A stable live-line working robot

Abstract

The present invention discloses a stable live-working robot, which relates to the field of robot technology, and includes two groups of main bodies, wherein the two groups of main bodies are both provided with clamping frames, and the tops and bottoms between the two groups of main bodies and the two groups of clamping frames are both connected by clamping mechanisms. After the present invention is clamped on the outside of a rod body, a dual-axis motor drives a walking roller shaft to rotate, wherein one group of suction cups is connected with a connecting hole of a fixed cylinder, so that the suction cups generate suction force, so that the suction cups are tightly adsorbed on the outer surface of the rod body, and as the walking roller shaft rotates, one group of suction cups gradually detaches from the connecting hole, while another group of suction cups gradually connects with the connecting hole, so that the next group of suction cups continue to adsorb the outer surface of the rod body, which effectively improves the overall climbing stability, and after the overall climbing stops, one group of suction cups is adsorbed with the surface of the rod body, so that the robot arm can better maintain stability during live-working.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a live-working robot with stable operation. Background Art

[0002] Live working refers to a method of maintenance and testing on high-voltage electrical equipment without power outages, which can avoid economic losses to society caused by power outages due to maintenance. The live working robot, whose full name is overhead distribution line component replacement robot, has the main function of using robots to replace on-site live working workers and directly perform live replacement operations on various components on high-voltage lines, which can effectively reduce the accident rate of personnel. The main characteristics of the live working robot include operation mode, degree of automation, number of robotic arms, and degree of freedom of robotic arms.

[0003] Live working robots can be divided into semi-automatic and fully automatic according to the degree of automation. The fully automatic ones mainly include pole climbing robots. Pole climbing robots are different from general ground mobile robots. They need to overcome their own gravity, hold the pole tightly, and climb by the friction generated by the power part and the surface of the pole to be climbed. Then, live working is performed through the mechanical arm on the top of the pole climbing robot to complete the work under specific conditions. Therefore, pole climbing robots are an important branch of the robotics field.

[0004] In the prior art, pole-climbing robots for live operations usually walk on the surface of the pole body through walking wheels after holding the pole body tightly, thereby completing the pole climbing operation. However, when climbing, the walking wheels will slip on the surface of the pole body to a certain extent, resulting in poor stability during the climbing process. Moreover, when the climbing robot starts to perform live operations after climbing to a certain height, the pole-climbing robot is fixed relative to the pole body, and since the mechanical arm will shake during operation, a certain degree of shaking will occur between the robot and the pole body, thereby greatly reducing the overall stability. Summary of the invention

[0005] Based on this, the purpose of the present invention is to provide a stable-running live-working robot to solve the technical problem in the prior art that the walking wheels will slip with the rod body to a certain extent and cause the entire robot to shake when the robotic arm is operated.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a stable live-working robot, comprising two groups of main bodies, both of which are provided with clamping frames, and the tops and bottoms between the two groups of main bodies and the two groups of clamping frames are connected by clamping mechanisms;

[0007] A fixed cylinder is fixedly arranged at the middle position inside the two groups of clamping frames, and fixed shafts are fixedly arranged at both ends of the fixed cylinder, a walking roller is rotatably connected to the outer side of the fixed cylinder, and suction cups are arranged at the four corners of the outer side of the walking roller, a gas cavity is opened inside the fixed cylinder, a connecting hole connected to the suction cup is opened on one side of the fixed cylinder, and the connecting hole and the gas cavity are connected, both ends of one side of the fixed cylinder are connected with ventilation pipes, and the ventilation pipe and the gas cavity are connected, and a connecting pipe is connected to the bottom of the ventilation pipe, further, a vacuum air pump is arranged at the bottom end of the two groups of clamping frames, and the vacuum air pump and the ventilation pipe are connected by a connecting pipe, a transmission mechanism matching the walking roller is arranged inside the clamping frames, and a central control box is arranged at the top end of the two groups of clamping frames.

[0008] By adopting the above technical scheme, a walking roller is arranged at the middle position of the inner wall of the two groups of clamping frames, and suction cups are arranged at the four corners of the outer side of the walking roller. When the present invention is clamped on the outer side of the rod body, the double-axis motor drives the walking roller to rotate. Since the fixed cylinder is fixed and the walking roller rotates on the outer side of the fixed cylinder, one group of suction cups is connected with the connecting hole of the fixed cylinder, so that the suction cups generate suction, so that the suction cups are tightly adsorbed on the outer surface of the rod body. As the walking roller rotates, one group of suction cups gradually separates from the connecting hole, and the other group of suction cups gradually connects with the connecting hole, so that the next group of suction cups continue to adsorb the outer surface of the rod body. That is to say, every time the walking roller rotates ninety degrees, one group of corresponding suction cups can adsorb the surface of the rod body, which effectively improves the overall climbing stability. After the overall climbing stops, one group of suction cups is adsorbed on the surface of the rod body, so that the robot arm can better maintain stability during live operation and effectively avoid shaking problems.

[0009] The present invention is further configured such that the transmission mechanism includes a dual-axis motor, a driving gear, a driven gear and a mounting frame, wherein the dual-axis motor is installed inside the mounting frame, the driven gear is fixedly arranged at both ends of the walking roller shaft, the driving gear is fixed at both ends of the dual-axis motor, and the driving gear and the driven gear are meshed.

[0010] By adopting the above technical solution, the dual-axis motor provides power to the walking roller, so that the walking roller can climb by conforming to the surface of the rod body.

[0011] The present invention is further configured as follows: the clamping mechanism includes a slider, a tooth plate, a fixed plate, a clamping motor, a driving gear, and a guide rod; the slider is slidably connected to the main body, the guide rod is located inside the main body and passes through the slider, the tooth plate and the slider are fixedly connected, the tooth plate and the clamping frame are fixedly connected via a fixed plate, the clamping motor, the driving gear, and the main body are connected via a first fixed block and a second fixed block, and the driving gear fixed at the output end of the clamping motor is meshed with the tooth plate.

[0012] By adopting the above technical solution, a group of clamping frames are arranged inside the two groups of main bodies, and the top and bottom between one group of main bodies and one group of clamping frames are adjusted by the clamping mechanism, so that the two groups of clamping frames can clamp the outer side of the rod body.

[0013] The present invention is further configured such that support frames are provided at the four corners inside the two groups of clamping frames, auxiliary rollers are rotatably connected inside the multiple groups of support frames, and springs are fixedly connected between the multiple groups of support frames and the clamping frames.

[0014] By adopting the above technical solution, during the clamping process, the rod body compresses its spring to a certain extent through the auxiliary roller, and the reaction force of the spring acts on the surface of the rod body through the auxiliary roller, thereby further improving the overall stability and making the clamping force between the whole and the rod body more stable.

[0015] The present invention is further configured such that fixing rods are fixed inside the two groups of the main bodies and at both ends of the clamping frames, multiple groups of limiting rods extending into the clamping frames are fixedly arranged at the inner ends of the fixing rods, and limiting grooves matching with the limiting rods are opened at both ends of the clamping frames.

[0016] By adopting the above technical solution, during the movement of the clamping frame, the multiple groups of limit rods play a certain degree of limit guiding role on the clamping frame, so that the clamping process of the two groups of clamping frames on the outer side of the rod body is more stable.

[0017] The present invention is further configured such that one end between the two groups of main bodies is rotatably connected via a hinge seat, the other end between the two groups of main bodies is connected via a snap-fit ​​plate, and a robotic arm mounting ring is provided on the top of the two groups of main bodies, wherein the robotic arm mounting ring facilitates the installation of an external robotic arm.

[0018] By adopting the above technical solution, the two groups of main bodies can be opened through the hinge seat, so that the present invention can be placed on the outside of the rod body as a whole, and then the two groups of main bodies can be clamped and fixed by the clamping plate.

[0019] In summary, the present invention mainly has the following beneficial effects:

[0020] 1. The present invention provides walking rollers at the middle position of the inner walls of the two groups of clamping frames, and suction cups are provided at the four corners of the outer sides of the walking rollers. After the present invention is clamped on the outer side of the rod body, the double-axis motor drives the walking rollers to rotate. Since the fixed cylinder is fixed and the walking rollers rotate on the outer side of the fixed cylinder, one group of suction cups is connected with the connecting hole of the fixed cylinder, so that the suction cups generate suction force, so that the suction cups are tightly adsorbed on the outer surface of the rod. With the rotation of the walking rollers, one group of suction cups gradually separates from the connecting hole, and the other group of suction cups gradually connects with the connecting hole, so that the next group of suction cups continue to adsorb the outer surface of the rod. That is to say, every time the walking rollers rotate ninety degrees, one group of corresponding suction cups can adsorb the surface of the rod body, which effectively improves the overall climbing stability. After the overall climbing stops, one group of suction cups adsorbs on the surface of the rod body, so that the mechanical arm better maintains stability during live operation, effectively avoiding shaking and slipping of the walking rollers and the surface of the rod body.

[0021] 2. A group of clamping frames are arranged inside the two groups of main bodies of the present invention, and the top and bottom between one group of main bodies and one group of clamping frames are adjusted by a clamping mechanism, so that the two groups of clamping frames can clamp the outside of the rod body, and during the clamping process, the rod body compresses its spring to a certain extent through the auxiliary roller shaft, and the reaction force of the spring acts on the surface of the rod body through the auxiliary roller shaft, thereby further improving the overall stability and making the clamping force between the whole and the rod body more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 is a cross-sectional view of the present invention;

[0024] Figure 3 For the present invention Figure 2 A magnified image of point A;

[0025] Figure 4 For the present invention Figure 2 The enlarged view of point B;

[0026] Figure 5 This is a schematic diagram of the internal structure of the present invention after enlargement from the first viewing angle;

[0027] Figure 6 This is a schematic diagram of the internal structure of the present invention after enlargement from a second viewing angle;

[0028] Figure 7 It is a schematic diagram of the enlarged local structure of the present invention;

[0029] Figure 8 It is an enlarged partial exploded view of the present invention;

[0030] Fig. 9 It is an enlarged structural schematic diagram of the extrusion roller of the present invention;

[0031] Fig.10 It is an enlarged structural schematic diagram of the clamping mechanism of the present invention;

[0032] Fig.11 It is a schematic structural diagram of the main body of the present invention.

[0033] In the figure: 1. main body; 2. clamping frame; 3. walking roller; 4. suction cup; 5. fixing cylinder; 6. gas chamber; 7. connecting hole; 8. ventilation pipe; 9. connecting pipe; 10. fixed shaft; 11. vacuum air pump; 12. double-axis motor; 13. driving gear; 14. driven gear; 15. mounting frame; 16. slider; 17. tooth plate; 18. fixing plate; 19. clamping motor; 20. driving gear; 21. guide rod; 22. first fixing block; 23. second fixing block; 24. supporting frame; 25. auxiliary roller; 26. spring; 27. hinge seat; 28. clamping plate; 29. ​​mechanical arm mounting ring; 30. central control box; 31. fixing rod; 32. limiting rod; 33. limiting groove. DETAILED DESCRIPTION

[0034] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0035] The following describes an embodiment of the present invention based on its overall structure.

[0036] A stable live-working robot, such as Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 7 , Figure 8 and Fig.10 As shown, it includes two groups of main bodies 1, and clamping frames 2 are arranged inside the two groups of main bodies 1. The tops and bottoms between the two groups of main bodies 1 and the two groups of clamping frames 2 are connected by clamping mechanisms;

[0037] Specifically, the clamping mechanism includes a slider 16, a tooth plate 17, a fixed plate 18, a clamping motor 19, a driving gear 20, and a guide rod 21. The slider 16 is slidably connected to the main body 1. The guide rod 21 is located inside the main body 1 and passes through the slider 16. The tooth plate 17 and the slider 16 are fixedly connected. The tooth plate 17 and the clamping frame 2 are fixedly connected through the fixed plate 18. The clamping motor 19, the driving gear 20 and the main body 1 are connected through a first fixed block 22 and a second fixed block 23. The driving gear 20 fixed at the output end of the clamping motor 19 is meshed with the tooth plate 17. The top and bottom between one group of main bodies 1 and one group of clamping frames 2 are adjusted by the clamping mechanism to adjust the clamping frames 2, so that the two groups of clamping frames 2 can clamp the outer side of the rod body.

[0038] A fixed cylinder 5 is fixedly arranged at the middle position inside the two groups of clamping frames 2, and fixed shafts 10 are fixedly arranged at both ends of the fixed cylinder 5. A walking roller 3 is rotatably connected to the outside of the fixed cylinder 5, and suction cups 4 are arranged at the four corners of the outside of the walking roller 3. A gas chamber 6 is opened inside the fixed cylinder 5, and a connecting hole 7 connected to the suction cup 4 is opened on one side of the fixed cylinder 5, and the connecting hole 7 is connected to the gas chamber 6. Both ends of one side of the fixed cylinder 5 are connected with ventilation pipes 8, and the ventilation pipe 8 is connected to the gas chamber 6. A connecting pipe 9 is connected to the bottom of the ventilation pipe 8. After the present invention is clamped on the outside of the rod body, the dual-axis motor 12 drives the walking roller 3 to rotate. Since the fixed cylinder 5 is fixed and the walking roller 3 rotates on the outside of the fixed cylinder 5, one group of suction cups 4 is connected to the connecting hole 7 of the fixed cylinder 5, so that the suction cup 4 generates suction, so that the suction cup 4 is tightly adsorbed on the outer surface of the rod body. With the rotation of the walking roller 3, one group of suction cups The plate 4 gradually separates from the connecting hole 7, and the other group of suction cups 4 gradually connects with the connecting hole 7, so that the next group of suction cups 4 continues to adsorb the outer surface of the rod body. Specifically, a vacuum air pump 11 is provided at the bottom end of the two groups of clamping frames 2, and the vacuum air pump 11 and the ventilation pipe 8 are connected by a connecting pipe 9. A transmission mechanism that cooperates with the walking roller 3 is provided inside the clamping frames 2. A central control box 30 is provided at the top end of the two groups of clamping frames 2, wherein a battery block is provided inside the central control box 30 to provide power to the whole invention, and the whole invention is controlled by the control module. The transmission mechanism includes a dual-axis motor 12, a driving gear 13, a driven gear 14 and a mounting frame 15, wherein a dual-axis motor 12 is installed inside the mounting frame 15, and the driven gear 14 is fixedly arranged at both ends of the walking roller 3, and the driving gear 13 is fixed at both ends of the dual-axis motor 12, and the driving gear 13 and the driven gear 14 are meshed.

[0039] See also Figure 5 and Fig. 9, support frames 24 are provided at the four corners inside the two groups of clamping frames 2, and auxiliary rollers 25 are rotatably connected to the inner sides of the multiple groups of support frames 24. Springs 26 are fixedly connected between the multiple groups of support frames 24 and the clamping frames 2. By setting the above structure, the rod body compresses its spring 26 to a certain extent through the auxiliary roller 25 during the clamping process, and the reaction force of the spring 26 acts on the surface of the rod body through the auxiliary roller 25, thereby further improving the overall stability and making the clamping force between the whole and the rod body more stable.

[0040] See also Figure 1 , Figure 5 and Figure 6 A fixing rod 31 is fixed inside the two groups of main bodies 1 and at both ends of the clamping frame 2. A plurality of limiting rods 32 extending into the inside of the clamping frame 2 are fixed at the inner ends of the fixing rods 31, and limiting grooves 33 matching with the limiting rods 32 are provided at both ends of the clamping frame 2. By setting the above structure, the present invention can play a certain degree of limiting and guiding role on the clamping frame 2 during the movement of the clamping frame 2, so that the clamping process of the two groups of clamping frames 2 on the outer side of the rod body is more stable.

[0041] See also Figure 1 , Figure 2 and Fig.11 One end of the two groups of main bodies 1 is rotatably connected by a hinge seat 27, and the other end of the two groups of main bodies 1 is connected by a snap-fit ​​plate 28. A robot arm mounting ring 29 is provided on the top of the two groups of main bodies 1, wherein the robot arm mounting ring 29 is convenient for installing an external robot arm, thereby completing live working. By setting the above structure, the present invention can separate the two groups of main bodies 1 by rotating the hinge seat 27 left and right, so as to facilitate placement on the outside of the rod body.

[0042] The working principle of the present invention is as follows: when in use, the two groups of main bodies 1 are connected by rotation between the hinge seats 27, the two groups of main bodies 1 are placed outside the rod body, and then the two groups of main bodies 1 are connected by the clamping plate 28, and then the external mechanical arm is installed on the top of the mechanical arm mounting ring 29, and the mechanical arm can rotate in a circle along the mechanical arm mounting ring 29, so as to facilitate live working;

[0043] Specifically, a set of clamping frames 2 are arranged inside the two sets of main bodies 1, and the top and bottom between the one set of main bodies 1 and the one set of clamping frames 2 are adjusted by the clamping mechanism, so that the two sets of clamping frames 2 can clamp the outside of the rod body, and during the clamping process, the rod body compresses its spring 26 to a certain extent through the auxiliary roller shaft 25, and the reaction force of the spring 26 acts on the surface of the rod body through the auxiliary roller shaft 25, thereby further improving the overall stability and making the clamping force between the whole and the rod body more stable;

[0044] Since walking rollers 3 are arranged at the middle position of the inner walls of the two groups of clamping frames 2, and suction cups 4 are arranged at the four corners of the outer sides of the walking rollers 3, after the present invention is clamped on the outer side of the rod body, the dual-axis motor 12 drives the walking rollers 3 to rotate. Since the fixed cylinder 5 is fixed and the walking rollers 3 rotate on the outer side of the fixed cylinder 5, one group of suction cups 4 is connected with the connecting hole 7 of the fixed cylinder 5, so that the suction cups 4 generate suction force, so that the suction cups 4 are tightly adsorbed on the outer surface of the rod body. As the walking rollers 3 rotate, one group of suction cups 4 gradually separates from the connecting hole 7, and the other group of suction cups 4 gradually connects with the connecting hole 7, so that the next group of suction cups 4 continues to adsorb the outer surface of the rod body.

[0045] That is to say, every time the walking roller 3 rotates 90 degrees, one group of corresponding suction cups 4 can be adsorbed on the surface of the rod body, which effectively improves the overall climbing stability. After the overall climbing stops, one group of suction cups 4 is adsorbed on the surface of the rod body, so that the robot arm can better maintain stability during live operation and effectively avoid shaking problems.

[0046] Furthermore, when the two sets of clamping frames 2 clamp the rod body under the operation of the clamping mechanism, the two sets of clamping frames 2 move centripetally. During the movement of the clamping frames 2, the multiple sets of limiting rods 32 play a certain degree of limiting and guiding role on the clamping frames 2, so that the clamping process of the two sets of clamping frames 2 on the outer side of the rod body is more stable.

[0047] Specifically, each set of clamping mechanisms is driven by a clamping motor 19 to drive the gear 20 to rotate, and then the gear 20 is driven to engage the toothed plate 17 to move, so that the toothed plate 17 drives the clamping frame 2 to move through the fixing plate 18, wherein each set of clamping frames 2 is acted on by two sets of clamping mechanisms at the top and bottom, so that the clamping frame 2 can clamp and fix the rod body more stably;

[0048] From the above, it can be known that the present invention as a whole can more stably adhere to the outside of the rod body for climbing under the action of the walking roller 3 and the suction cup 4 on its outside, and under the action of the suction cup 4, the present invention as a whole can be more stably maintained on the outside of the rod body, which is more convenient for the live operation of the robot arm, and the overall operation process is more stable.

[0049] Although an embodiment of the present invention has been shown and described, this specific embodiment is merely an explanation of the present invention and is not a limitation of the invention. The specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. After reading this specification, those skilled in the art may make modifications, substitutions and variations to the embodiments without creative contributions as needed without departing from the principles and purpose of the present invention. However, as long as they are within the scope of the claims of the present invention, they are protected by patent law.

Claims

1. A stable live-line working robot, comprising two main bodies (1), characterized in that: A clamping frame (2) is provided inside the two groups of main bodies (1), and the tops and bottoms between the two groups of main bodies (1) and the two groups of clamping frames (2) are connected via a clamping mechanism; A fixed cylinder (5) is fixedly arranged at the middle position inside the two groups of clamping frames (2), and fixed shafts (10) are fixedly arranged at both ends of the fixed cylinder (5). The outer side of the fixed cylinder (5) is rotatably connected to a walking roller (3), and suction cups (4) are arranged at the four corners of the outer side of the walking roller (3). A gas cavity (6) is opened inside the fixed cylinder (5), and a connecting hole (7) connected to the suction cup (4) is opened on one side of the fixed cylinder (5), and the connecting hole (7) and the gas cavity (6) are connected. The fixed cylinder (5) is Both ends of the side are connected to a ventilation pipe (8), and the ventilation pipe (8) is connected to the gas chamber (6). The bottom of the ventilation pipe (8) is connected to a connecting pipe (9). The inside of the clamping frame (2) is provided with a transmission mechanism that matches the walking roller shaft (3). The transmission mechanism includes a dual-axis motor (12), a driving gear (13), a driven gear (14) and a mounting frame (15). The dual-axis motor (12) is installed inside the mounting frame (15), and the driven gear (14) is fixedly arranged at both ends of the walking roller shaft (3).

2. A stable live-line working robot according to claim 1, characterized in that: The driving gear (13) is fixed at both ends of the dual-shaft motor (12), and the driving gear (13) and the driven gear (14) are meshed.

3. A stable live-line working robot according to claim 1, characterized in that: The clamping mechanism comprises a slider (16), a tooth plate (17), a fixing plate (18), a clamping motor (19), a driving gear (20), and a guide rod (21); the slider (16) and the main body (1) are slidably connected; the guide rod (21) is located inside the main body (1) and passes through the slider (16).

4. A stable live-line working robot according to claim 3, characterized in that: The toothed plate (17) and the slider (16) are fixedly connected, the toothed plate (17) and the clamping frame (2) are fixedly connected via a fixing plate (18), and a driving gear (20) fixed at the output end of the clamping motor (19) is meshed with the toothed plate (17).

5. The stable-running live-line working robot according to claim 1, characterized in that: Support frames (24) are provided at the four corners inside the two groups of clamping frames (2), auxiliary rollers (25) are rotatably connected inside the multiple groups of support frames (24), and springs (26) are fixedly connected between the multiple groups of support frames (24) and the clamping frames (2).

6. A stable live-line working robot according to claim 1, characterized in that: A vacuum air pump (11) is provided at the bottom end of the two groups of clamping frames (2), and the vacuum air pump (11) and the ventilation pipe (8) are connected via a connecting pipe (9).

7. The stable-running live-line working robot according to claim 1, characterized in that: Fixed rods (31) are fixed inside the two groups of the main bodies (1) and at both ends of the clamping frame (2). Multiple groups of limit rods (32) extending into the interior of the clamping frame (2) are fixedly arranged at the inner ends of the fixed rods (31), and limit grooves (33) matching the limit rods (32) are provided at both ends of the clamping frame (2).

8. The stable-running live-line working robot according to claim 1, characterized in that: One end of the two groups of main bodies (1) is rotatably connected via a hinge seat (27), and the other end of the two groups of main bodies (1) is connected via a snap-fit ​​plate (28). A mechanical arm mounting ring (29) is provided on the top of the two groups of main bodies (1).

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