CN203974996U - A kind of tower climbing robot climbing hand - Google Patents
A kind of tower climbing robot climbing hand Download PDFInfo
- Publication number
- CN203974996U CN203974996U CN201420425376.2U CN201420425376U CN203974996U CN 203974996 U CN203974996 U CN 203974996U CN 201420425376 U CN201420425376 U CN 201420425376U CN 203974996 U CN203974996 U CN 203974996U
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- CN
- China
- Prior art keywords
- calvus
- tower
- climbing
- balladeur train
- nut
- 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.)
- Expired - Fee Related
Links
- 230000009194 climbing Effects 0.000 title claims abstract description 31
- 229910000831 Steel Inorganic materials 0.000 abstract description 17
- 239000010959 steel Substances 0.000 abstract description 17
- 238000004891 communication Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002493 climbing effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
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Abstract
A kind of tower climbing robot climbing hand, be characterized in, tower climbing robot climbing hand has one by two root posts and two frameworks that shrouding forms, on two root posts, be respectively provided with a chute, by chute, a balladeur train is installed, balladeur train upper end is by motor cabinet mounted motor, motor connects a rhizoid thick stick by coupler, mounting nuts on leading screw, nut is arranged on nut frame, two push rods are installed on nut frame, a rectangle briquetting is installed on two push rods, on balladeur train, pass through two calvus of hinge symmetrical placement, the relative direction of two calvus is respectively equipped with sawtooth, connecting rod is connected through the hinge on respectively at two root posts, the other end of each connecting rod is hinged with the calvus of homonymy respectively.The utility model is arranged on tower climbing robot, for climbing the high towers such as electric tower, communication tower frame, can grab from different directions the angle steel of card different size.
Description
Technical field
The utility model relates to a kind of mechanical device, especially can grab from different directions a kind of tower climbing robot climbing hand of card different size angle steel.
Background technology
At present, the operations such as the maintenance on the high towers such as electric tower, communication tower frame, installation are also by manually completing, and people's operation on the high towers such as communication tower frame exists aloft work dangerous, and people's operation on electric tower also exists except there is aloft work danger that Keep Clear-High Voltage.Domestic and international many mechanisms have carried out the research of tower climbing robot, and various pylons are many to be formed by connecting by angle steel, forms the angle steel multi-size of pylon, and robot attitude when climbing is also uncertain, and therefore, the climbing hand of robot becomes crucial portion and one of does.
Summary of the invention
For solving the above problems, the utility model provides a kind of tower climbing robot climbing hand, and this tower climbing robot climbing hand can be grabbed the angle steel of card different size from different directions.
The technical scheme that the utility model technical solution problem adopts is: invent a kind of tower climbing robot climbing hand, be characterized in, tower climbing robot climbing hand has one by two root posts and two frameworks that shrouding forms, on two root posts, be respectively provided with a chute, by chute, a balladeur train is installed, balladeur train upper end is by motor cabinet mounted motor, motor connects a rhizoid thick stick by coupler, mounting nuts on leading screw, nut is arranged on nut frame, two push rods are installed on nut frame, a rectangle briquetting is installed on two push rods, on axis, briquetting lower surface, have a trough with straight angle, briquetting lower surface two seamed edges parallel with trough with straight angle are processed into 45 degree chamferings, on balladeur train, by hinge symmetry, two calvus are installed, the relative direction of two calvus is respectively equipped with sawtooth, connecting rod is connected through the hinge respectively on two root posts, the other end of each connecting rod is hinged with the calvus of homonymy respectively.
The beneficial effects of the utility model are that the utility model is arranged on tower climbing robot, for climbing the high towers such as electric tower, communication tower frame, can grab from different directions the angle steel of card different size, is characterized in, grabs folder reliably, simple in structure.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is further illustrated.
Accompanying drawing 1 is the front view of the present embodiment, and accompanying drawing 2, accompanying drawing 3, accompanying drawing 4, accompanying drawing 5 are respectively the schematic diagrams that the present embodiment captures different size angle steel from different directions.
1 angle steel in figure, 2 briquettings, 3 calvus, 4 push rods, 5 adapter shafts, 6 connecting rods, 7 nut framves, 8 calvus axles, 9 times shroudings, 10 pitman shafts, 11 balladeur trains, 12 columns, 13 coupler, 14 motor cabinets, 15 motors, 16 upper sealing plates, 17 springs, 18 leading screws, 19 sliding-tongues, 20 nuts.
The specific embodiment
As shown in Figure 1, two root posts 12 and upper sealing plate 16 and lower shrouding 9 form a framework, inner side at two root posts 12 has chute, balladeur train 11 is provided with four sliding-tongues 19, sliding-tongue 19 inserts chute, mounted motor seat 14 above balladeur train 11, on motor cabinet 14, mounted motor 15, motor 15 connects leading screw 18 by coupler 13, on leading screw 18, mounting nuts 20, nut 20 is arranged on nut frame 7, two push rods 4 are installed on nut frame 7, briquetting 2 is installed in push rod 4 lower ends, on balladeur train 11, by two calvus axles 8, two calvus 3 are installed, on two root posts 12, by two pitman shafts 10, two connecting rods 6 are installed, connecting rod 6 is connected with calvus 3 by adapter shaft 5, in two root posts 12, be separately installed with spring 17, spring 17 one end hang on sliding-tongue 19, the other end hangs on calvus axle 8.
As shown in Figure 1, during use, two the present embodiment can be arranged on respectively on two mechanical arms of tower climbing robot, two climbing hands are alternately grabbed folder and loosen and can realize climbing action, when calvus 3 loosens, carry out and grab folder preparation, spring 17 is left behind balladeur train 11, balladeur train 11 drive motors 15, push rod 4, briquetting 2 and calvus axle 8 move down, motor 15 rotates backward, drive leading screw 18 to rotate backward, on nut 20, move, nut 20 is driven on push rod 4 and briquetting 2 and is moved to appropriate location by nut frame 7, calvus axle 8 promotes calvus 3 and rotates around adapter shaft 5 while moving down, adapter shaft 5 promotes connecting rod 6 around the outer pendulum of pitman shaft 10, now, calvus 3 front ends are opened.When preparing to grab angle steel 1, mechanical arm is pressed on angle steel 1 and by column 12 briquetting 2 near angle steel 1, column 12 drivening rod axles 10 move down, pitman shaft 10 promotes calvus 3 closures by connecting rod 6 and adapter shaft 5, and clamp angle steel 1, according to the different size of angle steel 1 and different directions, the corner angle of angle steel 1 can be clipped in the different sawtooth position of calvus 3, accompanying drawing 2, accompanying drawing 3, accompanying drawing 4, accompanying drawing 5 is respectively the schematic diagram that the present embodiment captures different size angle steel from different directions, motor 15 forward rotation, drive leading screw 18 forward rotation, nut 20 moves down, nut 20 drives push rod 4 and briquetting 2 to move down by nut frame 7 angle steel 1 is compressed, complete and grab folder action.In the time of need to decontroling, motor 15 rotates backward, and moves no longer angle steel 1 is compressed on briquetting 2, and mechanical arm drives climbing hand to lift, and spring 17 is left behind balladeur train 11, and calvus 3 is opened, and it is ready that cutter is grabbed folder next time.
Claims (1)
1. a tower climbing robot is climbed hand, be characterized in: tower climbing robot climbing hand has one by two root posts and two frameworks that shrouding forms, on two described root posts, be respectively provided with a chute, by described chute, a balladeur train is installed, described balladeur train upper end is by motor cabinet mounted motor, described motor connects a rhizoid thick stick by coupler, mounting nuts on described leading screw, described nut is arranged on nut frame, two push rods are installed on described nut frame, a rectangle briquetting is installed on the push rod described in two, on described axis, briquetting lower surface, have a trough with straight angle, described briquetting lower surface two seamed edges parallel with trough with straight angle are processed into 45 degree chamferings, on described balladeur train, by hinge symmetry, two calvus are installed, the relative direction of the calvus described in two is respectively equipped with sawtooth, on the column described in two, pass through respectively hinge installing connecting rods, the other end of the connecting rod described in each is hinged with the described calvus of homonymy respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420425376.2U CN203974996U (en) | 2014-07-24 | 2014-07-24 | A kind of tower climbing robot climbing hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420425376.2U CN203974996U (en) | 2014-07-24 | 2014-07-24 | A kind of tower climbing robot climbing hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203974996U true CN203974996U (en) | 2014-12-03 |
Family
ID=51972467
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420425376.2U Expired - Fee Related CN203974996U (en) | 2014-07-24 | 2014-07-24 | A kind of tower climbing robot climbing hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203974996U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105584551A (en) * | 2016-01-10 | 2016-05-18 | 北京航空航天大学 | Distributed leaf spring variable-rigidity joint driver based on left-hand rotation and right-hand rotation lead screw-sliding block connecting rod mechanism |
| CN105690414A (en) * | 2016-03-08 | 2016-06-22 | 四川大学 | Terminal clamping device for iron tower automatic overhauling climb robot |
| CN106625742A (en) * | 2016-10-31 | 2017-05-10 | 长安大学 | Mechanical claw for climbing tower and using method thereof |
| CN116117848A (en) * | 2022-09-07 | 2023-05-16 | 国网安徽省电力有限公司 | Clamping jaw structure and clamping device with same |
-
2014
- 2014-07-24 CN CN201420425376.2U patent/CN203974996U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105584551A (en) * | 2016-01-10 | 2016-05-18 | 北京航空航天大学 | Distributed leaf spring variable-rigidity joint driver based on left-hand rotation and right-hand rotation lead screw-sliding block connecting rod mechanism |
| CN105690414A (en) * | 2016-03-08 | 2016-06-22 | 四川大学 | Terminal clamping device for iron tower automatic overhauling climb robot |
| CN106625742A (en) * | 2016-10-31 | 2017-05-10 | 长安大学 | Mechanical claw for climbing tower and using method thereof |
| CN116117848A (en) * | 2022-09-07 | 2023-05-16 | 国网安徽省电力有限公司 | Clamping jaw structure and clamping device with same |
| CN116117848B (en) * | 2022-09-07 | 2023-09-26 | 国网安徽省电力有限公司 | Clamp structure and clamping device having the structure |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141203 Termination date: 20150724 |
|
| EXPY | Termination of patent right or utility model |