CN2717788Y

CN2717788Y - Grasping device for exteral pipe climbing-pole robot

Info

Publication number: CN2717788Y
Application number: CN 200420041989
Authority: CN
Inventors: 王军; 任工昌; 郑甲红; 陈婵娟; 孙微庭; 黄甫国; 张刚; 朱俊; 王文侠
Original assignee: Shaanxi University of Science and Technology
Current assignee: Shaanxi University of Science and Technology
Priority date: 2004-05-28
Filing date: 2004-05-28
Publication date: 2005-08-17
Anticipated expiration: 2014-05-28

Abstract

A gripping device for a pole-climbing robot outside a pipe, comprising a pole wall and an upper box body and a lower box body that can be fixed on the pole wall. The connecting rod and the crank connect the upper and lower boxes as a whole. An upper cam is arranged on the upper camshaft in the upper box, and an upper claw arm and an upper claw arm which can keep in contact with the upper cam are arranged on the upper and lower sides of the upper cam. The upper paw head that rod wall contacts is provided with cam successively on the lower camshaft in lower casing, and the both sides of cam are also provided with the lower claw arm that can keep in contact with cam and the lower paw head that contacts with rod wall. The utility model drives the upper and lower jaws to move along the rod wall through the rotation of the crank and the planar movement of the connecting rod to complete the rising and falling motions.

Description

Manage outer climbing level robot grasp device

Technical field

The utility model belongs to a kind of grasp device of climbing device, the outer climbing robot grasp device of particularly a kind of pipe.

Background technology

At present, some that propose both at home and abroad depend on the lip-deep automatic climbing mechanism of bar and mainly contain electrodynamic mechanical type crawl device, electric hydraulic crawl device and pneumatic creeping crawling device etc.The electrodynamic mechanical type crawl device is to be rotated to same direction by the front and back wheel of motor drives chain wheel drive clamping tube wall, relies on the wheel and the friction force of tube wall to make the device that climbs along the tube wall rise and fall.The pneumatic worming crawl device is realized clamping and moving by air cylinder driven mechanism, and the process of cylinder action one-period was when it upwards climbed: the lower body clamping cylinder clamps, and the upper body clamping cylinder unclamps, and promotes cylinder piston rod and stretches out, and rises on the upper body; The upper body clamping cylinder clamps, and the lower body clamping cylinder unclamps, and promotes cylinder block and rises, and lower body rises.So repeatedly, mechanism just can climb continuously.Change the circulation of action beat when robot descends, the guide cylinder piston rod is in the state of stretching out always, plays the pneumatic spring effect.The spiral motion manipulator mechanism that climbs is by the decision of the installation site of wheel, wheel rotating direction and horizontal surface are at angle, what it formed on wall during wheel turns like this is helical trajectory, and this mechanism of rotating by electrical motor can realize the rise and fall campaign along this track.Electrodynamic mechanical type crawl device and the spiral motion manipulator mechanism that climbs all is to compress wall with the motor drives roller, relies on this friction force to drive entire mechanism and rises and descend along wall.If working resistance and gravity just can not safe operations greater than this mechanism of friction force, and mechanism forms totally complicated.For the pneumatic worming crawl device, it rises and the realization of descending motion is controlled by air pressure, so higher, the complex structure of its equipment cost.

Summary of the invention

It is a kind of safe, simple in structure, with low cost and have an outer climbing level robot grasp device of pipe of self-lock ability that the purpose of this utility model is to provide.

For achieving the above object, the technical solution adopted in the utility model is: comprise the bar wall and can be fixed on upper box and lower box on the bar wall, be characterized in, on, be respectively arranged with overhead cam shaft and following camshaft on the lower box, on, following camshaft will be gone up by connecting rod and crank, lower box is connected as a single entity, overhead cam shaft in the upper box is provided with overhead cam, also be provided with the dewclaw arm that to keep in touch with overhead cam in the both sides up and down of overhead cam, and the dewclaw head that is articulated on the dewclaw arm contacts with the bar wall, be disposed with cam and cam on the following camshaft in lower box, the both sides of cam and cam also be provided with the lower claw arm that can keep in touch with cam and with lower claw arm pivotally attached lower claw head.

Another characteristics of the present utility model are: also be provided with spring between upper and lower pawl arm and the upper and lower casing; Also be provided with on the upper and lower casing and the contacted guide wheel of bar wall.

Because the utility model is respectively arranged with upper and lower pawl head in upper and lower casing, the motion by crank and connecting rod drives upper and lower pawl head and rises and descending motion along moving the finishing of bar wall shift.

Description of drawings

Fig. 1 is an integral structure scheme drawing of the present utility model;

Fig. 2 is the right elevation of Fig. 1.

The specific embodiment

Below in conjunction with accompanying drawing structural principle of the present utility model and principle of work are described in further detail.

Referring to Fig. 1,2, the present invention includes bar wall 15 and can be fixed on upper box 6 and lower box 16 on the bar wall 15, on, lower box 6, also be provided with on 16 and bar wall 15 contacted guide wheels 7, on, lower box 6, be respectively arranged with overhead cam shaft 5 and following camshaft 10 on 16, on, following camshaft 5,10 will go up by connecting rod 13 and crank 14, lower box 6,16 are connected as a single entity, in crank 14 and connecting rod 13 controls, lower box 6,16 rise, on descending motion reaches, lower box 6, on in 16, following camshaft 5,10 motion, crank 14 is driven by motor and reduction gear.Overhead cam shaft 5 in the upper box 6 is provided with overhead cam 4, also be provided with the dewclaw arm 2 that to keep in touch with overhead cam 4 in the both sides up and down of overhead cam 4, and contact with bar wall 15 with dewclaw arm 2 pivotally attached dewclaw heads 1, be disposed with cam 11 and cam 12 on the following camshaft 10 in lower box 16, the both sides of cam 11 and cam 12 also are provided with the lower claw arm 9 that can contact with cam, and contact with bar wall 15 with lower claw arm 9 pivotally attached lower claw heads 8, on, lower claw arm 2,9 with last, lower box 6, also be provided with spring 3 between 16, the effect of spring 3 is for last, lower claw head 1,8 have big pre-friction force with the wall of bar wall 15, with wall generation relative motion the time, make, the lower claw head produces the self-locking effect.

Its principle of work is: when the utility model rises, suppose that crank 14 clockwise directions rotate, cam 11 in the lower box 16 and 12 pairs of lower claw arms 9 are inoperative, lower claw arm 9 makes lower claw head 8 contact with bar wall 15 at effect lower swing one low-angle of spring 3, because deadweight and upper box 6 upward movements make that the wall of lower claw head 8 and bar wall 15 has relative motion trend to make lower claw arm 9 put a low-angle again in the lower box, so just on contact surface, produced big positive pressure, corresponding also just had one than big friction force, lower box 16 is fixed on the bar wall 15, thereby has stoped downglide motion.Crank 14 drivening rods 13 motions this moment, the overhead cam 4 that overhead cam shaft 5 drives of the upper box 6 that is connected with connecting rod 13 connect firmly with it turns over a low-angle makes dewclaw head 1 separate with bar wall 15 dewclaw arm 2 jack-up, and crank 14 continues motion moves up upper box 6.When moving to range, overhead cam 4 in the upper box 6 turns to the closely section of stopping, dewclaw arm 2 backswing one angle, in like manner, under spring 3 effects, upper box 6 is fixed on the bar wall 15, cam 11,12 in the lower box 16 is lower claw arm 9 jack-up, and the wall friction that lower claw head 8 leaves bar wall 15 disappears, along with the motion of crank 14 and connecting rod 13 promotes lower box 16.Circulation realizes upward movement process of the present utility model so repeatedly.

In the process that the utility model descends, as long as with crank 14 left-hand revolutions, realize going up that the lower claw head is firmly grasped successively, loosening up by mechanisms such as crank connecting link, cams, thereby circulation realizes that the utility model is along moving that bar wall 15 descends repeatedly.

Claims

1, the outer climbing level robot grasp device of a kind of pipe, comprise bar wall [15] and can be fixed on upper box [6] and lower box [16] on the bar wall [15], it is characterized in that: on, lower box [6,16] be respectively arranged with overhead cam shaft [5] and following camshaft [10] on, on, following camshaft [5,10] will go up by connecting rod [13] and crank [14], lower box [6,16] be connected as a single entity, overhead cam shaft [5] in the upper box [6] is provided with overhead cam [4], also be provided with the dewclaw arm [2] that to keep in touch with overhead cam [4] in the both sides up and down of overhead cam [4], and the dewclaw head [3] that is articulated on the dewclaw arm [2] contacts with bar wall [15], be disposed with cam [11] and cam [12] on the following camshaft [10] in lower box [16], the both sides of cam [11] and cam [12] also be provided with the lower claw arm [9] that can keep in touch with cam and with lower claw arm [9] pivotally attached lower claw head [8].

2, the outer climbing level robot grasp device of pipe according to claim 1 is characterized in that: also be provided with spring [3] between said upper and lower pawl arm [2,9] and the upper and lower casing [6,16].

3, the outer climbing level robot grasp device of pipe according to claim 1 is characterized in that: also be provided with and the contacted guide wheel of bar wall [15] [7] on the said upper and lower casing [6,16].