Mechanical clamping jaw structure for electric angle steel tower climbing robot

Abstract

The invention discloses a mechanical clamping jaw structure for an electric angle steel tower climbing robot, which comprises a shell unit, the shell unit comprises a shell, a mounting plate is fixed on one side of the shell, an abutting plate is fixed on one side, far away from the mounting plate, of the shell, a triangular groove is formed in one side, far away from the shell, of the abutting plate, and rubber convex blocks are fixed on the inner walls of the two sides of the triangular groove; the clamping unit comprises two through grooves formed in the shell, two rectangular plates are arranged in the shell, the rectangular plates are arranged in the through grooves in a sliding fit mode, hook-shaped plates are arranged on the sides, away from the shell, of the rectangular plates, and a first-stage control assembly used for controlling the rectangular plates and the hook-shaped plates to move in the through grooves is arranged in the shell; a secondary control assembly used for controlling the hook-shaped plate to move towards the rectangular plate is arranged in the rectangular plate. One corner of the angle steel tower is clamped in the triangular groove, and the other two corners of the angle steel tower are respectively clamped at the corners of the two hook-shaped plates by the hook-shaped plates, so that the angle steel tower can be clamped more firmly.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical clamps, and in particular to a mechanical clamp structure for an electric angle steel tower climbing robot. Background Art

[0002] Climbing robots involve a wide range of disciplines and application fields, and are highly specialized, which results in different forms of climbing robots. As special-purpose robots, the movement space of climbing robots can be two-dimensional planes such as walls and ceilings, or complex three-dimensional spaces such as bridges and power towers. During the climbing process, climbing robots have to overcome their own gravity, so the robot itself needs to be as light as possible in order to carry a larger load and improve working performance. This requires more consideration of the robot structure and materials.

[0003] In terms of climbing objects, power towers mainly include angle steel towers and cylindrical towers. The angle steel tower structure is a truss structure. Due to the special structure of the angle steel tower and the triangular pile cross-section, its clamp also needs to be set to a specific shape. However, even if the shape of the existing mechanical clamp can be applied to the angle steel tower structure, its clamping method mainly relies on the rotating mechanism to control the rotation of the clamp to clamp the angle steel tower. The stability of this clamping method is still poor. Summary of the invention

[0004] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0005] In view of the above-mentioned problems of the mechanical gripper structure for an electric angle steel tower climbing robot, the present invention is proposed.

[0006] Therefore, the purpose of the present invention is to provide a mechanical clamp structure for an electric angle steel tower climbing robot, which is used to solve the problem that even if the appearance of the existing mechanical clamp can be adapted to the angle steel tower structure, its clamping method mainly relies on a rotating mechanism to control the rotation of the clamp to clamp the angle steel tower, and the stability of this clamping method is still poor.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions: a mechanical gripper structure for an electric angle steel tower climbing robot, comprising:

[0008] The housing unit comprises a shell, a mounting plate is fixed to one side of the shell, a contact plate is fixed to the side of the shell away from the mounting plate, a triangular groove is formed on the side of the contact plate away from the shell, and rubber bumps are fixed to the inner walls of both sides of the triangular groove;

[0009] The clamping unit includes two through slots opened in an outer shell, two rectangular plates are arranged in the outer shell, and the rectangular plates are slidably fitted in the through slots, a hook-shaped plate is arranged on the side of the rectangular plate away from the outer shell, a primary control component for controlling the movement of the rectangular plate and the hook-shaped plate in the through slots is arranged in the outer shell, and a secondary control component for controlling the movement of the hook-shaped plate toward the rectangular plate is arranged in the rectangular plate.

[0010] As a preferred solution of the mechanical gripper structure for an electric angle steel tower climbing robot described in the present invention, the first-level control component includes a cylinder fixed in the outer shell, a connecting pipe is fixed on one side of the rectangular plate, a first piston is fixed on the end of the connecting pipe away from the rectangular plate, and the first piston is sealingly slidably fitted in the cylinder.

[0011] As a preferred solution of the mechanical gripper structure for an electric angle steel tower climbing robot described in the present invention, the secondary control component includes a first stroke groove opened in a rectangular plate, a notch connected to the first stroke groove is opened in the rectangular plate, and the connecting pipe is connected to the notch, a connecting rod is fixed to the side of the hook-shaped plate close to the rectangular plate, a second piston is fixed to the end of the connecting rod extending into the first stroke groove, and the second piston is sealed and slidably fitted in the first stroke groove.

[0012] As a preferred solution of the mechanical gripper structure for an electric angle steel tower climbing robot described in the present invention, two limit rods are fixed to the side of the hook-shaped plate close to the rectangular plate, the connecting rod is located between the two limit rods, and two second travel grooves are opened in the rectangular plate, and the limit rods are slidably fitted in the corresponding second travel grooves.

[0013] As a preferred solution of the mechanical gripper structure for an electric angle steel tower climbing robot described in the present invention, a hollow door plate is fixed on and connected to the cylinder, a side of the hollow door plate away from the cylinder is fixed to the inner wall of the outer shell, a hydraulic cylinder is installed in the hollow door plate, a third piston is fixed at the extended end of the hydraulic cylinder, and the third piston is slidably fitted in the hollow door plate.

[0014] As a preferred solution of the mechanical gripper structure for an electric angle steel tower climbing robot described in the present invention, the first piston is provided with a first conical groove and a second conical groove, and the directions of the first conical groove and the second conical groove are opposite, the first conical groove is sealingly and slidingly connected with a first conical plug, and the second conical groove is sealingly and slidingly connected with a second conical plug.

[0015] As a preferred solution of the mechanical gripper structure for an electric angle steel tower climbing robot described in the present invention, a connecting shaft is fixed on one side of the first conical plug and the second conical plug, a pressure plate is fixed on one end of the connecting shaft, and multiple cylindrical rods are fixed on both sides of the first piston, and the cylindrical rods pass through the pressure plate and are slidably connected to the pressure plate.

[0016] As a preferred solution of the mechanical gripper structure for an electric angle steel tower climbing robot described in the present invention, a spring is sleeved on the outer side of the cylindrical rod, and one end of the spring abuts against the pressure plate, and the other end of the spring abuts against the first piston.

[0017] As a preferred solution of the mechanical gripper structure for the electric angle steel tower climbing robot described in the present invention, guide rods are fixed to the inner walls on both sides of the shell, and the guide rods penetrate the rectangular plate and are slidably connected to the rectangular plate.

[0018] The beneficial effects of the present invention are as follows: by pumping the gas in the cylinder into the empty door plate, the two first pistons are close to each other in the cylinder, thereby driving the rectangular plate and the hook plate to approach each other; when the hook plate and the angle steel tower are in contact, the hydraulic cylinder continues to contract, and the gas in the cylinder will continue to move into the empty door plate to form a negative pressure in the cylinder; when the negative pressure in the cylinder is greater than the elastic force of the spring, one of the first conical plugs will move out of the first conical groove, allowing the gas in the connecting pipe and the first stroke groove to enter the cylinder, that is, the hook plate approaches the rectangular plate, so that the hook plate clamps the angle steel tower, that is, one corner of the angle steel tower is stuck in the triangular groove, and the hook plate clamps the other two corners of the angle steel tower at the corners of the two hook plates, so that the angle steel tower can be clamped more firmly. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0020] Figure 1 The present invention is a schematic structural diagram of a mechanical gripper structure for an electric angle steel tower climbing robot.

[0021] Figure 2 This is a schematic structural diagram of the clamping unit provided by the present invention.

[0022] Figure 3 The present invention is a top view of a mechanical gripper structure for an electric angle steel tower climbing robot.

[0023] Figure 4This is a schematic diagram of the structure of the primary control component provided by the present invention.

[0024] Figure 5 A schematic diagram of the structure of the secondary control component provided by the present invention.

[0025] Figure 6 This is a schematic cross-sectional structure diagram of the first piston provided by the present invention.

[0026] Description of the drawings: 100, housing unit; 101, housing; 102, mounting plate; 103, abutment plate; 104, triangular groove; 105, guide rod; 200, clamping unit; 201, through groove; 202, rectangular plate; 204, hook plate; 205, primary control assembly; 2051, cylinder; 2052, connecting pipe; 2053, first piston; 206, secondary control assembly; 2061, first stroke groove; 2062, notch; 2063, connecting rod; 2064, second piston; 207, limit rod; 208, second stroke groove; 209, empty door plate; 210, third piston; 211, hydraulic cylinder; 212, first conical groove; 213, second conical groove; 214, first conical plug; 215, second conical plug; 216, connecting shaft; 217, pressure plate; 218, spring; 219, cylindrical rod; a, angle steel tower. DETAILED DESCRIPTION

[0027] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0028] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0029] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0030] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0031] Reference Figure 1-Figure 6, as one embodiment of the present invention, provides a mechanical gripper structure for an electric angle steel tower climbing robot, which includes: a housing unit 100 and a clamping unit 200;

[0032] The housing unit 100 includes a housing 101, a mounting plate 102 is fixed to one side of the housing 101, a contact plate 103 is fixed to the side of the housing 101 away from the mounting plate 102, a triangular groove 104 is formed on the side of the contact plate 103 away from the housing 101, and rubber bumps are fixed to the inner walls of both sides of the triangular groove 104;

[0033] The clamping unit 200 includes two through slots 201 opened in the shell 101, two rectangular plates 202 are arranged in the shell 101, and the rectangular plates 202 are slidably fitted in the through slots 201, a hook plate 204 is arranged on the side of the rectangular plate 202 away from the shell 101, a primary control component 205 is arranged in the shell 101 for controlling the rectangular plate 202 and the hook plate 204 to move in the through slot 201, a secondary control component 206 is arranged in the rectangular plate 202 for controlling the hook plate 204 to move toward the rectangular plate 202, and a guide rod 105 is fixed to the inner walls on both sides of the shell 101, and the guide rod 105 passes through the rectangular plate 202 and is slidably connected to the rectangular plate 202.

[0034] When in use, through the set contact plate 103 and triangular groove 104, one corner of the angle steel tower a can be embedded in the triangular groove 104, and the rubber protrusion set in the triangular groove 104 can increase the friction between the contact plate 103 and the angle steel tower a. When one corner of the angle steel tower a is stuck in the triangular groove 104, the two rectangular plates 202 and the hook plate 204 are controlled to approach each other through the first-level control component 205. When the hook plate 204 and the other two corners of the angle steel tower a are fitted, the hook plate 204 is controlled to approach the rectangular plate 202 through the second-level control component 206, so that the hook plate 204 clamps the other two corners of the angle steel tower a at the corners of the two hook plates 204, so that the angle steel tower a can be clamped more firmly.

[0035] In addition, the first-level control component 205 includes a cylinder 2051 fixed in the outer shell 101, a connecting pipe 2052 is fixed on one side of the rectangular plate 202, a first piston 2053 is fixed on the end of the connecting pipe 2052 away from the rectangular plate 202, and the first piston 2053 is sealingly and slidably fitted in the cylinder 2051, and the second-level control component 206 includes a first stroke groove 2061 opened in the rectangular plate 202, a notch 2062 connected to the first stroke groove 2061 is opened in the rectangular plate 202, and the connecting pipe 2052 is connected to the notch 2062, and a connecting rod 2063 is fixed on one side of the hook plate 204 close to the rectangular plate 202, and a second piston 2064 is fixed on the end of the connecting rod 2063 extending to the first stroke groove 2061, and the second piston 2064 is sealingly and slidably fitted in the first stroke groove 2061.

[0036] In addition, two limit rods 207 are fixed on one side of the hook plate 204 close to the rectangular plate 202, and the connecting rod 2063 is located between the two limit rods 207. Two second stroke grooves 208 are provided in the rectangular plate 202, and the limit rods 207 are slidably matched in the corresponding second stroke grooves 208. A hollow door plate 209 is fixed and connected to the cylinder 2051, and the side of the hollow door plate 209 away from the cylinder 2051 is fixed to the inner wall of the shell 101. A hydraulic cylinder 211 is installed in the hollow door plate 209, and a third piston 210 is fixed to the extended end of the hydraulic cylinder 211. The third piston 210 is slidably matched in the hollow door plate 209, and a first conical groove 212 and a second conical groove are provided in the first piston 2053. 213, and the directions of the first conical groove 212 and the second conical groove 213 are opposite, the first conical groove 212 is sealed and slidably connected with the first conical plug 214, and the second conical groove 213 is sealed and slidably connected with the second conical plug 215, one side of the first conical plug 214 and the second conical plug 215 are fixed with a connecting shaft 216, one end of the connecting shaft 216 is fixed with a pressure plate 217, and multiple cylindrical rods 219 are fixed on both sides of the first piston 2053, the cylindrical rod 219 passes through the pressure plate 217 and is slidably connected with the pressure plate 217, a spring 218 is sleeved on the outer side of the cylindrical rod 219, and one end of the spring 218 is against the pressure plate 217, and the other end of the spring 218 is against the first piston 2053.

[0037] When in use, the primary control component 205 controls the two rectangular plates 202 and the hook-shaped plate 204 to approach each other, and the hydraulic cylinder 211 contracts to drive the third piston 210 to move into the empty door plate 209, thereby pumping the gas in the cylinder 2051 into the empty door plate 209. At this time, the two first pistons 2053 move in the cylinder 2051 and approach each other, thereby driving the rectangular plate 202 and the hook-shaped plate 204 to approach each other. When the hook-shaped plate 204 and the angle steel tower a fit together, the hydraulic cylinder 211 continues to contract, and the first piston 2053 will no longer move. At this time, the gas in the cylinder 2051 will continue to be pumped into the empty door plate 209. The movement of the door panel 209 forms a negative pressure in the cylinder 2051. When the third piston 210 continues to move, when the negative pressure in the cylinder 2051 is greater than the elastic force of the spring 218, the spring 218 is compressed. At this time, one of the first conical plugs 214 will move out of the first conical groove 212, so that the gas in the connecting pipe 2052 and the first stroke groove 2061 enters the cylinder 2051 from the first conical groove 212, thereby causing the connecting rod 2063 to move into the first stroke groove 2061, that is, the hook plate 204 approaches the rectangular plate 202, so that the hook plate 204 clamps the angle steel tower a.

[0038] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A mechanical gripper structure for an electric angle steel tower climbing robot, characterized in that: include: A housing unit (100) comprises a housing (101), a mounting plate (102) being fixed to one side of the housing (101), a contact plate (103) being fixed to the side of the housing (101) away from the mounting plate (102), a triangular groove (104) being provided on the side of the contact plate (103) away from the housing (101), and rubber bumps being fixed to the inner walls of both sides of the triangular groove (104); The clamping unit (200) comprises two through slots (201) opened in a shell (101), two rectangular plates (202) are arranged in the shell (101), and the rectangular plates (202) are slidably fitted in the through slots (201), a hook plate (204) is arranged on the side of the rectangular plate (202) away from the shell (101), a primary control component (205) for controlling the rectangular plate (202) and the hook plate (204) to move in the through slots (201) is arranged in the shell (101), and a secondary control component (206) for controlling the hook plate (204) to move toward the rectangular plate (202) is arranged in the rectangular plate (202).

2. The mechanical gripper structure for a power angle steel tower climbing robot according to claim 1, characterized in that: The primary control component (205) comprises a cylinder (2051) fixed in the housing (101); a connecting pipe (2052) is fixed on one side of the rectangular plate (202); a first piston (2053) is fixed on one end of the connecting pipe (2052) away from the rectangular plate (202); and the first piston (2053) is sealingly and slidably fitted in the cylinder (2051).

3. The mechanical gripper structure for a power angle steel tower climbing robot according to claim 2, characterized in that: The secondary control component (206) includes a first stroke groove (2061) opened in the rectangular plate (202); a notch (2062) connected to the first stroke groove (2061) is opened in the rectangular plate (202), and the connecting pipe (2052) is connected to the notch (2062); a connecting rod (2063) is fixed to one side of the hook plate (204) close to the rectangular plate (202); a second piston (2064) is fixed to the end of the connecting rod (2063) extending into the first stroke groove (2061), and the second piston (2064) is sealingly slidably fitted in the first stroke groove (2061).

4. The mechanical gripper structure for a power angle steel tower climbing robot according to claim 3, characterized in that: Two limiting rods (207) are fixed on one side of the hook-shaped plate (204) close to the rectangular plate (202); the connecting rod (2063) is located between the two limiting rods (207); two second travel grooves (208) are provided in the rectangular plate (202); the limiting rods (207) are slidably fitted in the corresponding second travel grooves (208).

5. The mechanical gripper structure for a power angle steel tower climbing robot according to claim 2, characterized in that: A hollow door plate (209) is fixed on and connected to the cylinder (2051); a side of the hollow door plate (209) away from the cylinder (2051) is fixed to the inner wall of the outer shell (101); a hydraulic cylinder (211) is installed in the hollow door plate (209); a third piston (210) is fixed to the extended end of the hydraulic cylinder (211); and the third piston (210) is slidably fitted in the hollow door plate (209).

6. The mechanical gripper structure for a power angle steel tower climbing robot according to claim 2, characterized in that: The first piston (2053) is provided with a first conical groove (212) and a second conical groove (213), and the directions of the first conical groove (212) and the second conical groove (213) are opposite. The first conical groove (212) is sealingly and slidably connected with a first conical plug (214), and the second conical groove (213) is sealingly and slidably connected with a second conical plug (215).

7. The mechanical gripper structure for a power angle steel tower climbing robot according to claim 6, characterized in that: A connecting shaft (216) is fixed to one side of the first conical plug (214) and the second conical plug (215), a pressure plate (217) is fixed to one end of the connecting shaft (216), and a plurality of cylindrical rods (219) are fixed to both sides of the first piston (2053), the cylindrical rods (219) penetrate the pressure plate (217) and are slidably connected to the pressure plate (217).

8. The mechanical gripper structure for a power angle steel tower climbing robot according to claim 7, characterized in that: A spring (218) is sleeved on the outer side of the cylindrical rod (219), and one end of the spring (218) abuts against the pressure plate (217), and the other end of the spring (218) abuts against the first piston (2053).

9. The mechanical gripper structure for a power angle steel tower climbing robot according to claim 1, characterized in that: Guide rods (105) are fixed to the inner walls on both sides of the housing (101), and the guide rods (105) penetrate the rectangular plate (202) and are slidably connected to the rectangular plate (202).

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