pressed from both sides Tight auxiliary rod, first gear 9 is reversed, the distance between two bottom plates of elongation, is made together by remote control when climbing is to highest point Big clamp target electric pole is walked, while operation hand, which is started working, carries out inspection operation, horizontal rotation joint can realize machine Tool arm is rotated in place, and shoulder bending joint and elbow bending joint and wrist joint, being used in combination for fixture can realize that mechanical arm exists Any position operation in surrounding space, this several motion neatly can be overhauled or installed by front end fixture after combining Deng work.
Specific embodiments described herein is only to the utility model spirit explanation for example, belonging to the utility model Those skilled in the art can make various modifications or supplement to described instantiation or use similar side Formula substitute, but not deviate it is of the present utility model spirit or more than scope defined in appended claims.

Claims (7)

1. a kind of compound humanoid robot of utilization auxiliary rod pole-climbing, it is characterised in that by climbing section, fixed part and work jibs three Part is constituted, and fixed part is connected in climbing section, and work jibs are connected on fixed part;The climbing section is by upper plate, lower plate, asynchronous Small jig, guide rod, drive lead screw and gear composition;The fixed part is made up of synchronous big fixture, gear mesh and gear;It is described to make Industry arm is made up of support frame, fixed claw, horizontal rotation joint, shoulder bending joint, elbow bending joint, wrist joint, fixture.
2. a kind of compound humanoid robot of utilization auxiliary rod pole-climbing according to claim 1, it is characterised in that the transmission Screw mandrel(11)Upper end be fixed on upper plate, drive lead screw(11)Lower end and first gear(9)Feed screw nut is carried out between inner ring Transmission, gear(9)It is fixedly connected on by transmission nut in bottom bearing inner ring, bottom bearing passes through bearing cap(21)It is fixed to connect It is connected in lower plate, second gear(10)Lower end connection variable speed electric motors, particularly and and first gear(9)It is meshed, so as to drive first gear (9)With turn-screw(11)Carry out lead screw transmission.
3. a kind of compound humanoid robot of utilization auxiliary rod pole-climbing according to claim 2, it is characterised in that the guide rod (3)Have two, guide rod(3)Upper end be respectively and fixedly installed on upper plate, guide rod(3)Lower end through corresponding in lower plate Default aperture, two relative point of row are set, to prevent to both sides deviateing during lower plate lifting moving.
4. the compound humanoid robot of a kind of utilization auxiliary rod pole-climbing according to claim 3, it is characterised in that described asynchronous Small jig has two, is separately positioned at central through hole corresponding in upper plate and lower plate, i.e. top small jig(17)With under Portion's small jig(8), top small jig(17)Carried out by the drive for the upper bands moving gear (18) being connected with the first motor (12) Folding activity, bottom small jig(8)By with the second motor(19)The lower bands moving gear of connection(14)Drive carry out folding Activity.
5. a kind of compound humanoid robot of utilization auxiliary rod pole-climbing according to claim 1, it is characterised in that the synchronization Big fixture has the big fixture in two, i.e. top(4)With the big fixture in bottom(6), it is connected on upper plate and lower plate, the big folder in top Tool(4)There is top meshing gear pair with upper plate junction(15), top meshing gear pair(15)In a gear and top master Moving gear(16)It is meshed, top driving gear(16)With the 3rd motor(13)Connected by pin, the big fixture in bottom(6)With under There is bottom meshing gear pair plate junction(5), bottom meshing gear pair(5)In a gear and bottom driving gear(7)Nibble Close, bottom driving gear(7)With the 4th motor(20)Connected by pin.
6. a kind of compound humanoid robot of utilization auxiliary rod pole-climbing according to claim 1, it is characterised in that the operation Arm passes through fixed claw(27)It is fixedly connected on support frame(1)On, support frame as described above(1)It is welded on the big fixture in top(4)On, it is described Work jibs are by horizontal rotation joint(26), shoulder bending joint(25), elbow bending joint(24), wrist joint(23), fixture(22)According to Secondary connection composition.
7. a kind of compound humanoid robot of utilization auxiliary rod pole-climbing according to claim 6, it is characterised in that the fixation Pawl(27)For four paws structure, there is manhole at the center of four paws structure, and through-hole wall has the screw thread being connected with screw rod, the screw rod It is welded on horizontal rotation joint(26)Lower end center.
CN201621476830.2U 2016-12-30 2016-12-30 A kind of compound humanoid robot of utilization auxiliary rod pole-climbing Expired - Fee Related CN206374856U (en)

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CN201621476830.2U CN206374856U (en) 2016-12-30 2016-12-30 A kind of compound humanoid robot of utilization auxiliary rod pole-climbing

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Application Number Priority Date Filing Date Title
CN201621476830.2U CN206374856U (en) 2016-12-30 2016-12-30 A kind of compound humanoid robot of utilization auxiliary rod pole-climbing

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106737621A (en) * 2016-12-30 2017-05-31 河南理工大学 A kind of compound humanoid robot of utilization auxiliary rod pole-climbing
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
CN110606140A (en) * 2018-06-15 2019-12-24 深圳市朗驰欣创科技股份有限公司 Telescopic tree climbing robot
CN111673340A (en) * 2020-06-19 2020-09-18 刘晨辉 Welding robot
WO2021022906A1 (en) * 2019-08-02 2021-02-11 国网安徽省电力有限公司淮南供电公司 Pole holding mechanism and manned pole climbing operation platform

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106737621A (en) * 2016-12-30 2017-05-31 河南理工大学 A kind of compound humanoid robot of utilization auxiliary rod pole-climbing
CN106737621B (en) * 2016-12-30 2019-12-13 河南理工大学 Composite robot for climbing pole by using auxiliary rod
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
CN110606140A (en) * 2018-06-15 2019-12-24 深圳市朗驰欣创科技股份有限公司 Telescopic tree climbing robot
WO2021022906A1 (en) * 2019-08-02 2021-02-11 国网安徽省电力有限公司淮南供电公司 Pole holding mechanism and manned pole climbing operation platform
CN111673340A (en) * 2020-06-19 2020-09-18 刘晨辉 Welding robot

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CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20170804

Termination date: 20191230

CF01 Termination of patent right due to non-payment of annual fee