Clamping operation mechanism of high-voltage iron tower climbing robot

Abstract

The invention provides a high-voltage iron tower climbing robot clamping operation mechanism which comprises an upper clamping plate and a lower clamping plate, an adjustment driving device is arranged between the upper clamping plate and the lower clamping plate, an adjustment guiding device is arranged between the upper clamping plate and the lower clamping plate on one side of the adjustment driving device, a visual camera is arranged on the upper clamping plate, a bolt sleeve is arranged on the lower clamping plate, and a clamping rod is arranged on the bolt sleeve. The bolt sleeve is installed on the lower clamping plate in a sliding mode, the upper end of the bolt sleeve is connected to the output end of the rotary knob motor through a transmission shaft, a shell of the rotary knob motor is installed on the upper clamping plate, and the rotary knob motor drives the clamping tool and the bolt sleeve to rotate synchronously. The bolt tightness degree is detected by replacing a current manual climbing mode, the working efficiency is improved, a visual camera is adopted to perform positioning detection on the clamping mechanism and the bolt screwing mechanism, automation and reliability are achieved, a driving motor of the screwing mechanism can feed back a motor torque signal, and the bolt tightness degree is automatically detected.

Description

Technical Field

[0001] The present invention relates to the technical field of bolt screwing operations, and specifically to a clamping operation mechanism for a high-voltage tower climbing robot. Background Art

[0002] Currently, the inspection of high-voltage tower bolts is only achieved manually, with low work efficiency and high danger. To replace this highly dangerous manual operation with a machine and improve efficiency and reliability. Summary of the Invention

[0003] The technical problem solved by the present invention is to provide a clamping operation mechanism for a high-voltage tower climbing robot to solve the problems raised in the above background art.

[0004] The technical problem solved by the present invention is achieved by the following technical solutions: A clamping operation mechanism for a high-voltage tower climbing robot, comprising: an upper clamping plate and a lower clamping plate. An adjustment driving device is provided between the upper clamping plate and the lower clamping plate. An adjustment guiding device is provided between the upper clamping plate and the lower clamping plate on one side of the adjustment driving device. A vision camera is provided on the upper clamping plate, and the vision camera is installed on the upper clamping plate through a camera mounting bracket. A bolt sleeve is provided on the lower clamping plate, and the bolt sleeve is slidably installed on the lower clamping plate. A buffer spring is provided outside the bolt sleeve. The upper end of the bolt sleeve is connected to the output end of a knob motor through a transmission shaft, and the housing of the knob motor is installed on the upper clamping plate. The knob motor drives the clamping tool and the bolt sleeve to rotate synchronously.

[0005] Further, the adjustment guiding device includes a wire column, one end of which is installed on the upper clamping plate and the other end is slidably installed on the lower clamping plate.

[0006] Further, the adjustment driving device includes a lead screw mechanism, one end of which is fixedly installed on the output end of a lead screw driving motor, and the housing of the lead screw driving motor is installed on the upper clamping plate. A driving nut sleeve is provided outside the lead screw mechanism, and the driving nut sleeve is installed on the lower clamping plate.

[0007] Further, the camera mounting bracket includes a bracket body, one end of which is provided with a camera mounting seat and the other end is provided with a bracket mounting seat. The camera mounting bracket enables the clamping mechanism and the bolt screwing mechanism to be within the field of view monitoring range.

[0008] Further, the upper clamping plate includes an upper clamping plate body, on which a driving motor mounting seat is installed, and a knob motor mounting groove is provided on the upper clamping plate body on one side of the driving motor mounting seat.

[0009] Further, the lower clamping plate includes a lower clamping plate body, on which a sleeve installation groove is provided. On the lower clamping plate body on one side of the sleeve installation groove, a screw sleeve installation groove is provided, and wire column installation grooves are provided on both sides of the screw sleeve installation groove.

[0010] Further, one end of the buffer spring is installed on the lower clamping plate through a spring fixing flange, and the other end is slidably supported on the bolt sleeve.

[0011] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention replaces the current manual climbing method to detect the tightness of bolts, improves work efficiency, uses a vision camera to perform positioning detection on the clamping mechanism and the bolt screwing mechanism, realizes automation and reliability, and the drive motor of the screwing mechanism can feedback the motor torque signal to automatically detect the tightness of bolts. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic structural diagram of the present invention.

[0013] Figure 2 It is a schematic structural diagram of the camera mounting bracket of the present invention.

[0014] Figure 3 It is a schematic structural diagram of the upper clamping plate of the present invention.

[0015] Figure 4 It is a schematic structural diagram of the lower clamping plate of the present invention.

[0016] Figure 5 It is a schematic installation diagram of the buffer spring of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0017] In order to make the implementation means, creative features, achieved purposes and effects of the present invention easy to understand, the present invention will be further described below with reference to specific illustrations. In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected, or indirectly connected through an intermediate medium, and can be the internal communication of two components.

[0018] Embodiment 1

[0019] As Figures 1 to 5As shown in the figure, a clamping operation mechanism for a high-voltage tower climbing robot includes: an upper clamping plate 4 and a lower clamping plate 5. An adjustment driving device is provided between the upper clamping plate 4 and the lower clamping plate 5. An adjustment guiding device is provided between the upper clamping plate 4 and the lower clamping plate 5 on one side of the adjustment driving device. A vision camera 1 is provided on the upper clamping plate 4, and the vision camera 1 is installed on the upper clamping plate 4 through a camera mounting bracket 2. A bolt sleeve 7 is provided on the lower clamping plate 5, and the bolt sleeve 7 is slidably installed on the lower clamping plate 5. A buffer spring 6 is provided outside the bolt sleeve 7. The upper end of the bolt sleeve 7 is connected to the output end of a knob motor 3 through a transmission shaft, and the housing of the knob motor 3 is installed on the upper clamping plate 4. The knob motor 3 drives the clamping tool and the bolt sleeve 7 to rotate synchronously. The adjustment guiding device includes a wire column 9, one end of the wire column 9 is installed on the upper clamping plate 4, and the other end is slidably installed on the lower clamping plate 5.

[0020] Embodiment 2

[0021] As Figures 1 to 5 As shown in the figure, a clamping operation mechanism for a high-voltage tower climbing robot includes: an upper clamping plate 4 and a lower clamping plate 5. An adjustment driving device is provided between the upper clamping plate 4 and the lower clamping plate 5. An adjustment guiding device is provided between the upper clamping plate 4 and the lower clamping plate 5 on one side of the adjustment driving device. A vision camera 1 is provided on the upper clamping plate 4, and the vision camera 1 is installed on the upper clamping plate 4 through a camera mounting bracket 2. A bolt sleeve 7 is provided on the lower clamping plate 5, and the bolt sleeve 7 is slidably installed on the lower clamping plate 5. A buffer spring 6 is provided outside the bolt sleeve 7. The upper end of the bolt sleeve 7 is connected to the output end of a knob motor 3 through a transmission shaft, and the housing of the knob motor 3 is installed on the upper clamping plate 4. The knob motor 3 drives the clamping tool and the bolt sleeve 7 to rotate synchronously. The adjustment driving device includes a lead screw mechanism 10, one end of the lead screw mechanism 10 is fixedly installed on the output end of a lead screw driving motor 8, the housing of the lead screw driving motor 8 is installed on the upper clamping plate 4, a driving nut sleeve is provided outside the lead screw mechanism 10, and the driving nut sleeve is installed on the lower clamping plate 5.

[0022] Embodiment 3

[0023] As Figures 1 to 5As shown in the figure, a clamping operation mechanism for a high-voltage tower climbing robot includes: an upper clamping plate 4 and a lower clamping plate 5. An adjustment driving device is provided between the upper clamping plate 4 and the lower clamping plate 5. An adjustment guiding device is provided between the upper clamping plate 4 and the lower clamping plate 5 on one side of the adjustment driving device. A vision camera 1 is provided on the upper clamping plate 4, and the vision camera 1 is installed on the upper clamping plate 4 through a camera mounting bracket 2. A bolt sleeve 7 is provided on the lower clamping plate 5, and the bolt sleeve 7 is slidably installed on the lower clamping plate 5. A buffer spring 6 is provided outside the bolt sleeve 7. The upper end of the bolt sleeve 7 is connected to the output end of a knob motor 3 through a transmission shaft, and the housing of the knob motor 3 is installed on the upper clamping plate 4. The knob motor 3 drives the clamping tool and the bolt sleeve 7 to rotate synchronously. The camera mounting bracket 2 includes a bracket body 21. One end of the bracket body 21 is provided with a camera mounting seat 23, and the other end is provided with a bracket mounting seat 22. The camera mounting bracket 2 enables the clamping mechanism and the bolt screwing mechanism to be within the field of view monitoring range.

[0024] Embodiment 4

[0025] As Figures 1 to 5 As shown in the figure, a clamping operation mechanism for a high-voltage tower climbing robot includes: an upper clamping plate 4 and a lower clamping plate 5. An adjustment driving device is provided between the upper clamping plate 4 and the lower clamping plate 5. An adjustment guiding device is provided between the upper clamping plate 4 and the lower clamping plate 5 on one side of the adjustment driving device. A vision camera 1 is provided on the upper clamping plate 4, and the vision camera 1 is installed on the upper clamping plate 4 through a camera mounting bracket 2. A bolt sleeve 7 is provided on the lower clamping plate 5, and the bolt sleeve 7 is slidably installed on the lower clamping plate 5. A buffer spring 6 is provided outside the bolt sleeve 7. The upper end of the bolt sleeve 7 is connected to the output end of a knob motor 3 through a transmission shaft, and the housing of the knob motor 3 is installed on the upper clamping plate 4. The knob motor 3 drives the clamping tool and the bolt sleeve 7 to rotate synchronously. The upper clamping plate 4 includes an upper clamping plate body 41, and a driving motor mounting seat 43 is installed on the upper clamping plate body 41. A knob motor mounting groove 42 is provided on the upper clamping plate body 41 on one side of the driving motor mounting seat 43.

[0026] Embodiment 5

[0027] As Figures 1 to 5As shown in the figure, a clamping operation mechanism for a high-voltage tower climbing robot includes: an upper clamping plate 4 and a lower clamping plate 5. An adjustment driving device is provided between the upper clamping plate 4 and the lower clamping plate 5. An adjustment guiding device is provided between the upper clamping plate 4 and the lower clamping plate 5 on one side of the adjustment driving device. A vision camera 1 is provided on the upper clamping plate 4, and the vision camera 1 is installed on the upper clamping plate 4 through a camera mounting bracket 2. A bolt sleeve 7 is provided on the lower clamping plate 5, and the bolt sleeve 7 is slidably installed on the lower clamping plate 5. A buffer spring 6 is provided outside the bolt sleeve 7. The upper end of the bolt sleeve 7 is connected to the output end of a knob motor 3 through a transmission shaft. The housing of the knob motor 3 is installed on the upper clamping plate 4, and the knob motor 3 drives the clamping tool and the bolt sleeve 7 to rotate synchronously. The lower clamping plate 5 includes a lower clamping plate body 51. A sleeve installation groove 52 is provided on the lower clamping plate body 51. A screw sleeve installation groove 53 is provided on the lower clamping plate body 51 on one side of the sleeve installation groove 52. Wire column installation grooves 54 are provided on both sides of the screw sleeve installation groove 53.

[0028] Embodiment 6

[0029] As Figures 1 to 5 As shown in the figure, a clamping operation mechanism for a high-voltage tower climbing robot includes: an upper clamping plate 4 and a lower clamping plate 5. An adjustment driving device is provided between the upper clamping plate 4 and the lower clamping plate 5. An adjustment guiding device is provided between the upper clamping plate 4 and the lower clamping plate 5 on one side of the adjustment driving device. A vision camera 1 is provided on the upper clamping plate 4, and the vision camera 1 is installed on the upper clamping plate 4 through a camera mounting bracket 2. A bolt sleeve 7 is provided on the lower clamping plate 5, and the bolt sleeve 7 is slidably installed on the lower clamping plate 5. A buffer spring 6 is provided outside the bolt sleeve 7. The upper end of the bolt sleeve 7 is connected to the output end of a knob motor 3 through a transmission shaft. The housing of the knob motor 3 is installed on the upper clamping plate 4, and the knob motor 3 drives the clamping tool and the bolt sleeve 7 to rotate synchronously. One end of the buffer spring 6 is installed on the lower clamping plate 5 through a spring fixing flange, and the other end is slidably supported on the bolt sleeve 7.

[0030] The present invention uses a vision camera for detection and positioning, improving the working efficiency and reliability of the climbing robot. The screw nut has self-locking property, and the driving of the upper and lower clamping plates to approach or separate will not become loose due to power failure or instruction loss. A buffer spring is connected to the bolt sleeve, improving the adaptability of the sleeve to fit onto the bolt.

[0031] The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments, and what is described in the above embodiments and the specification is only to illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements fall within the scope of the present invention as claimed. The scope of the present invention as claimed is defined by the appended claims and their equivalents.

Claims

1. A clamping and operating mechanism of a high-voltage tower climbing robot, comprising: The upper clamping plate (4) and the lower clamping plate (5) are characterized in that: an adjustment drive device is provided between the upper clamping plate (4) and the lower clamping plate (5); an adjustment guide device is provided between the upper clamping plate (4) and the lower clamping plate (5) on one side of the adjustment drive device; a visual camera (1) is provided on the upper clamping plate (4); the visual camera (1) is installed on the upper clamping plate (4) through a camera mounting bracket (2); a bolt sleeve (7) is provided on the lower clamping plate (5); the bolt sleeve (7) is slidably installed on the lower clamping plate (5); a buffer spring (6) is provided on the outer side of the bolt sleeve (7); the upper end of the bolt sleeve (7) is connected to the output end of the knob motor (3) through a transmission shaft; the housing of the knob motor (3) is installed on the upper clamping plate (4); the knob motor (3) drives the clamping tool and the bolt sleeve (7) to rotate synchronously.

2. The clamping and operating mechanism of a high-voltage tower climbing robot according to claim 1 is characterized in that: The adjustment guide device comprises a wire column (9), one end of which is mounted on the upper clamping plate (4) and the other end of which is slidably mounted on the lower clamping plate (5).

3. The clamping and operating mechanism of a high-voltage tower climbing robot according to claim 1 is characterized in that: The adjustment drive device comprises a screw mechanism (10), one end of which is fixedly mounted on the output end of a screw drive motor (8), the housing of which is mounted on an upper clamping plate (4), and a drive screw sleeve is provided on the outer side of the screw mechanism (10), which is mounted on a lower clamping plate (5).

4. The clamping and operating mechanism of a high-voltage tower climbing robot according to claim 1 is characterized in that: The camera mounting bracket (2) comprises a bracket body (21), one end of the bracket body (21) is provided with a camera mounting seat (23), and the other end is provided with a bracket mounting seat (22), and the camera mounting bracket (2) enables a clamping mechanism and a bolt tightening mechanism to be within a field of view monitoring range.

5. The clamping and operating mechanism of a high-voltage tower climbing robot according to claim 1 is characterized in that: The upper clamping plate (4) comprises an upper clamping plate body (41), and a driving motor mounting seat (43) is mounted on the upper clamping plate body (41).

6. The clamping and operating mechanism of a high-voltage tower climbing robot according to claim 5, characterized in that: A knob motor mounting groove (42) is provided on the upper clamping plate body (41) on one side of the driving motor mounting seat (43).

7. The clamping and operating mechanism of a high-voltage tower climbing robot according to claim 1 is characterized in that: The lower clamping plate (5) comprises a lower clamping plate body (51), and a sleeve mounting groove (52) is provided on the lower clamping plate body (51).

8. The clamping and operating mechanism of a high-voltage tower climbing robot according to claim 7 is characterized in that: A screw sleeve installation groove (53) is provided on the lower clamping plate body (51) on one side of the sleeve installation groove (52).

9. The clamping and operating mechanism of a high-voltage tower climbing robot according to claim 8, characterized in that: Wire post installation grooves (54) are provided on both sides of the screw sleeve installation groove (53).

10. The clamping and operating mechanism of a high-voltage tower climbing robot according to claim 1, characterized in that: One end of the buffer spring (6) is mounted on the lower clamping plate (5) via a spring fixing flange, and the other end is slidably supported on the bolt sleeve (7).

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