Manipulator of high-voltage tower crawling robot

Abstract

The manipulator of the high-voltage electric tower crawling robot comprises a gripper transmission device and an ejector rod transmission device, the gripper transmission device is composed of a synchronous belt wheel, a driving bevel gear, a driven bevel gear, a gripper straight gear, a rack, a rack connecting plate, an electric cylinder, a gripper connecting plate and a gripper piece, and coaxial reverse rotation is achieved through a bevel gear set; the grippers on the two sides are driven to be tightened and loosened simultaneously. The ejector rod transmission device is composed of a torque limiter, a cam, a cam ejector rod, an ejector rod guide block and an ejector claw located below the machine body, the cam is fixed to the torque limiter, the torque limiter rotates to drive the cam to rotate, the ejector claw is made to abut against a power transmission tower ridge line, the cam rotates continuously, the pressure of the ejector claw reaches the set force, and the torque limiter slips. And the top claw stops pushing out and cooperates with the gripper to grasp the angle steel. The manipulator of the high-voltage tower crawling robot is high in precision and reliability, and flexible obstacle avoidance can be achieved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of power transmission technology, and in particular to a manipulator of a high-voltage tower crawling robot. Background Art

[0002] The manipulator on the existing transmission tower climbing device is generally driven by hydraulics. The hydraulic drive structure is a closed power system, which consists of an oil pump, a hydraulic lock, a hydraulic cylinder, a combination valve and a compensation oil tank, etc. It is widely used in engineering machinery, forging machinery, automobiles, ships and other fields. The existing hydraulic drive manipulator consists of a compensation oil tank, a hydraulically controlled one-way valve, an electric motor, a hydraulic cylinder and a relief valve. The oil is used as the working medium. Driven by the motor, the hydraulic oil enters the oil cylinder from the oil inlet. As the pressure increases, the drive is achieved under the action of the pressure oil.

[0003] Since hydraulic drive uses hydraulic oil as the working medium, when the oil temperature changes, it will inevitably affect the working performance of the drive mechanism; and there are gaps in the relative motion surfaces of the hydraulic drive structure, and there is a possibility of oil leakage during operation, which will not only pollute the site but also cause fire or explosion; during long-term operation, air may mix into the hydraulic system, which may easily cause the system's working state to be unstable, generating vibration, noise, etc.; and it is not easy to check and eliminate the fault in the hydraulic system, which brings inconvenience to use and maintenance. Summary of the invention

[0004] In view of this, an embodiment of the present application provides a manipulator for a high-voltage tower crawling robot, which can overcome the disadvantages of a hydraulic manipulator and improve the reliability and flexibility of the manipulator.

[0005] According to a first aspect of an embodiment of the present application, a manipulator of a high-voltage tower crawling robot is provided, the manipulator comprising: a body, a stepper motor, a synchronous pulley, a base top plate, an active bevel gear, a driven bevel gear, a gripper spur gear, a rack, a rack connecting plate, an electric cylinder, a gripper connecting plate, and a gripper sheet, wherein:

[0006] The synchronous pulley is connected to the output pulley of the stepper motor through a synchronous belt, and is used to receive the axial movement output by the stepper motor;

[0007] The synchronous pulley and the driving bevel gear are coaxially installed on the upper and lower sides of the top plate of the base, and the driving bevel gear and the synchronous pulley rotate synchronously;

[0008] The driven bevel gears include two, which are located on both sides of the driving bevel gear and mesh with the driving bevel gear;

[0009] The gripper spur gears include two, which are coaxially connected to the corresponding driven bevel gears and rotate synchronously with the corresponding driven bevel gears;

[0010] The rack includes two, which are respectively meshed with the corresponding gripper spur gears and move up and down under the rotation of the gripper spur gears; the lower end of the rack is fixedly connected to the corresponding rack connecting plate;

[0011] The gripper connecting plates include two, each of which is hinged to the corresponding rack connecting plate through a third hinge point;

[0012] The electric cylinder includes two, one end of each electric cylinder is hinged to the corresponding rack connecting plate through a first hinge point, and the other end is hinged to the corresponding gripper connecting plate through a second hinge point, and is used to lift and lower the gripper connecting plate by pushing out and retracting the electric cylinder;

[0013] The gripping pieces include two pieces which are respectively mounted on corresponding gripping connecting plates and are used to release or grip the transmission tower when the gripping connecting plates are lifted or lowered.

[0014] In some exemplary embodiments, the manipulator further includes two cams located on both sides of the fuselage, two cam push rods, two push rod guide blocks, and a top gripper located below the fuselage, wherein:

[0015] The cam push rods are installed on both sides of the fuselage through corresponding push rod guide blocks;

[0016] The two cams are coaxially connected to the corresponding gripper spur gears, move synchronously with the corresponding gripper spur gears, and are used to push out the cam push rod during the rotation process;

[0017] The top grab is fixedly installed on the two cam push rods and is used to push onto the transmission tower line under the rotation of the cam.

[0018] In some exemplary embodiments, the push rod guide block includes a limiting structure and an elastic structure;

[0019] The limiting structure is used to limit the cam push rod to a set position of the fuselage, and the cam push rod can move up and down in the limiting structure;

[0020] The elastic structure is used to control the retraction of the cam push rod. When the small radius of the cam presses against the cam push rod, the cam push rod is in a retracted state under the action of the elastic structure; when the large radius of the cam presses against the cam push rod, the cam push rod overcomes the elastic force of the elastic structure and presses against the transmission tower rib.

[0021] In some exemplary embodiments, the manipulator further includes a torque limiter for limiting the cam from further rotating after the top gripper touches the transmission tower line.

[0022] In some exemplary embodiments, the rack is fixedly connected to the rack connecting plate by bolts.

[0023] In some exemplary embodiments, the manipulator further comprises: a motor mounting bracket and a harmonic reducer; wherein,

[0024] The motor mounting bracket is installed on one side of the fuselage, and the harmonic reducer and the stepper motor are installed on the upper and lower sides of the motor mounting bracket respectively;

[0025] The input end of the harmonic reducer is connected to the output end of the stepper motor to reduce the motion output by the stepper motor; and the output end is connected to the output pulley of the stepper motor.

[0026] In some exemplary embodiments, the manipulator further includes a rack guide structure for guiding the rack during movement of the rack.

[0027] In some exemplary embodiments, the rack guide structure includes: a linear guide rail, a linear slider mounting frame, and a linear slider, wherein:

[0028] The linear slider is fixedly mounted on the machine body through a linear slider mounting frame;

[0029] The linear slider is slidably mounted on the linear guide rail, which is fixed to the back of the rack. During the movement of the rack, the linear guide rail slides in the linear slider.

[0030] In some exemplary embodiments, the gripper sheet includes a rubber pad to increase friction during gripping.

[0031] The manipulator of the high-voltage tower crawling robot described in the embodiment of the present application includes two parts: a gripper transmission device and a push rod transmission device, wherein the gripper transmission device is composed of a synchronous pulley, an active bevel gear, a driven bevel gear, a gripper spur gear, a rack, a rack connecting plate, an electric cylinder, a gripper connecting plate, a gripper sheet and other components, and the coaxial reversal is achieved through the bevel gear set to drive the grippers on both sides to tighten and relax at the same time. The push rod transmission device is composed of a torque limiter, a cam, a cam push rod, a push rod guide block, and a top gripper located below the fuselage. The cam is fixed on the torque limiter, and the rotation of the torque limiter drives the cam to rotate, so that the top gripper hits the transmission tower corrugated wire. The cam continues to rotate, the top gripper pressure reaches the set force, the torque limiter begins to slip, the top gripper stops pushing out, and cooperates with the gripper to grip the angle steel. The manipulator of the high-voltage tower crawling robot described in the embodiment of the application has high precision, strong reliability, and can achieve flexible obstacle avoidance. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art description are briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0033] Figure 1 A front view of a manipulator of a high-voltage tower crawling robot according to an embodiment of the present application is shown;

[0034] Figure 2 A rear view of the manipulator of the high-voltage tower crawling robot according to an embodiment of the present application is shown;

[0035] Figure 3 A left view of the manipulator of the high-voltage tower crawling robot according to an embodiment of the present application is shown;

[0036] Figure 4 A top view of a manipulator of a high-voltage tower crawling robot according to an embodiment of the present application is shown;

[0037] Figure 5 A bottom view of the manipulator of the high-voltage tower crawling robot according to an embodiment of the present application is shown;

[0038] Figure 6 A three-dimensional diagram of a manipulator of a high-voltage tower crawling robot according to an embodiment of the present application is shown;

[0039] Figure 7 A three-dimensional diagram of a manipulator of a high-voltage tower crawling robot according to an embodiment of the present application is shown;

[0040] Figure 8 A schematic diagram of the gear connection structure of an embodiment of the present application is shown;

[0041] Fig. 9 A schematic diagram of a rack connection structure of an embodiment of the present application is shown;

[0042] Fig.10 A schematic diagram of the gripper connection structure of an embodiment of the present application is shown;

[0043] Fig.11 A schematic diagram of the cam structure of an embodiment of the present application is shown;

[0044] Fig.12 A schematic diagram of the structure of a torque limiter according to an embodiment of the present application is shown;

[0045] Fig.13 A schematic diagram showing the state of a manipulator in an embodiment of the present application when clamping a transmission tower;

[0046] Fig.14A schematic diagram showing the state of the manipulator according to an embodiment of the present application when releasing the transmission tower. DETAILED DESCRIPTION

[0047] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0048] The essence of the technical solution of the embodiment of the present application is explained in detail below with reference to the accompanying drawings.

[0049] An embodiment of the present application provides a manipulator for a high-voltage tower crawling robot, which is applied to a transmission tower climbing robot and is used to grasp or release the tower frame of the transmission tower according to climbing requirements when the climbing robot climbs the tower frame of the transmission tower.

[0050] Figure 1 A front view of the manipulator of the high-voltage tower crawling robot according to an embodiment of the present application; Figure 2 A rear view of the manipulator of the high-voltage tower crawling robot according to an embodiment of the present application; Figure 3 A left view of the manipulator of the high-voltage tower crawling robot according to an embodiment of the present application; Figure 4 A top view of the manipulator of the high-voltage tower crawling robot according to an embodiment of the present application; Figure 5 A bottom view of the manipulator of the high-voltage tower crawling robot according to an embodiment of the present application; Figure 6 A three-dimensional diagram of the manipulator of the high-voltage tower crawling robot according to an embodiment of the present application;

[0051] Figure 7 FIG. 2 is another perspective view of the manipulator of the high-voltage tower crawling robot of the embodiment of the present application. Figures 1 to 7 As shown, the manipulator of the high-voltage tower crawling robot described in the embodiment of the present application includes: a body 30, a stepper motor 17, a synchronous pulley 10, a base top plate 19, an active bevel gear 22, a driven bevel gear 23, a gripper spur gear 20, a rack 1, a rack connecting plate 9, an electric cylinder 4, a gripper connecting plate 5, and a gripper piece 6, wherein the synchronous pulley 10 is connected to the output pulley of the stepper motor 17 through a synchronous belt, and is used to receive the axial movement output by the stepper motor 17. In order to more clearly show the structure of each component, Figures 1 to 7 The synchronous belt connecting the synchronous pulley 10 and the output pulley of the stepping motor 17 has been hidden.

[0052] The synchronous pulley 10 and the driving bevel gear 22 are coaxially mounted on the upper and lower sides of the base top plate 19, wherein the synchronous pulley 10 is mounted on the base top plate 19, and the driving bevel gear 22 is mounted below the base top plate 19, and the driving bevel gear 22 rotates synchronously with the synchronous pulley 10;

[0053] Figure 8 A schematic diagram of the gear connection structure of an embodiment of the present application is shown. Figure 8 As shown, the driven bevel gears 23 include two driven bevel gears 23, which are located on both sides of the driving bevel gear 22 and mesh with the driving bevel gear 22; when the driving bevel gear 22 rotates driven by the synchronous pulley 10, the two driven bevel gears 23 rotate in opposite directions at the same time.

[0054] The gripper spur gears 20 include two, which are coaxially connected to the corresponding driven bevel gears 23 and rotate synchronously with the corresponding driven bevel gears 23. In the embodiment of the present application, the gripper spur gears 20 can be integrally formed with the driven bevel gears 23, or coaxially fixedly connected. When the two driven bevel gears 23 rotate in opposite directions at the same time, the two gripper spur gears 20 also rotate in opposite directions at the same time.

[0055] Fig. 9 The schematic diagram of the rack connection structure of the embodiment of the present application is shown, in order to clearly show the structure of the rack 1, Fig. 9 In the figure, some parts such as the body of the robot are hidden. Fig. 9 As shown, the rack 1 includes two, which are respectively meshed with the corresponding gripper spur gears 20, and move up and down under the rotation of the gripper spur gears 20; in the embodiment of the present application, when the two gripper spur gears 20 rotate in opposite directions at the same time, the two racks 1 move up or down at the same time. The lower end of the rack 1 is fixedly connected to the corresponding rack connecting plate 9; in the embodiment of the present application, the rack is fixedly connected to the rack connecting plate by bolts.

[0056] The gripper connecting plate 5 includes two, Fig. 9 The schematic diagram of the gripper connection structure of the embodiment of the present application is shown in the figure. As shown in the figure, the gripper connection plate 5 is hinged to the corresponding rack connection plate 9 through the third hinge point 33; the electric cylinder 4 is located at the rear side of the gripper connection plate 5, including two, one end of each electric cylinder 4 is hinged to the corresponding rack connection plate 9 through the first hinge point 31, and the other end is hinged to the corresponding gripper connection plate 5 through the second hinge point 32, which is used to lift and lower the gripper connection plate 5 by pushing out and retracting itself; the gripper sheet 6 includes two, which are respectively installed on the corresponding gripper connection plate 5, and are used to loosen or grip the transmission tower when the gripper connection plate 5 is lifted and lowered. The gripper sheet is provided with a rubber pad 7 to increase the friction when gripping.

[0057] Fig.11The cam structure schematic diagram of the embodiment of the present application is shown to clearly show the structure of the cam 11. Fig.11 In the figure, some parts such as the body of the robot are hidden. Fig.11 As shown, the manipulator further includes two cams 11 located on both sides of the body 30, two cam push rods 13, two push rod guide blocks 18, and a top gripper 14 located below the body 30, wherein:

[0058] The cam push rod 13 is installed on both sides of the fuselage 30 through the corresponding push rod guide block 18; the push rod guide block 18 includes a limit structure and an elastic structure; the limit structure is used to limit the cam push rod 13 to the set position of the fuselage 30, and the cam push rod 13 can move up and down in the limit structure; in the embodiment of the present application, the limit structure can be a buckle, etc. The elastic structure is used to control the retraction of the cam push rod 13. When the small radius of the cam pushes against the cam push rod 13, the cam push rod 13 is in a retracted state under the action of the elastic structure; when the large radius of the cam pushes against the cam push rod 13, the cam push rod 13 overcomes the elastic force of the elastic structure and pushes onto the transmission tower line. In the embodiment of the present application, the elastic structure can be a spring, etc.

[0059] The two cams 11 are coaxially connected to the corresponding gripper spur gears 20, and move synchronously with the corresponding gripper spur gears 20, and are used to push out the cam push rods 13 during the rotation process. The top gripper 14 is fixedly installed on the two cam push rods 13, and is used to push onto the transmission tower corrugated wire under the rotation of the cam 11.

[0060] In the embodiment of the present application, since the two gripper spur gears 20 rotate in opposite directions at the same time, and the two cams 11 are coaxially connected to the corresponding gripper spur gears 20 and move synchronously, the two cams 11 should be installed to ensure that the radius acting on the cam push rod 13 is consistent during synchronous rotation.

[0061] In the embodiment of the present application, after the top catch 14 hits the transmission tower corrugated wire, in order to prevent the cam 11 from continuing to rotate and causing damage to the cam 11, the cam push rod 13, and the top catch 14, a torque limiter 12 is provided between the cam 11 and the gripper spur gear 20. Fig.12 The schematic diagram of the torque limiter structure of the embodiment of the present application is shown, in order to clearly show the torque limiter 12, Fig.12 In the figure, some parts of the robot body are hidden, such as Fig.12 As shown, after the top gripper 14 hits the transmission tower line, the top gripper pressure reaches the set strength, the torque limiter 12 slips, and the cam 11 is restricted from continuing to rotate.

[0062] In the embodiment of the present application, the manipulator also includes: a motor mounting bracket 16 and a harmonic reducer 15; wherein the motor mounting bracket 16 is installed on one side of the fuselage 30, and the harmonic reducer 15 and the stepper motor 17 are respectively installed on the upper and lower sides of the motor mounting bracket 16; the input end of the harmonic reducer 15 is connected to the output end of the stepper motor 17, and is used to reduce the motion output by the stepper motor 17; and its output end is connected to the output pulley of the stepper motor 17.

[0063] In order to prevent the rack from shaking or deviating during the up and down movement, resulting in inaccurate meshing, in the embodiment of the present application, the manipulator is also provided with a rack guide structure for guiding the rack during the movement of the rack. Specifically, the rack guide structure includes: a linear guide rail 2, a linear slider mounting frame 3, and a linear slider 8, wherein the linear slider 8 is fixedly mounted on the fuselage 30 through the linear slider mounting frame 3; the linear slider 8 is slidably mounted on the linear guide rail 2, and the linear guide rail 2 is fixed to the back of the rack 1. During the movement of the rack 1, the linear guide rail 2 slides in the linear slider 8.

[0064] Fig.13 A schematic diagram showing the state of the manipulator of the embodiment of the present application when clamping the transmission tower is shown. Fig.14 FIG. 1 is a schematic diagram showing a state when the manipulator of an embodiment of the present application releases the transmission tower. Fig.13 and Fig.14 As shown, when the robot moves from Fig.14 The open state shown changes to Fig.13 In the clamping state shown, that is, when the manipulator needs to clamp the transmission tower, the stepper motor 17 moves to the pulley of the stepper motor 17 through the output shaft of the harmonic reducer, and drives the synchronous pulley 10 to rotate through the synchronous belt; the active bevel gear 22 rotates synchronously with the synchronous pulley 10, driving the two meshing driven bevel gears 23 to rotate in opposite directions at the same time; the two gripper spur gears 20 rotate synchronously with the corresponding driven bevel gears 23, respectively driving the two meshing racks to move downward at the same time; during the downward movement of the racks, the gripper connecting plate 5 and the gripper sheet 6 move downward. At the same time, the two cams 11 rotate synchronously with the gripper spur gears 20. As the radius of action of the cam 11 and the cam push rod 13 gradually increases, the elastic force of the elastic component is overcome, the cam push rod 13 is pushed downward, and the top gripper 14 is pushed onto the transmission tower corrugation line. At this time, the torque limiter 12 slips and the cam 11 stops rotating. Then the electric cylinder 4 is pushed out, so that the gripper connecting plate 5 and the rack connecting plate 9 are on the same straight line, and the manipulator clamps the transmission tower.

[0065] When the robot moves from Fig.13 The clamping state shown changes to Fig.14In the open state shown, that is, when the manipulator needs to release the transmission tower, the electric cylinder 4 is retracted, and the gripper connecting plate 5 and the rack connecting plate 9 are pulled through the first hinge point 31 and the second hinge point 32, so that the gripper connecting plate 5 and the rack connecting plate 9 form an angle at the third hinge point 33. At this time, the three hinge points constitute the three vertices of a triangle, and the manipulator releases the transmission tower. Then the stepper motor 17 reverses, moves to the pulley of the stepper motor 17 through the output shaft of the harmonic reducer, and drives the synchronous pulley 10 to reverse through the synchronous belt; the active bevel gear 22 rotates synchronously with the synchronous pulley 10, driving the two meshing driven bevel gears 23 to rotate in opposite directions at the same time; the two gripper spur gears 20 rotate synchronously with the corresponding driven bevel gears 23, respectively driving the two meshing racks to move upward at the same time; during the upward movement of the two racks, the two opened gripper connecting plates 5 and the gripper sheet 6 move upward. At the same time, the two cams 11 rotate synchronously with the gripper spur gear 20. As the radius of action of the cam 11 and the cam push rod 13 gradually decreases, the cam push rod 13 is moved upward under the action of the elastic structure, the top gripper 14 leaves the transmission tower, and the manipulator releases the transmission tower.

[0066] The manipulator of the high-voltage tower crawling robot described in the embodiment of the present application includes two parts: a gripper transmission device and a push rod transmission device, wherein the gripper transmission device is composed of a synchronous pulley 10, an active bevel gear 22, a driven bevel gear 23, a gripper spur gear 20, a rack 1, a rack connecting plate 9, an electric cylinder 4, a gripper connecting plate 5, a gripper sheet 6 and other components, and the coaxial reversal is achieved through the bevel gear set to drive the grippers on both sides to tighten and relax at the same time. The push rod transmission device is composed of a torque limiter 12, a cam 11, a cam push rod 13, a push rod guide block 18, and a top gripper 14 located below the fuselage 30 and other components. The cam is fixed on the torque limiter, and the rotation of the torque limiter drives the cam to rotate, so that the top gripper hits the corrugated wire of the transmission tower. The cam continues to rotate, and the top gripper pressure reaches the set force, the torque limiter begins to slip, and the top gripper stops pushing out, cooperating with the gripper to grip the angle steel.

[0067] In actual application, the output power of the stepper motor is transmitted to the active bevel gear through the synchronous belt. The rotation of the active bevel gear causes the front and rear driven bevel gears to rotate in the opposite direction, driving the two grippers to achieve simultaneous gripping and loosening. When the gripper needs to grip, the active bevel gear rotates in a circle to drive the driven bevel gears on both sides to rotate. The driven bevel gear drives the gripper to tighten and drives the cam to rotate to push out the top gripper. The top gripper is pushed onto the ridge line of the transmission tower and cooperates with the gripper to grip the tower. When the top rod reaches the specified position and the top gripper pressure reaches the set force, the torque limiter slips and the top gripper stops the ejection action. When the gripper needs to avoid obstacles, the active bevel gear reverses, the cam reacts, the top rod is retracted, the driven bevel gears on both sides reverse, the gripper extends, and the angle steel is released. The electric cylinder retracts the gripper and folds it upward to complete the obstacle avoidance action.

[0068] The manipulator of the high-voltage tower crawling robot described in the embodiment of the present application applies bevel gears to the mechanical gripper, and the driven bevel gears rotate in the opposite direction to make the grippers on both sides extend or retract at the same time. The folding action of the gripper is completed independently by the electric cylinder, which can accurately control the gripping and obstacle avoidance actions of the gripper. The gripper can be folded at any extended position, which can achieve flexible obstacle avoidance and adapt to more types of transmission towers. The adaptability of the gripper to transmission towers of different sizes is enhanced, and the obstacle avoidance accuracy is improved.

[0069] Compared with the prior art, the manipulator described in the embodiment of the application has an energized cylinder 4 with a lever mechanism, achieving under-actuation of multiple degrees of freedom controlled by one input variable. When the manipulator is open, it can avoid the transverse steel frame and maintenance climbing frame of the high-voltage tower. The gripper top rod is driven by the cam. When the manipulator is open, the cam rotates back and the gripper top rod is retracted; when the manipulator is tightened, the cam rotates forward and pushes the gripper top rod against the transmission tower rib, and the gripper is tightened to complete the gripping action, fixing the high-voltage tower crawling robot on the high-voltage tower steel frame. The manipulator described in the embodiment of the present application has high precision and high reliability, can achieve flexible obstacle avoidance, and enhances the reliability and service life of the high-voltage tower robot.

[0070] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present invention. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present invention, the size of the sequence number of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application. The above-mentioned sequence numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments.

[0071] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0072] In several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways.

[0073] The above is only an embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A manipulator of a high-voltage tower crawling robot, characterized in that: The robot comprises: a body (30), a stepping motor (17), a synchronous pulley (10), a base top plate (19), an active bevel gear (22), a driven bevel gear (23), a gripper spur gear (20), a rack (1), a rack connecting plate (9), an electric cylinder (4), a gripper connecting plate (5), and a gripper sheet (6), wherein: The synchronous pulley (10) is connected to the output pulley of the stepper motor (17) via a synchronous belt, and is used to receive the axial movement output by the stepper motor (17); The synchronous pulley (10) and the driving bevel gear (22) are coaxially mounted on the upper and lower sides of the base top plate (19), and the driving bevel gear (22) rotates synchronously with the synchronous pulley (10); The driven bevel gears (23) include two driven bevel gears (23), which are located on both sides of the driving bevel gear (22) and mesh with the driving bevel gear (22); The gripper spur gears (20) include two, which are coaxially connected to the corresponding driven bevel gears (23) and rotate synchronously with the corresponding driven bevel gears (23); The rack (1) comprises two, each meshing with a corresponding gripper spur gear (20), and moving up and down under the rotation of the gripper spur gear (20); the lower end of the rack (1) is fixedly connected to the corresponding rack connecting plate (9); The gripper connecting plates (5) include two, each of which is hinged to a corresponding rack connecting plate (9) via a third hinge point (33); The electric cylinder (4) comprises two electric cylinders, one end of each electric cylinder (4) is hinged to the corresponding rack connecting plate (9) via a first hinge point (31), and the other end is hinged to the corresponding gripper connecting plate (5) via a second hinge point (32), and is used to lift and lower the gripper connecting plate (5) by pushing out and retracting the electric cylinder itself; The gripping pieces (6) include two pieces, which are respectively mounted on corresponding gripping connecting plates (5) and are used to release or grip the transmission iron tower when the gripping connecting plates (5) are lifted or lowered.

2. The manipulator of the high-voltage tower crawling robot according to claim 1 is characterized in that: The manipulator further comprises two cams (11) located on both sides of the body (30), two cam push rods (13), two push rod guide blocks (18), and a top gripper (14) located below the body 30, wherein: The cam push rod (13) is installed on both sides of the machine body (30) through corresponding push rod guide blocks (18); The two cams (11) are coaxially connected to the corresponding gripper spur gears (20) respectively, and move synchronously with the corresponding gripper spur gears (20) to push out the cam push rod (13) during the rotation process; The top catch (14) is fixedly mounted on the two cam push rods (13) and is used to push onto the transmission iron tower corrugated wire under the rotation of the cam (11).

3. The manipulator of the high-voltage tower crawling robot according to claim 2 is characterized in that: The push rod guide block (18) comprises a limiting structure and an elastic structure; The limiting structure is used to limit the cam push rod (13) to a set position of the machine body (30), and the cam push rod (13) can move up and down in the limiting structure; The elastic structure is used to control the retraction of the cam push rod (13); when the small radius of the cam pushes against the cam push rod (13), the cam push rod (13) is in a retracted state under the action of the elastic structure; when the large radius of the cam pushes against the cam push rod (13), the cam push rod (13) overcomes the elastic force of the elastic structure and pushes onto the transmission tower line.

4. The manipulator of the high-voltage tower crawling robot according to claim 3 is characterized in that: The manipulator also includes a torque limiter (12) for limiting the cam (11) from continuing to rotate after the top gripper (14) hits the transmission tower line.

5. The manipulator of the high-voltage tower crawling robot according to claim 1 is characterized in that: The rack is fixedly connected to the rack connecting plate by bolts.

6. The manipulator of the high-voltage tower crawling robot according to claim 1, characterized in that: The manipulator further comprises: a motor mounting bracket (16), a harmonic reducer (15); wherein: The motor mounting bracket (16) is mounted on one side of the body 30, and the harmonic reducer (15) and the stepping motor (17) are mounted on the upper and lower sides of the motor mounting bracket (16) respectively; The input end of the harmonic reducer (15) is connected to the output end of the stepper motor (17) and is used to reduce the speed of the motion output by the stepper motor (17); and the output end is connected to the output pulley of the stepper motor.

7. The manipulator of the high-voltage tower crawling robot according to claim 1 is characterized in that: The manipulator also includes a rack guiding structure for guiding the rack during its movement.

8. The manipulator of the high-voltage tower crawling robot according to claim 7, characterized in that: The rack guide structure comprises: a linear guide rail (2), a linear slider mounting frame (3), and a linear slider (8), wherein: The linear slider (8) is fixedly mounted on the machine body (30) via a linear slider mounting frame (3); The linear slider (8) is slidably mounted on the linear guide rail (2), and the linear guide rail (2) is fixed to the back side of the rack (1). During the movement of the rack (1), the linear guide rail (2) slides in the linear slider (8).

9. The manipulator of the high-voltage tower crawling robot according to claim 1, characterized in that: The gripper sheet comprises a rubber pad (7) for increasing the friction force during gripping.

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