CN102059704B - Novel iron tower climbing robot manipulator device - Google Patents

Abstract

The invention provides a terminal structure for an iron tower automatic inspection and maintenance climbing robot, which mainly includes a clamping mechanism, a wrist mechanism, a finger telescopic mechanism and a connecting support. Among them, the clamping mechanism applies the principle of lever force boosting and adopts the screw nut transmission mode. It has a compact structure and has a self-locking function. Mechanism, the lower splint, and the screw nut mechanism connected with the gear reversing mechanism, and the ejector rod. The finger telescopic mechanism is composed of a drive motor installed on the upper splint, a screw nut transmission mechanism connected to the output shaft of the drive motor, fingers firmly connected to the nut, and a guide rail installed on the upper splint. It is used in conjunction with the clamping mechanism to ensure that the angle steel reliable clamping. The wrist mechanism is composed of the wrist drive motor, the worm connected to the output shaft of the drive motor, the worm gear meshed with the worm, and the motor support. Steps in the climbing process. The invention can realize reliable clamping of various specifications of angle steel, so that the robot can not only climb along the main material of the iron tower, but also climb along the inclined material or the horizontal material.

Description

A new type of iron tower climbing robot manipulator device

technical field

The invention relates to a manipulator device customized for an iron tower automatic maintenance maintenance climbing robot, which belongs to the technical field of robots.

technical background

The rapid development of industry and information industry has higher and higher requirements for power supply stability and reliability. High-voltage transmission line is the artery of power system, and its safe operation has been paid more and more attention by departments at all levels. It is necessary to regularly overhaul and maintain the transmission line tower and its accessories to ensure the safe and reliable operation of the transmission line.

At present, the inspection and maintenance of domestic high-voltage transmission lines basically adopt the method of manually climbing the iron tower, and use the inspection and maintenance equipment carried to complete the corresponding tasks. This not only consumes a lot of physical strength of the maintenance personnel, affects work efficiency, but is also extremely unsafe. The power sector is in urgent need of automated equipment that can replace manpower for iron tower inspection and maintenance—robots, so as to reduce the labor intensity of workers, reduce the risk of electric shock and falling from high altitudes, and the equipment can perform live work without affecting power supply, improving Overhaul and maintenance efficiency and quality. Robots are used to overhaul and maintain iron towers and other towers. The robot needs to have the function of climbing iron towers and other towers. The tower manipulator device with angle steel as the basic component. Therefore, developing a manipulator device with large clamping force, compact structure and strong adaptability as soon as possible to equip the robot and realize the automatic inspection and maintenance of the iron tower of the high-voltage transmission line is an important issue faced by the scientific and technological workers in the field.

Contents of the invention

The technical problem to be solved by the present invention is to provide an end clamping mechanism for an iron tower automatic inspection and maintenance climbing robot. The invention requires that the robot can climb from the base of the power tower to the top of the tower along the main material angle steel or inclined material angle steel, and use the maintenance equipment carried to replace the electric workers to complete various maintenance tasks, such as: detection of insulators, iron tower surface corrosion, etc. . For this reason, the end manipulator of the robot must not only be able to grasp the angle steel of different specifications to ensure that the robot can move on the surface of the iron tower, but also require the structure to be as simple and compact as possible.

For achieving the above object, technical solution of the present invention is:

A novel terminal clamping structure of a tower climbing robot is provided, which is mainly composed of a clamping mechanism, a finger telescopic mechanism, a wrist mechanism and a connecting support. Among them, the clamping mechanism is composed of the claw clamping motor, the reversing gear set connected with the output shaft of the motor, the clamping mechanism screw rod, nut, ejector rod, upper splint, lower splint, etc. connected with the gear set; the finger telescopic mechanism consists of The finger telescopic motor, the finger telescopic screw rod connected with the motor output shaft, cooperates with the screw rod to form the finger telescopic mechanism nut driven by the screw nut, the double guide rail installed on the splint on the clamping mechanism, and the finger connected with the nut; the wrist mechanism It consists of a wrist mechanism motor, a wrist worm connected to the output shaft of the motor, a wrist worm gear engaged with the worm, and a motor support.

In the above technical solution, in order to securely clamp the angle steel of the tower and provide a sufficient clamping force, the end clamping mechanism applies the principle of lever augmentation and adopts a screw nut transmission mode. The claw clamping motor is fixed at the rear end of the upper splint, and the force is transmitted to the screw rod of the clamping mechanism by means of the reversing gear set. The nut is connected to the screw rod through threads, the nut is connected to the ejector rod, and the other end of the ejector rod is connected to the pin. The pin can slide in the chute, the chute is fixed on the rear end of the lower splint, and the upper and lower splints are connected by a pin near the front end. When the claw clamping motor rotates, after being decelerated by the screw nut, the ejector rod telescopically pushes the upper and lower splints to rotate with the pin as the axis. , so as to realize the clamping and loosening of the gripper.

In the above technical solution, the finger telescoping mechanism is realized through the transmission of the screw nut. The finger telescopic motor is fixed on the motor support, and the motor support is fixed on the upper splint. The output shaft of the motor is connected with the finger telescopic screw rod. Even, by controlling the rotation speed and direction of the finger telescopic motor, the fingers can be stretched and stretched in the guide rail. The combination of the finger telescopic mechanism and the clamping mechanism clamps, and forms a force-closed clamping on the angle steel, thereby realizing reliable clamping on the angle steel.

In the above-mentioned finger telescopic mechanism, the guide rail may be any one of a rectangular guide rail, a cylindrical guide rail, and a dovetail guide rail.

In the above technical solution, the wrist mechanism provides a degree of freedom of wrist rotation for the manipulator, which is realized by a worm and worm gear transmission with self-locking capability. In order to unload the bending moment acting on the connecting shaft of the worm gear, fix the worm gear of the wrist mechanism with the sleeve, and then connect it to the rotating shaft of the wrist. The mechanism will also rotate around the wrist rotation axis together with the wrist worm gear to realize the rotation of the wrist, thereby realizing the attitude adjustment of the manipulator. This implementation method ensures the decoupling of the spatial position and attitude of the hand claw from the mechanical structure, which greatly simplifies the climbing process of the robot. Operation steps during crawling.

The terminal clamping mechanism of the present invention has multiple degrees of freedom, compact structure, large clamping force, and light weight, which can realize reliable clamping of angle steels of different specifications, and can ensure that the tower climbing robot is reliably attached to the surface of the iron tower, thereby realizing from The base of the iron tower is moved to the top of the tower to replace the workers to complete the corresponding maintenance tasks.

Description of drawings

Accompanying drawing 1 is the three-dimensional structure schematic diagram of the end effector of iron tower climbing robot.

Accompanying drawing 2 is the front view and the A-A sectional view of the manipulator device clamping mechanism of the present invention.

Accompanying drawing 3 is a front view and a top view of the finger telescoping mechanism of the manipulator device of the present invention.

Accompanying drawing 4 is the structure diagram of the manipulator device clamping angle steel of the present invention.

Accompanying drawing 5 is a top view and a B-B sectional view of the wrist mechanism of the manipulator device of the present invention.

In the above drawings, the objects identified by the symbols in each diagram are: 1- claw clamping motor; 2- chute; 3- ejector rod; 4- screw rod of clamping mechanism; Shaft; 7-upper splint; 8-upper working surface; 9-lower working surface; 10-finger; 11-guide rail; 12-finger telescopic mechanism screw; Wrist worm gear; 16-support column; 17-finger telescopic motor; 18-steering gear set; 19-pin; 20-clamping mechanism nut; 21-wrist rotation shaft; 22-wrist worm gear sleeve; 24-wrist motor; 25-finger telescopic motor support; 26-angle steel.

Detailed ways

An embodiment of the present invention is given below in conjunction with the accompanying drawings, and the present invention will be further described through the embodiment. It should be pointed out that the specific implementation of the present invention is not limited to the forms described in the examples.

Referring to Fig. 1 and Fig. 2, what the present invention describes is an arm end actuator for a tower automatic inspection and maintenance climbing robot, which is composed of a claw clamping mechanism, a finger telescopic mechanism, and a wrist mechanism. Among them, the clamping mechanism is clamping the motor 1 by the claw, the reversing gear set 18 connected with the output shaft of the motor, the clamping mechanism screw rod 4 fixedly connected with the gear set, the clamping mechanism nut 13, the upper splint 7, and the lower splint 5 , consisting of 3 ejector pins. The nut 13 of the clamping mechanism is connected with the ejector rod 3, and the other end of the ejector rod 3 is connected with the pin 19, the pin can slide in the chute 2, the chute 2 is fixedly connected to the rear end of the lower splint 5, the upper splint 7 and the lower splint 5 Connected by pin 6. When the claw clamping motor rotates, after being decelerated by the screw nut, the ejector rod telescopically pushes the upper and lower splints to rotate with the pin as the axis. , so as to realize the clamping and loosening of the gripper.

Accompanying drawing 3 has described the implementation structure of finger retractable mechanism in the manipulator. The finger telescopic mechanism consists of a finger telescopic motor 17 fixed on the finger telescopic motor support 25, a finger telescopic mechanism screw 12 connected with the output shaft of the motor, and a finger telescopic mechanism nut 13 that cooperates with the screw to form a screw nut drive to guide The guide rail 11 of action is made up of the finger 10 that is connected with the nut, and wherein guide rail 11 is fixedly connected on the upper splint 7 of the claw clamping mechanism, and finger telescopic nut 13 is fixedly connected with finger 10, and finger 10 moves along guide rail 11. As shown in Figure 4, the finger telescopic mechanism and the claw clamping mechanism form a combined clamping mechanism, which forms a force seal on the angle steel, thereby improving the reliability of clamping.

Accompanying drawing 5 has described the implementation structure of wrist mechanism in manipulator. The wrist mechanism is composed of the wrist mechanism motor 24, the wrist worm 23 connected with the motor output shaft, the wrist worm gear 15 engaged with the worm, and the wrist motor support 14. For unloading the bending moment acting on the worm gear connecting shaft, the wrist mechanism worm 15 is fixed with sleeve 22, then is connected on the wrist rotating shaft 21, and wrist mechanism motor support 14 is fixedly connected with clamping mechanism upper splint through support column 16, and the present invention and mechanical arm pass wrist worm gear sleeve 22 upper end faces four threaded hole connection. Therefore, the clamping mechanism and the finger telescopic mechanism will also rotate around the wrist rotation axis together with the wrist worm gear to realize the rotation of the wrist, that is, to realize the posture adjustment of the manipulator. This implementation method ensures the decoupling of the spatial position and posture of the gripper from the mechanical structure , which greatly simplifies the operation steps of the robot in the process of climbing.

Equipped with the tower climbing robot of the present invention, the typical action process when climbing and inspecting on the transmission line iron tower is as follows:

When the tower automatic inspection and maintenance climbing robot climbs straight along the angle steel of the power tower component, one manipulator of the robot grasps the angle steel, and the other manipulator is in a loose state, and the joints of the arm are controlled in linkage so that the manipulator and the manipulator are in the The manipulator in the released state moves forward along the direction of the tower angle steel. Then the jaws on the manipulator and the finger telescopic mechanism are linked to grasp the angle steel, and the originally clamped claws are released, and then the joints of the arm are controlled through linkage so that the mechanical arm moves forward along the angle steel, and then clamps the original clamp. The loosened claw releases the originally clamped claw to complete a climb. Going round and round like this, the robot can be advanced step by step along the angle steel of the main component of the tower.

The invention has the advantages of compact structure, large clamping force and large load capacity, and when the robot turns on the iron tower surface, the wrist joint of the invention can be fully utilized. One manipulator of the robot grasps the angle steel, and the other manipulator is in a loose state. By controlling the mechanical wrist joint in the clamped state, the mechanical arm and the free manipulator are rotated by the mechanical arm in the clamped state. Rotate a certain angle for the axis, close to the target angle steel, and then control the jaws of the manipulator and the finger telescopic mechanism to grasp the angle steel, and release the clamped claws, and then control the joints of the arm and the mechanical wrist joints through linkage to achieve Make the manipulator gradually approach the target angle steel, and then clamp the originally loosened jaws to complete the steering.

The end structure of the manipulator of the iron tower climbing robot provided by the present invention has multiple degrees of freedom, and the clamping force is relatively large, and through multi-axis linkage control, the reliable clamping of the clamped angle steel by the claw clamping mechanism and the finger telescopic mechanism can be realized . The invention is a general-purpose tower automatic inspection and maintenance climbing robot terminal manipulator device, which can be used for both joint-type climbing robots and frame-type automatic climbing robots.

Claims (3)

1. a novel iron tower climbing robot robot device is characterized in that comprising clamp mechanism, finger telescoping mechanism and Wrist mechanism, and wherein clamp mechanism is by clamping motor (1); The commutating tooth wheels (18) that connect with motor output shaft are with the clamp mechanism screw mandrel (4) that gear train is connected, nut (20); Push rod (3); Train wheel bridge (7), lower plate (5) constitutes, and last lower plate connects through bearing pin (6); Push rod (3) upper end is connected with nut (20), and the lower end is connected through pin (19) with chute (2) on the lower plate (5); The finger telescoping mechanism is by the flexible motor (17) of finger, screw mandrel (12), nut (13); Guide rail (11); Finger (10) constitutes, and the flexible motor (17) of finger that is arranged on the clamp mechanism train wheel bridge (7) is connected with screw mandrel (12), and nut (13) is connected with the finger (10) that in guide rail (11), moves; Be connected with screw mandrel (12) through screw thread, guide rail (11) is connected with train wheel bridge (7); Wrist mechanism is by wrist motor bearing (14); Wrist motor (24); Worm screw (23), worm gear (15) constitutes, and wrist motor bearing (14) is connected through support column (16) with clamp mechanism train wheel bridge (7); Worm gear (15) is installed on the rotating shaft (21) through sleeve (22), the anglec of rotation and the direction of controlling paw portion through the rotating speed and the direction of the wrist motor (24) that is connected with worm screw (23) of control.

2. novel iron tower climbing robot robot device according to claim 1 is characterized in that clamp mechanism and finger telescoping mechanism constitute the combined type clamping, form the sealing of power to the angle steel clamping, thereby have improved the reliability of clamping.

3. novel iron tower climbing robot robot device according to claim 1 and 2 is characterized in that the last lower plate front end working face (8 and 9) of clamp mechanism adopts the bigger elastomeric material of coefficient of friction, increases the coefficient of friction of clamping face and angle steel contact-making surface.

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