CN111409084B - Be used for staying tower inspection robot arm and rotate spacing closing device - Google Patents
Be used for staying tower inspection robot arm and rotate spacing closing device Download PDFInfo
- Publication number
- CN111409084B CN111409084B CN202010274438.4A CN202010274438A CN111409084B CN 111409084 B CN111409084 B CN 111409084B CN 202010274438 A CN202010274438 A CN 202010274438A CN 111409084 B CN111409084 B CN 111409084B
- Authority
- CN
- China
- Prior art keywords
- seat
- connecting piece
- screw rod
- follow
- tower
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 45
- 230000005540 biological transmission Effects 0.000 claims abstract description 21
- 241000282414 Homo sapiens Species 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 241000282472 Canis lupus familiaris Species 0.000 description 1
- 241000282326 Felis catus Species 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a rotation limiting and pressing device for an arm of a tower-staying inspection robot, which comprises: the corner mechanism comprises a rotating seat and a fixed seat which is rotationally connected to the rotating seat through a limiting device; the locking mechanism is fixedly arranged on the fixed seat and comprises a follow-up device and a driving device for driving the follow-up device to move through a transmission assembly; the driving device drives the follow-up device to move, so that the follow-up device and the limiting device are matched to limit and lock the corner of the tower-parking inspection robot; and the mechanical arm is fixedly arranged on the rotating seat. The invention has simple structure and stable and reliable operation.
Description
Technical Field
The invention relates to the technical field of tower-staying inspection robots, in particular to a rotation limiting and pressing device for an arm of a tower-staying inspection robot.
Background
Robots are the common name for automatic control machines (Robot) that include all machines (e.g., machine dogs, machine cats) that simulate human behavior or thought and other creatures. There are many taxonomies and controversies defined in the narrow sense for robots, and some computer programs are even called robots, which in the contemporary industry refer to artificial machines that automatically perform tasks to replace or assist human work. The ideal high-imitation robot is the product of advanced integrated control theory, mechano-electronics, computer and artificial intelligence, materials science and bionics, and the scientific community is researching and developing in the direction.
The safe and stable operation of the power transmission line directly affects the safety and reliability of a power system, but because the power transmission line is exposed in a complex and severe outdoor environment for a long time and is seriously affected by factors such as human beings and weather, common power equipment accidents such as line material damage and insulator flashover can often occur, the power transmission line needs to be regularly patrolled and examined, the operation condition of the power transmission line is mastered, hidden dangers are timely discovered and eliminated, and the power accidents are prevented.
In order to ensure the safe and stable operation of the high-voltage transmission line, the high-voltage transmission line must be periodically overhauled, the inspection of the high-voltage transmission line is very necessary for protecting the safety of a power grid, the high-voltage transmission line is widely distributed, the geographic environment of partial regions is relatively complex, and a manual inspection mode is not applicable due to high labor intensity and low inspection precision, so that only a new inspection mode can be found.
At present, the common power transmission line inspection mode mainly comprises manual inspection, unmanned aerial vehicle inspection and tower-staying robot inspection, wherein the manual inspection and the unmanned aerial vehicle inspection require operators to operate on site, and inspection of remote areas is inconvenient. The tower-staying robot can stay nearby the inspection area all the time without field operation, so that the method has certain advantages. When the existing tower-staying robot passes through a curved road section, the mechanical arm needs to rotate by a certain angle along with the turning of a line, but when the tower-staying inspection robot walks along a straight road section, the mechanical arm needs to be in a locking state, and a device capable of limiting the rotation angle of the arm of the tower-staying robot and locking is urgently needed.
Disclosure of Invention
The embodiment of the invention aims to: in order to solve the problems, the invention provides a rotation limiting and pressing device for an arm of a tower-staying inspection robot, which has the advantages of simple structure, stable and reliable operation, capability of limiting the rotation angle of the arm of the tower-staying inspection robot and locking.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a be used for staying tower inspection robot arm and rotate spacing closing device, includes:
the corner mechanism comprises a rotating seat and a fixed seat which is rotationally connected to the rotating seat through a limiting device;
the locking mechanism is fixedly arranged on the fixed seat and comprises a follow-up device and a driving device for driving the follow-up device to move through a transmission assembly;
the driving device drives the follow-up device to move, so that the follow-up device and the limiting device are matched to limit and lock the corner of the tower-parking inspection robot; and
and the mechanical arm is fixedly arranged on the rotating seat.
Conduct be used for staying tower patrol and examine robot arm rotate spacing closing device's an preferred technical scheme, rotate the seat and divide into two parts that the height varies, higher part is provided with the mounting groove, arm fixed mounting in the mounting groove, lower part is provided with rotates the groove, it rotates the hole to rotate to be provided with on the groove, one side of fixing base is located rotate the inslot, stop device locates rotate downtheholely, make rotate the seat with the fixing base rotates and connects.
As an optimal technical scheme for the arm rotation limiting and pressing device of the tower-parking inspection robot, the limiting device comprises a cam block and a rotating shaft, the cam block is fixedly installed at the upper end of the rotating shaft, and the rotating shaft is fixedly installed in the rotating hole.
As a preferable technical scheme of the rotation limiting and pressing device for the arm of the tower-parking inspection robot, an angular contact bearing and a thrust ball bearing are sequentially arranged in the fixed seat, and the positions of the angular contact bearing and the thrust ball bearing correspond to the positions of the rotation holes.
As an optimal technical scheme for the arm rotation limiting and pressing device of the tower-parking inspection robot, the rotating shaft penetrates through the position of the fixed seat and is sleeved with the angular contact bearing and the thrust ball bearing, the bottom of the rotating seat is fixedly connected with an end cover, and the end cover is used for pressing the thrust ball bearing.
As an optimal technical scheme for the arm rotation limiting and pressing device of the tower-staying inspection robot, the locking mechanism further comprises a mounting seat shell, and the follow-up device, the transmission assembly and the driving device are all arranged in the mounting seat shell.
Conduct a preferred technical scheme that is used for staying tower patrol and examine robot arm and rotates spacing closing device, drive arrangement includes direct current servo motor, direct current servo motor's output is connected with the motor switching shaft, motor switching shaft one end is outstanding draw-in groove, be provided with the lead screw connecting piece in the draw-in groove, direct current servo motor with transmission assembly fixed connection.
Conduct be used for staying tower patrol and examine robot arm rotate spacing closing device's an preferred technical scheme, transmission assembly include trapezoidal lead screw and in proper order with bearing frame, nut connecting piece, the fixed side of lead screw that trapezoidal lead screw is connected, be provided with on the nut connecting piece follow-up device, the bearing frame lead screw fixed side all with mount pad casing fixed connection, be provided with deep groove ball bearing on the bearing frame, deep groove ball bearing cover is established on the trapezoidal lead screw, trapezoidal lead screw in one side of bearing frame with the lead screw connecting piece is connected.
Conduct a preferred technical scheme for standing tower patrolling robot arm rotate spacing closing device, still include linear guide mount pad and fixed connection in the sliding guide of linear guide mount pad upper end, linear guide mount pad fixed mounting in the mount pad casing, sliding connection has the slider on the sliding guide, the nut connecting piece with slider fixed connection, the bearing frame lead screw fixed side respectively fixed connection in the both sides of linear guide mount pad, direct current servo motor with linear guide mount pad fixed connection.
As an optimal technical scheme for the tower-staying inspection robot arm rotation limiting and pressing device, the follow-up device comprises cam followers, the cam followers are arranged on the front side and the rear side of the nut connecting piece, clamping grooves are formed in the bottom of the nut connecting piece, and the clamping grooves are used for being clamped with the cam blocks.
Compared with the prior art, the invention has the beneficial effects that: the invention has the characteristics of simple structure and stable and reliable operation, and can limit the rotation angle of the arm of the tower-staying robot and lock the arm through the matching work of the follow-up device and the limiting device, thereby ensuring the safe operation of the tower-staying inspection robot.
Drawings
The invention is explained in more detail below with reference to the figures and examples.
Fig. 1 is a schematic view of a locking state when a tower-staying inspection robot passes through a curved road section when walking on a cable through a driving wheel according to an embodiment of the invention.
Fig. 2 is a schematic view of a rotation angle limiting state when the tower-staying inspection robot passes through a straight line section when walking on a cable through a driving wheel according to the embodiment of the invention.
Fig. 3 is a schematic view illustrating connection between a corner mechanism and a locking mechanism in the arm rotation limiting and pressing device for the tower-parking inspection robot according to the embodiment of the invention.
Fig. 4 is a schematic structural diagram of a locking mechanism in an arm rotation limiting and pressing device of a tower-parking inspection robot according to an embodiment of the present invention.
Fig. 5 is an exploded schematic view of a locking mechanism in an arm rotation limiting and pressing device for a tower-staying inspection robot according to an embodiment of the present invention.
Fig. 6 is a cross-sectional view of a locking mechanism in an arm rotation limiting and pressing device for a tower-parking inspection robot according to an embodiment of the invention.
Fig. 7 is a schematic structural diagram of a corner mechanism in an arm rotation limiting and pressing device for a tower-parking inspection robot according to an embodiment of the present invention.
Fig. 8 is another structural diagram of a rotation angle mechanism in an arm rotation limiting and pressing device for a tower-parking inspection robot according to an embodiment of the present invention.
Fig. 9 is an exploded schematic view of a corner mechanism in the arm rotation limiting and pressing device for the tower-parking inspection robot according to the embodiment of the invention.
In the figure:
100. a locking mechanism; 101. a sliding guide rail; 102. a linear guide rail mounting seat; 103. a DC servo motor; 104. a motor transfer shaft; 105. a screw rod connecting piece; 106. a deep groove ball bearing; 107. a bearing seat; 108. a nut connector; 109. a cam follower; 110. a trapezoidal screw rod; 111. a mount housing; 112. a screw rod fixing side; 113. a clamping groove; 200. a corner turning mechanism; 201. a rotating seat; 202. an end cap; 203. a thrust ball bearing; 204. a fixed seat; 205. an angular contact bearing; 206. a rotating shaft; 207. a cam block; 208. a rotating groove; 300. a mechanical arm; 400. a cable.
Detailed Description
In order to make the technical problems solved, technical solutions adopted, and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention are described in further detail below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, unless otherwise explicitly specified or limited, the terms "connected", "connected" and "fixed" are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
As shown in fig. 1 to fig. 3, the present embodiment provides a rotation limiting and pressing device for an arm of a tower parking inspection robot, including:
the corner mechanism 200 comprises a rotating seat 201 and a fixed seat 204 which is rotatably connected to the rotating seat 201 through a limiting device;
the locking mechanism 100 is fixedly arranged on the fixed seat 204, and the locking mechanism 100 comprises a follow-up device and a driving device for driving the follow-up device to move through a transmission assembly;
the driving device drives the follow-up device to move, so that the follow-up device and the limiting device are matched to limit and lock the corner of the tower-parking inspection robot; and
and the mechanical arm 300 is fixedly arranged on the rotating seat 201.
In the present invention, two robot arms 300 are provided, and in a horizontal state, the two robot arms 300 are arranged in parallel, it can be understood that the two robot arms 300 are not limited to two, and can be additionally provided according to different requirements; the mechanical arm 300 is provided with a driving wheel which is arranged on a cable 400 and can be used for a tower-standing inspection robot to walk on the cable 400, when the driving wheel walks on a bent section cable 400 or a straight section cable 400, the direct current servo motor 103 drives a trapezoidal screw rod 110 so as to enable the nut connecting piece 108 to generate linear motion, and the relative position between the cam follower 109 and the cam block 207 is changed by adjusting the moving distance of the nut connecting piece 108, so that the mechanical arm 300 is locked or the rotatable angle of the mechanical arm 300 is limited; when the nut connecting member 108 reaches the extreme position in the forward direction, the minimum value of the rotational angle of the robot arm 300 is obtained, i.e., the locked state; when the nut connecting member 108 reaches the extreme position in the retreating direction, it is the maximum value of the rotational angle of the robot arm 300.
In an embodiment of the present invention, the rotating base 201 is divided into two parts with different heights, a mounting groove is formed in a higher part, the robot arm 300 is fixedly mounted in the mounting groove, a rotating groove 208 is formed in a lower part, a rotating hole is formed in the rotating groove 208, one side of the fixing base 204 is disposed in the rotating groove 208, and the limiting device is disposed in the rotating hole, so that the rotating base 201 and the fixing base 204 are rotatably connected.
It should be noted that the surfaces of the upper portion and the lower portion are both horizontal, and it can be understood that the upper portion and the lower portion are integrally formed, the rotation groove 208 is opened to the right and penetrates through the front and rear sides of the lower portion, so as to ensure that the rotation seat 201 can freely rotate around the fixed seat 204, and the rotation angle and locking of the rotation seat 201 are only controlled by the locking mechanism 100; the end surface of the lower part close to the fixed seat 204 is set to be in a first arc shape.
Specifically, the limiting device comprises a cam block 207 and a rotating shaft 206, the cam block 207 is fixedly installed at the upper end of the rotating shaft 206, and the rotating shaft 206 is fixedly installed in the rotating hole.
The cam block 207 comprises a fixing plate and a convex block, the fixing plate and the convex block are integrally formed, the convex block is located above the fixing plate, a fixing hole is formed in the fixing plate, and the fixing hole is used for fixedly mounting the cam block 207 on the rotating shaft 206.
The rotating holes penetrate from the upper end of the lower portion to the lower end face of the lower portion, a plurality of mounting holes are uniformly arranged on the periphery of the rotating holes, and the rotating shaft 206 is fixedly connected with the mounting holes through screws.
As shown in fig. 7 to 9, an angular contact bearing 205 and a thrust ball bearing 203 are sequentially disposed in the fixing base 204, and the positions of the angular contact bearing 205 and the thrust ball bearing 203 correspond to the position of the rotation hole.
Specifically, the fixing seat 204 includes two parts with different heights, a shaft hole is arranged at the lower side, the angular contact bearing 205 and the thrust ball bearing 203 are arranged in the shaft hole, and the shaft hole and the rotation hole are on the same vertical axis; the end surface of the higher side close to the lower side is set to be a second arc shape, and when the second arc shape is in contact with the first arc shape, the rotation resistance of the rotating seat 201 can be reduced; and the end surface of the lower side far away from the higher side is set to be a third arc shape.
In an embodiment of the present invention, the angular contact bearing 205 and the thrust ball bearing 203 are sleeved on the rotating shaft 206 at a position penetrating the fixing seat 204, an end cover 202 is fixedly connected to the bottom of the rotating seat 201, and the end cover 202 is used for pressing the thrust ball bearing 203.
In addition, the locking mechanism 100 further includes a mounting seat housing 111, and the follower, the transmission assembly, and the driving device are all disposed in the mounting seat housing 111.
Specifically, mount pad casing 111 is including the preceding curb plate, left side board, posterior lateral plate, right side board, the roof that set gradually, preceding curb plate the left side board the posterior lateral plate the right side board the roof encloses to close and forms one and holds the chamber, and it can be understood that, preceding curb plate the left side board the posterior lateral plate the right side board roof integrated into one piece, the left side board is the circular arc board, both sides are provided with the screw groove of symmetry around mount pad casing 111, the screw groove is followed mount pad casing 111's top extends to mount pad casing 111's lower part, just the correspondence is provided with the screw hole in the screw groove, the screw groove can be easy to assemble, dismantle mount pad casing 111.
As shown in fig. 4-6, the driving device includes a dc servo motor 103, an output end of the dc servo motor 103 is connected to a motor transfer shaft 104, one end of the motor transfer shaft 104 is a protruding slot, a screw rod connector 105 is disposed in the slot, and the slot is connected to the screw rod connector 105 to form a flexible connection, so as to reduce the difficulty of installation; the direct current servo motor 103 is fixedly connected with the transmission assembly.
It should be noted that the dc servo motor 103 is fixedly installed at a side close to the right side plate, the dc servo motor 103 transmits power to the lead screw connecting piece 105 through the motor connecting shaft 104, so as to drive the trapezoidal lead screw 110 to rotate, at this time, the nut connecting piece 108 generates linear motion, the cam follower 109 is clamped to the cam block 207, and thus the mechanical arm 300 is locked or the rotation angle of the mechanical arm 300 is limited.
As a preferred technical solution for the rotation limiting and pressing device for the arm of the tower-parking inspection robot, the transmission assembly includes a trapezoidal screw rod 110, and a bearing seat 107, a nut connecting piece 108 and a screw rod fixing side 112 sequentially connected to the trapezoidal screw rod 110, the nut connecting piece 108 is provided with the follower, the bearing seat 107 and the screw rod fixing side 112 are both fixedly connected to the mounting seat housing 111, the bearing seat 107 is provided with a deep groove ball bearing 106, and the deep groove ball bearing 106 is sleeved on the trapezoidal screw rod 110 to form a structure capable of freely rotating; the trapezoidal screw 110 is connected to the screw connecting member 105 at one side of the bearing housing 107.
The lead screw fixation side 112 is hinged to the nut connector 108, and the lead screw fixation side 112 is freely rotatable around the axis of the trapezoidal lead screw 110.
Specifically, the bearing seat 107 includes two portions, a first portion is rectangular, a hole for mounting the deep groove ball bearing 106 is formed in the first portion, a convex portion is formed in the second portion, and a screw hole for fixedly mounting the bearing seat 107 on the linear guide rail mounting seat 102 is formed in the convex portion; the nut connecting piece 108 is close to one side of bearing frame 107 is provided with the mounting panel, be provided with on the mounting panel will nut connecting piece 108 is fixed in mounting hole on the sliding guide 101, just the slider can run through one side of nut connecting piece 108.
In addition, still include linear guide mount 102 and fixed connection in the sliding guide 101 of linear guide mount 102 upper end, linear guide mount 102 fixed mounting in mount casing 111, sliding connection has the slider on sliding guide 101, nut connecting piece 108 with slider fixed connection, bearing frame 107 lead screw fixed side 112 respectively fixed connection in the both sides of linear guide mount 102, dc servo motor 103 with linear guide mount 102 fixed connection.
It should be noted that the linear guide rail mounting seat 102 is L-shaped, a vertical portion of the linear guide rail mounting seat 102 is located between the dc servo motor 103 and the inner wall of the mounting seat housing 111, a groove for placing the sliding guide rail is arranged on the upper surface of the linear guide rail mounting seat 102, and the sliding blocks are clamped on two sides of the sliding guide rail.
Specifically, the follower device includes cam followers 109, the cam followers 109 are disposed on the front and rear sides of the nut connecting member 108, a clamping groove 113 is disposed at the bottom of the nut connecting member 108, and the clamping groove 113 is used for clamping with the cam block 207.
As shown in fig. 5, the clamping groove 113 is configured as an outer eight type, the cam followers 109 are disposed on two sides of the clamping groove 113, and the nut connecting member 108 is driven by the dc servo motor 103 to move linearly, so that the clamping groove 113 is clamped with the cam block 207, thereby locking the robot 300 or limiting the rotatable angle of the robot 300.
In the description herein, it is to be understood that the terms "upper," "lower," "left," "right," and the like are used in an orientation or positional relationship merely for convenience in description and simplicity of operation, and do not indicate or imply that the referenced device or element must have a particular orientation, configuration, and operation in a particular orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used merely for descriptive purposes and are not intended to have any special meaning.
In the description herein, references to the description of "an embodiment," "an example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be appropriately combined to form other embodiments as will be appreciated by those skilled in the art.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.
Claims (3)
1. The utility model provides a be used for staying tower patrol and examine robot arm and rotate spacing closing device which characterized in that includes:
the corner mechanism (200) comprises a rotating seat (201) and a fixed seat (204) which is rotatably connected to the rotating seat (201) through a limiting device;
the locking mechanism (100) is fixedly arranged on the fixed seat (204), and the locking mechanism (100) comprises a follow-up device and a driving device for driving the follow-up device to move through a transmission assembly;
the driving device drives the follow-up device to move, so that the follow-up device and the limiting device form corner limiting and locking for the tower-parking inspection robot;
the limiting device comprises a cam block (207) and a rotating shaft (206), and the cam block (207) is fixedly arranged at the upper end of the rotating shaft (206);
the mechanical arm (300), the mechanical arm (300) is fixedly installed on the rotating seat (201);
the locking mechanism (100) further comprises a mounting seat shell (111), and the follow-up device, the transmission assembly and the driving device are all arranged in the mounting seat shell (111);
the driving device comprises a direct current servo motor (103), the output end of the direct current servo motor (103) is connected with a motor transfer shaft (104), one end of the motor transfer shaft (104) is provided with a protruding clamping groove, a screw rod connecting piece (105) is arranged in the clamping groove, and the screw rod connecting piece (105) is connected with the clamping groove;
the transmission assembly comprises a trapezoidal screw rod (110), and a bearing seat (107), a nut connecting piece (108) and a screw rod fixing side (112) which are sequentially connected with the trapezoidal screw rod (110), wherein the nut connecting piece (108) is provided with the follow-up device, the bearing seat (107) and the screw rod fixing side (112) are both fixedly connected with the mounting seat shell (111), the bearing seat (107) is provided with a deep groove ball bearing (106), the deep groove ball bearing (106) is sleeved on the trapezoidal screw rod (110), and the trapezoidal screw rod (110) is connected with the screw rod connecting piece (105) on one side of the bearing seat (107);
the mounting seat shell (111) comprises a front side plate, a left side plate, a rear side plate, a right side plate and a top plate which are sequentially arranged, the front side plate, the left side plate, the rear side plate, the right side plate and the top plate are enclosed to form an accommodating cavity, the direct current servo motor (103) is fixedly arranged on one side close to the right side plate, and the direct current servo motor (103) transmits power to the screw rod connecting piece (105) through the motor connecting shaft (104) so as to drive the trapezoidal screw rod (110) to rotate;
the follow-up device comprises cam followers (109), the cam followers (109) are arranged on the front side and the rear side of the nut connecting piece (108), clamping grooves (113) are formed in the bottom of the nut connecting piece (108), the clamping grooves (113) are used for being clamped with the cam blocks (207), the clamping grooves (113) are arranged in an eight-out shape, the cam followers (109) are arranged on the two sides of the clamping grooves (113), the clamping grooves (113) are clamped with the cam blocks (207), and the nut connecting piece (108) is driven to move linearly through the driving device, so that the mechanical arm (300) is locked or the rotatable angle of the mechanical arm (300) is limited, and the rotating corner of the arm of the tower-parking inspection robot is limited and locked; when the nut connecting piece (108) reaches the extreme position of the advancing direction, the minimum value of the rotatable angle of the mechanical arm (300) is at the moment, namely the locking state; when the nut connecting piece (108) reaches the limit position of the retreating direction, the maximum value of the rotatable angle of the mechanical arm (300) is obtained;
the rotary seat (201) is divided into two parts with different heights, a mounting groove is formed in the higher part of the rotary seat, the mechanical arm (300) is fixedly mounted in the mounting groove, a rotary groove (208) is formed in the lower part of the rotary seat, a rotary hole is formed in the rotary groove (208), the rotary shaft (206) is fixedly mounted in the rotary hole, one side of the fixing seat (204) is arranged in the rotary groove (208), the limiting device is arranged in the rotary hole, the rotary seat (201) is rotatably connected with the fixing seat (204), an angular contact bearing (205) and a thrust ball bearing (203) are sequentially arranged in the fixing seat (204), and the angular contact bearing (205) and the thrust ball bearing (203) are both corresponding to the rotary hole.
2. The rotation limiting and pressing device for the arm of the parking tower patrol robot as claimed in claim 1, wherein an end cover (202) is fixedly connected to the bottom of the rotation seat (201), and the end cover (202) is used for pressing the thrust ball bearing (203).
3. The rotation limiting and pressing device for the arm of the tower-parking inspection robot according to claim 1, further comprising a linear guide rail mounting seat (102) and a sliding guide rail (101) fixedly connected to the upper end of the linear guide rail mounting seat (102), wherein the linear guide rail mounting seat (102) is fixedly installed in the mounting seat shell (111), the sliding guide rail (101) is slidably connected with a sliding block, the nut connecting piece (108) is fixedly connected with the sliding block, the bearing seat (107) and the lead screw fixing side (112) are respectively and fixedly connected to two sides of the linear guide rail mounting seat (102), and the direct current servo motor (103) is fixedly connected with the linear guide rail mounting seat (102).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010274438.4A CN111409084B (en) | 2020-04-09 | 2020-04-09 | Be used for staying tower inspection robot arm and rotate spacing closing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010274438.4A CN111409084B (en) | 2020-04-09 | 2020-04-09 | Be used for staying tower inspection robot arm and rotate spacing closing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111409084A CN111409084A (en) | 2020-07-14 |
| CN111409084B true CN111409084B (en) | 2022-07-08 |
Family
ID=71488251
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010274438.4A Active CN111409084B (en) | 2020-04-09 | 2020-04-09 | Be used for staying tower inspection robot arm and rotate spacing closing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111409084B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2171815A5 (en) * | 1972-02-10 | 1973-09-21 | Skf Svenska Kullagerfab Ab | |
| DE3804572A1 (en) * | 1988-02-13 | 1989-08-24 | Rudolf Sappel | Device for conveying sheet-metal parts in press lines |
| CN201448566U (en) * | 2009-07-07 | 2010-05-05 | 刘昊 | Panorama tripod head structure |
| CN101859990A (en) * | 2010-06-02 | 2010-10-13 | 武汉大学 | A robot for inspection of transmission lines |
| CN105156451A (en) * | 2015-09-24 | 2015-12-16 | 中国航天科技集团公司第九研究院第七七一研究所 | Rotating shaft locking device of transmission mechanism |
| CN208652019U (en) * | 2018-07-10 | 2019-03-26 | 刘乐 | A kind of elastic plug turning joint |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206802138U (en) * | 2017-06-23 | 2017-12-26 | 陈晖� | Engineering truck brake hoof block roll wheel assembly |
-
2020
- 2020-04-09 CN CN202010274438.4A patent/CN111409084B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2171815A5 (en) * | 1972-02-10 | 1973-09-21 | Skf Svenska Kullagerfab Ab | |
| DE3804572A1 (en) * | 1988-02-13 | 1989-08-24 | Rudolf Sappel | Device for conveying sheet-metal parts in press lines |
| CN201448566U (en) * | 2009-07-07 | 2010-05-05 | 刘昊 | Panorama tripod head structure |
| CN101859990A (en) * | 2010-06-02 | 2010-10-13 | 武汉大学 | A robot for inspection of transmission lines |
| CN105156451A (en) * | 2015-09-24 | 2015-12-16 | 中国航天科技集团公司第九研究院第七七一研究所 | Rotating shaft locking device of transmission mechanism |
| CN208652019U (en) * | 2018-07-10 | 2019-03-26 | 刘乐 | A kind of elastic plug turning joint |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111409084A (en) | 2020-07-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111515966B (en) | Lightweight inspection robot with multiple degrees of freedom | |
| CN212412182U (en) | Antenna azimuth angle adjusting device and signal base station | |
| CN209876393U (en) | Intelligent monitoring equipment | |
| CN113285391A (en) | Transmission line inspection robot device | |
| CN111409084B (en) | Be used for staying tower inspection robot arm and rotate spacing closing device | |
| CN114430473A (en) | Monitoring equipment convenient to adjust control angle | |
| CN211414229U (en) | A some glue lock screw equipment for helping hand jar | |
| CN212553857U (en) | Lifting and pressing device for arm of tower-staying inspection robot | |
| CN213592871U (en) | Deformation track robot | |
| CN214478501U (en) | Intelligent power distribution box is used in gardens convenient to installation | |
| CN214618684U (en) | Monitoring device for network debugging | |
| CN217434506U (en) | Cutter rotational positioning mechanism of rectifying | |
| CN215527933U (en) | Remote monitoring and management device for communication base station antenna and radiation unit | |
| CN209833645U (en) | Adjusting support and have this adjusting support's become rail structure thereof | |
| CN217508881U (en) | Underwater infrared high-speed network ball machine with good sealing performance | |
| CN221622199U (en) | Humanoid omnidirectional movement arm-carrying operation robot | |
| CN112366647B (en) | Drop-out arrester mounting tool and robot | |
| CN222664458U (en) | Visual positioning device for three-dimensional storage robot | |
| CN221542002U (en) | Unmanned aerial vehicle prevents accuse monitoring devices | |
| CN215833800U (en) | High-precision high-speed intelligent cradle head | |
| CN220623607U (en) | Security monitoring camera | |
| CN115370912B (en) | Environment mobile detection camera for automatic cable pit inspection | |
| CN218170472U (en) | Panoramic camera for epidemic prevention inspection robot | |
| CN220711248U (en) | Integrated stepping motor angle control device | |
| CN219608162U (en) | Intelligent edge data acquisition device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A clamping device for arm rotation limit of tower inspection robots Effective date of registration: 20230515 Granted publication date: 20220708 Pledgee: Guangzhou Caold financing Company limited by guarantee Pledgor: ZHONGKE KAICHUANG (GUANGZHOU) INTELLIGENT TECHNOLOGY DEVELOPMENT Co.,Ltd. Registration number: Y2023980040613 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Granted publication date: 20220708 Pledgee: Guangzhou Caold financing Company limited by guarantee Pledgor: ZHONGKE KAICHUANG (GUANGZHOU) INTELLIGENT TECHNOLOGY DEVELOPMENT Co.,Ltd. Registration number: Y2023980040613 |