A clamping device for climbing a tower and a robot thereof

Abstract

The application provides a clamping device for climbing a tower and a robot thereof, and relates to the technical field of robots, and mainly comprises a motor, a frame body, a lead screw, a first linkage part, a second linkage part and a first claw, and the first linkage part is threadedly connected with the lead screw; the left and right ends of the first linkage part are symmetrically and flexibly provided with the second linkage part, which is used for realizing swing and linear movement of the first claw in sequence. According to the scheme, the swing and linear movement of the claw and other complex and reliable clamping actions can be continuously and reciprocally realized by driving one motor, the overall structure is simple and light, energy consumption is low, multi-stage flexible linkage is realized, the claw can be stably clamped on the tower body, and the clamping device is prevented from being stuck; a profiling structure is designed on the claw, the contact area with the tower body is improved, and the damage to the surface of the tower body is effectively reduced; torque detection and ultrasonic detection can be added, and the anti-overload and anti-collision performance of the clamping device is further improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a gripping device and robot for climbing iron towers. Background Technology

[0002] Currently, various climbing robots are emerging in large numbers. In the power industry, there is an increasing demand for robots to replace manual labor in high-altitude operations by climbing power towers. Therefore, research on power tower climbing robots has gradually attracted attention. Among the various research and development directions of related components, how to safely and effectively clamp the tower profiles has become a major issue of widespread concern in the industry.

[0003] Patent application CN114100090B, entitled "A Gripper Device for Climbing Power Transmission Towers," discloses a gripper device mainly comprising a motor, a lead screw, a left lead screw nut, a right lead screw nut, a left L-shaped slider, a right L-shaped slider, a sliding guide rail bracket, a left gripper body, and a right gripper body. The lead screw shaft passes through the left and right support holes of the sliding guide rail bracket. The motor is connected to the right side of the lead screw shaft via a coupling, and the motor housing is connected to the sliding guide rail bracket. The left and right lead screw nuts are respectively located on both sides of the lead screw shaft, and both have the same structure but are installed in opposite directions. Although this device can achieve fixing and releasing actions on the tower, the design of the direction of clamping force application is not perfect, resulting in insufficient clamping stability on the tower material and a tendency for detachment accidents.

[0004] Patent application CN114084243A, entitled "A Hierarchical Motion Clamping Mechanism for a Power Tower Climbing Robot," discloses a hierarchical motion clamping mechanism, mainly comprising a lifting motor, a clamping motor, a support platform, a longitudinal lead screw, a first clamping unit, a second clamping unit, and guide wheels. While this mechanism improves the direction of clamping force application, it is structurally complex, difficult to control, and costly. It requires multiple motors to coordinate and control to complete the clamping action, lacks clamping flexibility, and even slight carelessness during operation can cause the clamping units to jam, leading to clamping failure.

[0005] The patent application with publication number CN115123417A, entitled "A Robot Climbing and Clamping Mechanism for Power Transmission Towers", discloses a clamping mechanism that mainly includes a drive motor, a support platform, a lead screw, a linkage device, a clamping assembly, and directional wheels. While this mechanism improves the direction of clamping force application, reduces the number of motors, and coordinates the movements of the left and right clamping groups, its overall flexibility still needs improvement. It cannot achieve synchronous application of clamping force in opposite directions, failing to guarantee effective contact between the clamping part and the tower material. Furthermore, the directional wheels, being rolling supports, cannot provide effective clamping friction, leading to insufficient clamping force, gravitational displacement, and slippage, still posing a risk of robot falling. Additionally, because the directional wheels maintain constant contact with the tower material, it cannot adapt to the curvature and deformation of the tower's angle steel, making it prone to derailment when crossing steps at the tower joints. This constant contact method also scratches and damages the tower's protective layer, causing corrosion. Moreover, the clamping mechanism lacks torque detection for the drive motor, failing to guarantee sufficient driving torque and causing incomplete clamping, potentially leading to the robot falling. Finally, the clamping mechanism lacks detection of foreign objects on the tower material, easily resulting in mis-clamping. Summary of the Invention

[0006] The purpose of this invention is to provide a clamping device and robot for climbing iron towers, so as to solve at least one of the above-mentioned technical problems existing in the prior art.

[0007] In a first aspect, to solve the above-mentioned technical problems, the present invention provides a clamping device for climbing iron towers, comprising a motor, a frame, a lead screw, a first linkage part, a second linkage part, and a first claw:

[0008] The motor body is located at the upper end of the frame; one end of the lead screw is connected to the output shaft of the motor, and the other end is pivotally connected to the lower end of the frame, so that when the motor rotates, it can drive the lead screw to rotate together; the first linkage part is provided inside the frame, and the first linkage part is connected to the lead screw, so that the latter can thread the transmission to the former, so that when the lead screw rotates, the first linkage part can move up and down inside the frame; the left and right ends of the first linkage part are symmetrically and flexibly provided with second linkage parts, so that when the first linkage part moves, it can flexibly drive the two second linkage parts to move synchronously; the first jaws are symmetrically provided at the front and rear ends of the second linkage parts, and are used to clamp the tower body; the second linkage part is used to sequentially realize the swing and linear movement of the first jaws, thereby realizing the clamping and releasing action of the tower body.

[0009] In one feasible implementation, the second linkage specifically includes a first movable block, a second movable block, a clamping arm, and a first connecting rod:

[0010] The frame is provided with a first guide post, which is parallel to the lead screw.

[0011] The first movable block is movably sleeved on the first guide post. One end of the first movable block is flexibly connected to one end of the first linkage part, and the other end of the first movable block is provided with a stepped hole. The stepped hole is parallel to the first guide post.

[0012] The second movable block is positioned below the first movable block and movably fitted onto the first guide post. A stepped guide post is fixed on the second movable block. The stepped guide post is parallel to the first guide post and is movably inserted into the stepped hole. The maximum diameter of the stepped guide post is greater than the minimum diameter of the stepped hole. This allows the first movable block to move upward independently under the drive of the lead screw until the step in the stepped hole contacts the step of the stepped guide post. After that, the first movable block and the second movable block move upward together.

[0013] Two clamping arms are symmetrically arranged on the front and rear sides of the first moving block. One end of the clamping arm is hinged to the first moving block, and the other end of the clamping arm is provided with a first claw. One end of the first connecting rod is hinged to the end of the clamping arm near the first moving block, and the other end of the first connecting rod is hinged to the second moving block. This allows the clamping arm to swing and close to the state parallel to the first guide post when the first moving block moves upward alone. When the first moving block and the second moving block move upward at the same time, the clamping arm is driven to move upward until the first claw abuts against the surface of the tower body, such as square steel, so that the tower body can be tightly held between the first claw and the frame.

[0014] In one feasible implementation, the second linkage part further includes a crank-slider mechanism and a track groove; a second guide post is also provided inside the frame, the second guide post being parallel to the lead screw; the crank in the crank-slider mechanism is pivotally connected to the frame, the moving joint of the crank is restricted in the track groove, the slider in the crank-slider mechanism is movably sleeved on the second guide post, and the slider is used as a second chuck for clamping the tower body, so that the second chuck can be driven to move up and down along the axial direction of the second guide post until it abuts against the surface of the tower body through the track groove.

[0015] The above structure enables the following action process: when the first moving block is in the low position in the frame, the two clamping arms are in the open state. When the first moving block moves upward, it drives the two clamping arms to swing and close simultaneously until the clamping arms are parallel to the first guide post, completing the swing and closing action of the two first jaws. Then, the first moving block and the second moving block move upward simultaneously, driving the clamping arms to move upward until they abut against the surface of the tower body. Simultaneously, the track groove on the first moving block drives the slider in the crank-slider mechanism to move downward until the slider abuts against the other surface of the tower body, thereby completing the bidirectional synchronous reaction force clamping and holding action of the tower body. Conversely, when the first moving block moves downward, the release action of the tower body is gradually completed in the reverse order of the above process.

[0016] In one feasible implementation, the track groove is shaped as two staggered, connected, and parallel straight grooves, which facilitates the left-right movement of the crank's sliding pair, thereby driving the slider to move up and down.

[0017] In one feasible implementation, the second claw includes a V-shaped groove for engaging with the corner of the tower body angle steel during the clamping action.

[0018] In one feasible implementation, a plurality of first elastic elements are provided between the first moving block and the second moving block, which tend to move the first moving block away from the second moving block. This can buffer the two when they are close together, and push the second moving block downward when the first moving block moves downward, thereby causing the clamping arm to move downward and finally moving the first claw away from the tower body.

[0019] In one feasible implementation, a second elastic element is further provided between the first moving block and the frame. The second elastic element tends to move the first moving block away from the frame, thus providing a buffering effect when the two are close together.

[0020] In one feasible implementation, the first elastic element and the second elastic element are springs.

[0021] In one feasible implementation, the first claw includes a detachable locking block for contacting the tower surface, which facilitates fine-tuning the direction of the locking block, replacing worn locking blocks, and replacing locking blocks of different shapes and materials to adapt to different towers.

[0022] In one feasible implementation, the clamping device further includes a cover that is detachably mounted on the outside of the frame to protect the lead screw and motor from collisions and contamination by foreign objects.

[0023] Secondly, based on the same inventive concept, this application also provides a robot using the above-mentioned clamping device, wherein a plurality of the clamping devices are installed on the corresponding climbing parts of the robot, the motor is electrically connected to the controller of the robot, and the controller controls the forward and reverse rotation of the motor, thereby controlling the opening and closing of the clamping device, thereby realizing the release or gripping action when climbing the tower step by step.

[0024] In one feasible implementation, the motor has a built-in torque sensor that is electrically connected to the robot's controller. This allows the torque detection data to be sent to the robot's controller in real time. After processing, the controller adjusts the power supply to the motor to monitor the motor torque, which can prevent motor overload and ensure that the clamping force reaches the preset value.

[0025] In one feasible implementation, the clamping device is further equipped with several ultrasonic sensors, each of which is electrically connected to the robot's controller. The ultrasonic sensors are located on the outside of the frame near a certain clamping arm and are used to detect whether there are foreign objects in the movement area of ​​a certain clamping arm. If so, an alarm signal is sent to the controller, which then processes the signal and adjusts the motor control strategy to prevent the clamping arm from colliding with the foreign object. If not, no alarm signal is sent, and the clamping arm moves normally. This prevents foreign objects near the clamping arm from causing collision damage to the clamping arm.

[0026] In one feasible implementation, the ultrasonic sensor further includes a reflector for reflecting the ultrasonic waves emitted from the sensor's transmitting end to the detection area and reflecting the ultrasonic waves reflected by foreign objects back to the sensor's receiving end. This facilitates the layout of the ultrasonic wave propagation path and optimizes the ultrasonic detection effect.

[0027] By adopting the above technical solution, the present invention has the following beneficial effects:

[0028] This invention provides a gripping device and robot for climbing iron towers. Driven by only one motor, it can continuously and reciprocally perform complex and reliable gripping actions such as the swinging and linear movement of the first claw and the linear movement of the second claw. The device has a simple and lightweight structure, low energy consumption, and achieves multi-level flexible linkage, ensuring that the first and second claws are firmly gripped on the tower body, avoiding jamming and insufficient gripping force. This solution also incorporates a contour-following structure on the claws, increasing the contact area with the tower body, enhancing the adaptability of the gripping device to different types of iron towers, and effectively reducing damage to the tower surface. This solution can also add torque detection and ultrasonic detection to further improve the overload and collision resistance of the gripping device. Attached Figure Description

[0029] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of the external structure of a clamping device for climbing iron towers in the open state, provided by an embodiment of the present invention.

[0031] Figure 2 This is a schematic diagram of the external structure of a clamping device for climbing iron towers in the closed state, as provided in an embodiment of the present invention.

[0032] Figure 3 for Figure 2 Internal structure diagram;

[0033] Figure 4 for Figure 3 A 3D view of the first moving block;

[0034] Figure 5 for Figure 4 A sectional perspective view;

[0035] Figure 6 for Figure 3 A three-dimensional view of the central track groove plate;

[0036] Figure 7 for Figure 3 A three-dimensional view of the stepped axis;

[0037] Figure 8 This is a cross-sectional view illustrating the clamping device in its closed state according to an embodiment of the present invention.

[0038] Figure 9 This is a cross-sectional view illustrating the clamping device in its open state according to an embodiment of the present invention.

[0039] Figure label:

[0040] 1-Motor; 2-Frame; 21-Cover; 22-Spring pin; 23-First guide post; 24-Second guide post; 25-Limit post; 26-Mounting hole; 3-Lead screw; 4-First linkage part; 5-Second linkage part; 51-First moving block; 511-Step hole; 52-Trajectory groove plate; 521-Trajectory groove; 53-Second moving block; 54-Step guide post; 55-Clamping arm; 56-First connecting rod; 57-Crank; 58-Second connecting rod; 6-First chuck; 7-Second chuck; 8-Angle steel; 9-Ultrasonic sensor; 91-Reflector plate. Detailed Implementation

[0041] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0043] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0044] To facilitate understanding of the various embodiments described below, the design concept of this application is briefly described below:

[0045] In view of the technical problems in the background art, this application considers improving the guide wheel into a second claw. The shape of the second claw can be designed according to the specific design of the tower body. For example, for angle steel, the second claw is designed as a V-shaped groove so that it can fit completely with the corner of the angle steel, thereby improving the clamping force and avoiding clamping wear on the corner of the angle steel.

[0046] This application roughly decomposes the clamping action of the jaws into: the first jaw swings, the first jaw moves upward, and the second jaw moves downward; conversely, the jaw releasing action is roughly decomposed into the second jaw moving upward, the first jaw moving downward, and the first jaw swinging. The linkage device is designed as a first linkage part and a second linkage part. The first linkage part controls the two second linkage parts on the left and right sides to flexibly link together, and the second linkage part controls the first jaw and the second jaw to link together according to the above actions, thereby achieving a stable clamping effect of the jaws on the tower body through a single motor.

[0047] In the specific design of the mechanical structure of the second linkage, it is considered to use stepped guide columns to realize the step-by-step action of the first chuck; at the same time, a crank-connecting rod mechanism combined with a track groove is used to realize the movement of the second chuck; and the above structures are creatively combined to achieve the technical effect of completing complex linkage with a simple structure.

[0048] The present invention will be further explained below with reference to specific embodiments.

[0049] It should also be noted that the specific embodiments or implementation methods described below are a series of optimized settings listed by the present invention to further explain the specific content of the invention, and these settings can be combined or used in conjunction with each other.

[0050] Example 1:

[0051] like Figure 1-3 As shown ( Figure 3 (To facilitate the representation of the internal structure, some symmetrically arranged repetitive structures are hidden). This embodiment provides a clamping device for climbing iron towers, including a motor 1, a frame 2, a cover 21, a lead screw 3, a first linkage part 4, a second linkage part 5, a first claw 6, and a second claw 7.

[0052] The frame 2 is a cuboid frame structure. The motor 1 body is fixed to the upper central through hole of the frame 2 by bolts. One end of the lead screw 3 is connected to the output shaft of the motor 1 by bolts and a flange, and the other end is pivotally connected to the lower central through hole of the frame 2 by a bearing. In this way, when the motor 1 rotates, it can drive the lead screw 3 to rotate together. The two covers 21 are fixed to the front and rear outer sides of the frame 2 by bolts to protect the lead screw 3 and the motor 1 from collision and contamination by foreign objects.

[0053] The frame 2 is provided with the first linkage part 4 inside, and the first linkage part 4 is threadedly connected to the lead screw 3. When the lead screw 3 rotates, the first linkage part 4 can move up and down inside the frame 2. The left and right ends of the first linkage part 4 are symmetrically and flexibly provided with second linkage parts 5. When the first linkage part 4 moves, it can flexibly drive the two second linkage parts 5 to move synchronously.

[0054] Specifically, the first linkage part 4 includes a lead screw nut and a swing block: the lead screw nut is threadedly connected to the lead screw 3, and a swing shaft with front and rear symmetrical arrangement is provided on the lead screw nut; the swing block is sleeved on the swing shaft, which is used to enable the first linkage part 4 to swing clockwise or counterclockwise in a direction perpendicular to the lead screw 3. Ball heads are provided at the left and right ends of the swing block, and the ball heads are connected to the second linkage part 5 to realize a flexible connection between the first linkage part 4 and the second linkage part 5. Through the above two-stage flexible connection, the clamping device can be effectively prevented from jamming during the clamping process.

[0055] The first claw 6 is symmetrically arranged at the front and rear ends of the second linkage part 5, and the second claw 7 is arranged between the two first claws 6 and connected to the second linkage part 5, for reciprocating to realize the clamping and releasing action of the angle steel 8;

[0056] The second linkage 5 specifically includes a first moving block 51, a second moving block 53, a clamping arm 55, a first connecting rod 56, and a crank-slider mechanism:

[0057] The frame 2 is provided with a first guide post 23 and a second guide post 24, which are parallel to the lead screw;

[0058] The first movable block 51 is movably sleeved on the first guide post 23. One end of the first movable block 51 is provided with a countersunk hole for flexible connection with the ball head of the first linkage part 4. The other end of the first movable block 51 is provided with a track groove plate 52 and a stepped hole 511, such as... Figures 4-6 As shown; the stepped hole 511 is parallel to the first guide post 23; the track groove plate 52 is fastened to the side wall of the first moving block 51 by bolts, and is used to make the slider in the crank-slider mechanism move up and down;

[0059] The second movable block 53 is disposed below the first movable block 51 and movably sleeved on the first guide post 23. A stepped guide post 54 is fixed to the second movable block 53 by a set screw. Figure 7 As shown, the step guide post 54 is parallel to the first guide post 23, and the step guide post 54 is movably inserted into the step hole 511. The maximum diameter of the step guide post 54 is greater than the minimum diameter of the step hole 511. This allows the first moving block 51 to move upward independently under the drive of the lead screw 3 until the step in the step hole 511 contacts the step of the step guide post 54. Then, the first moving block 51 and the second moving block 53 move upward together.

[0060] Two clamping arms 55 are symmetrically arranged on the front and rear sides of the first moving block 51. The clamping arms 55 are L-shaped, with one end of their short side hinged to the first moving block 51 and one end of their long side provided with a first claw 6. One end of the first connecting rod 56 is hinged to the end of the clamping arm 55 near the first moving block 51, and the other end of the first connecting rod 56 is hinged to the side wall of the second moving block 53. In this way, as long as the step length of the step guide post 54 is calculated reasonably, when the first moving block 51 moves upward alone, the clamping arms 55 are driven to swing and close to the state parallel to the first guide post 23. When the first moving block 51 and the second moving block 53 move upward at the same time, the clamping arms 55 are driven to move upward until the first claw 6 abuts against the side of the angle steel 8.

[0061] The crank-slider mechanism includes a crank 57, a second connecting rod 58, and a second pawl 7. The second connecting rod 58 is hinged to the crank 57 and the second pawl 7 respectively. The crank 57 is pivotally connected to the side wall of the frame 2. The sliding joint of the crank 57 is restricted in the track groove 521. The slider in the crank-slider mechanism, i.e. the second pawl 7, is movably sleeved on the second guide post 24. In this way, the second pawl 7 can be driven to move up and down along the axial direction of the second guide post 24 through the track groove 521 until it abuts against the corner of the angle steel 8.

[0062] Furthermore, the track groove 521 is shaped as two staggered and parallel straight grooves, which makes it easy to drive the moving pair of the crank to move left and right, thereby driving the second pawl 7 to move up and down.

[0063] Specifically, the length of each straight groove can be adjusted according to actual needs, which can change the timing of the second claw 7 moving up and down, thereby adjusting the moving sequence of the first claw 6 and the second claw 7; adjusting the distance between the two straight grooves can change the distance of the second claw 7 moving up and down, thereby realizing the clamping function for tower bodies of different specifications.

[0064] Furthermore, the second claw 7 includes a V-shaped groove that can fully fit the corner of the angle steel 8.

[0065] Furthermore, two first springs are symmetrically arranged between the first moving block 51 and the second moving block 53, which tend to move the first moving block 51 away from the second moving block 53. This can buffer the two when they are close together, and push the second moving block 53 downward when the first moving block 51 moves downward, so that the first claw 6 moves away from the edge of the angle steel 8.

[0066] A second spring is also provided between the first moving block 51 and the frame 2. The second spring tends to move the first moving block 51 away from the frame 2, so that it can play a buffering role when the two are close together.

[0067] The first spring is sleeved on the spring pin 22, and the second spring is sleeved on the stepped guide post 54.

[0068] Furthermore, a limiting post 25 is provided below the first moving block 51 to prevent the first moving block 51 from exceeding the limit position after the first elastic element fails due to fatigue, so as to avoid damage to the lead screw 3 and the first moving block 51; an elastic pad is provided on the top of the limiting post 25 to provide flexible cushioning.

[0069] The following action can be achieved through the above structure: When the first moving block 51 is in the low position in the frame 2, the two clamping arms 55 are in the open state. When the first moving block 51 moves upward, it drives the two clamping arms 55 to close simultaneously until the clamping arms 55 are parallel to the first guide post 23 (based on the specific design dimensions of the stepped guide post 54), completing the closing action of the first claw 6. Then, the first moving block 51 and the second moving block 53 move upward simultaneously, driving the clamping arms 55 to move upward until the first claw 6 abuts against the side of the angle steel 8. Simultaneously (based on the specific design dimensions of the track groove 521), the track groove 521 on the track groove plate 52 drives the slider in the crank slider mechanism, that is, the second claw 7, to move downward until the second claw 7 abuts against the corner of the angle steel 8, thereby completing the clamping and holding action of the angle steel 8. Figure 8 As shown (to facilitate viewing the relative positions of the moving parts, parts obstructing the view, such as springs, bolts, and parts of the frame), conversely, when the first moving block 51 moves downward, following the reverse sequence, the track groove 521 on the track groove plate 52 drives the slider in the crank-slider mechanism, i.e., the second pawl 7, to move upward, away from the corner of the angle steel 8. Simultaneously, under the elastic force of the first spring, the second moving block 53 moves downward, causing the clamping arm and the first pawl 7 to move away from the edge of the angle steel 8. Until the second moving block 53 reaches the bottom of the frame 2, the first moving block 51 continues to move downward, causing the clamping arm 55 to open, thereby gradually completing the release action on the angle steel 8. Figure 9 As shown (to make it easier to see the relative positions of the moving parts, parts that obstruct the view, such as springs, bolts, and parts of the frame, are omitted from the figure).

[0070] Furthermore, the first claw 6 includes a detachable locking block and an adjustment device. The locking block is used to contact the edge of the angle steel 8, which facilitates fine adjustment of the direction of the locking block, replacement of worn locking blocks, and replacement of locking blocks of different shapes and materials to adapt to different tower bodies.

[0071] Preferably, the locking block has a cam-shaped structure with several grooves on the edge of the cam to increase the friction between it and the angle steel 8;

[0072] Preferably, the adjusting device includes a camshaft and a spring pin: the camshaft is used to position the locking block; the spring pin is used to lock the locking block.

[0073] Example 2:

[0074] This embodiment provides a robot using the above-mentioned clamping device. Several clamping devices are mounted on the corresponding climbing parts of the robot through several mounting holes 26 on their tops and bolts. The motor 1 is electrically connected to the robot's controller. The controller controls the forward and reverse rotation of the motor 1, thereby controlling the opening and closing of the clamping device, and thus realizing the release or gripping action when climbing the tower step by step.

[0075] Furthermore, the motor 1 has a built-in torque sensor, which is electrically connected to the robot's controller. This allows the torque detection data to be sent to the robot's controller in real time. After processing, the controller adjusts the motor's control strategy to monitor the motor torque and prevent motor overload.

[0076] Furthermore, the clamping device is also equipped with four ultrasonic sensors 9. Each ultrasonic sensor 9 is electrically connected to the robot's controller. Each ultrasonic sensor 9 is fixed to the outside of the frame 2 by bolts and is located near one clamping arm. It is used to detect whether there are foreign objects in the movement area of ​​the corresponding clamping arm 55. If so, an alarm signal is sent to the controller. After processing by the controller, the control strategy of the motor is adjusted to prevent the clamping arm 55 from colliding with the foreign object. If not, no alarm message is sent, and the clamping arm 55 moves normally. This can prevent foreign objects near the clamping arm 55 from colliding and damaging the clamping arm 55.

[0077] Furthermore, the ultrasonic sensor 9 also includes a reflector 91, which is fixed to the signal transceiver of the ultrasonic wave. The reflector reflects the ultrasonic wave emitted by the ultrasonic sensor 9 to the detection area and reflects the ultrasonic wave reflected by the foreign object back to the receiving end of the ultrasonic sensor 9. This facilitates the layout of the ultrasonic wave propagation path and optimizes the ultrasonic detection effect.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A clamping device for climbing iron towers, characterized in that, Includes a motor, frame, lead screw, first linkage part, second linkage part, and first clamping jaw: The motor body is located at the upper end of the frame; one end of the lead screw is connected to the output shaft of the motor, and the other end is connected to the lower end of the frame; The frame is provided with the first linkage part inside, which is connected to the lead screw for the latter to drive the former by thread; the left and right ends of the first linkage part are symmetrically and flexibly provided with second linkage parts; the first claw is symmetrically provided at the front and rear ends of the second linkage part for clamping the tower body; the second linkage part is used to realize the swing and linear movement of the first claw in sequence. The second linkage specifically includes a first moving block, a second moving block, a clamping arm, and a first connecting rod: The frame is provided with a first guide post, which is parallel to the lead screw. The first movable block is movably sleeved on the first guide post. One end of the first movable block is flexibly connected to one end of the first linkage part. The other end of the first movable block is provided with a track groove plate and a stepped hole. The stepped hole is parallel to the first guide post. The second movable block is disposed below the first movable block and movably sleeved on the first guide post. A stepped guide post is fixed on the second movable block. The stepped guide post is parallel to the first guide post and is movably inserted into the stepped hole. The maximum diameter of the stepped guide post is greater than the minimum diameter of the stepped hole. Two clamping arms are symmetrically arranged on the front and rear sides of the first moving block. One end of the clamping arm is hinged to the first moving block, and the other end of the clamping arm is provided with a first pawl. One end of the first connecting rod is hinged to the end of the clamping arm near the first moving block, and the other end of the first connecting rod is hinged to the second moving block. The second linkage also includes a crank-slider mechanism. A second guide post is provided inside the frame, and the second guide post is parallel to the lead screw. The crank in the crank-slider mechanism is mounted on the frame, and the sliding joint of the crank is restricted in the track groove of the track groove plate. The slider in the crank-slider mechanism is movably sleeved on the second guide post, so that the track groove drives the slider to move along the second guide post. The slider also serves as a second chuck for clamping the tower body.

2. The apparatus according to claim 1, characterized in that, The track groove is shaped as two staggered, connected, and parallel straight grooves.

3. The apparatus according to claim 1, characterized in that, The second claw includes a V-shaped groove that fits into the corner of the angle steel.

4. The apparatus according to claim 1, characterized in that, A plurality of first elastic elements are also provided between the first moving block and the second moving block, which tend to move the first moving block away from the second moving block.

5. The apparatus according to claim 1, characterized in that, The clamping device also includes a cover, which is detachably installed on the outside of the frame to protect the lead screw and motor.

6. A robot employing the gripping device as described in any one of claims 1 to 5, characterized in that, Several of the clamping devices are mounted on the corresponding climbing parts of the robot, and the motor is electrically connected to the robot's controller.

7. The robot according to claim 6, characterized in that, The motor has a built-in torque sensor, which is electrically connected to the robot's controller.

8. The robot according to claim 6, characterized in that, The clamping device is also equipped with several ultrasonic sensors, each of which is electrically connected to the robot's controller.

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