CN107030735B

CN107030735B - Power industry Wire walking robot with protective device

Info

Publication number: CN107030735B
Application number: CN201710356565.7A
Authority: CN
Inventors: 吴志强
Original assignee: Changzhou Vocational Institute of Light Industry
Current assignee: Changzhou Vocational Institute of Light Industry
Priority date: 2017-05-19
Filing date: 2017-05-19
Publication date: 2019-04-16
Anticipated expiration: 2037-05-19
Also published as: CN107030735A

Abstract

The present invention relates to a kind of power industry Wire walking robot with protective device; the movement to two groups of protective devices is realized using the sliding block of pneumatic actuation; first fixture block and the second fixture block cooperatively form cylinder-shaped protective case; they can firmly be fixed together by the sucker on the first fixture block and the second fixture block; when robot dysequilibrium, robot is hung upside down on steel wire by protective case；I-beam wheel is rotated by motor driven, to control I-beam wheel release and withdrawal protection rope, the use of sucker can also make the first fixture block and the first fixture block realize automatic disengagement, facilitate the reset of the first fixture block and the second fixture block；The cooperation of tooth and cylinder on I-beam wheel side plate, can play the role of double locking to I-beam wheel together with motor；Sliding block, sucker, motor and cylinder are electrically connected with the controller, and controller signals are connected with the handheld terminal with operation and control interface, are realized and are automatically controlled to robot；It avoids robot and directly drops the damage caused by robot.

Description

Power industry Wire walking robot with protective device

Technical field

The present invention relates to Industrial Robot Technology fields, walk steel more particularly, to a kind of power industry with protective device Silk robot.

Background technique

The research of Wire walking robot is derived from the high-altitude tight-wire walking campaign for imitating the mankind, with static instability and dynamic Feature that can be stable, and gathered multi-field the relevant technologies, such as, mechanical, electrical and control etc..Wire walking robot can be with For in power industry or communication system, for example line inspection, line upkeep, route are completed in power industry or communication system The multiple functions such as deicing.What Wire walking robot carried out is high altitude operation, although balance itself can be kept on steel wire, When there is bad weather or robot fault the problems such as, existing Wire walking robot does not all have protective device, machine People can fall from steel wire, and robot is broken, and influence to use increase maintenance and use cost.

Summary of the invention

The technical problem to be solved by the present invention is in order to which overcome Wire walking robot progress in the prior art is that high-altitude is made Industry, it is existing when there is bad weather or robot fault the problems such as although balance itself can be kept on steel wire Wire walking robot all do not have protective device, robot can be fallen from steel wire, and robot is broken, influence use, increase The problem of adding maintenance and use cost, provides a kind of power industry Wire walking robot with protective device.

The technical solution adopted by the present invention to solve the technical problems is: steel is walked in a kind of power industry with protective device Silk robot, including the robot body that can be walked on steel wire, the robot body includes bottom plate and controller, described The centre of lower surface of base plate is fixedly installed with guide rail, and the guide rail is vertical with the moving direction of the robot body, described to lead Sliding block is slidably fitted on rail, the sliding block is pneumatic actuation, is fixedly installed with protective device on the sliding block, protects described in two groups Center symmetric setting of the protection unit about bottom plate, the protective device include shell, and the shell is fixedly mounted on the sliding block On, it is fixedly installed with motor on the shell, I-beam wheel is fixedly installed on the output shaft of the motor, the I-beam wheel is located at In the shell, it is evenly distributed in several teeth on the two sides side plate of the I-beam wheel, is fixedly installed with cylinder on the shell, Two cylinders are located at the surface of both side plate, and the extension end of the cylinder is fixedly installed with latch, the latch card It is located at the centre of two neighboring tooth, guide cylinder is fixedly installed on the shell, the guide cylinder is being located at the I-beam wheel just Lower section is simultaneously connected to inside and outside shell, and slide bar, the periphery of the slide bar and the guide cylinder are slidably fitted in the guide cylinder Inner peripheral surface is bonded, and protection rope is arranged in the I-beam wheel, protection rope one end is fixedly connected with the I-beam wheel, another End is fixedly connected with described slide bar one end, and the slide bar other end is fixedly installed with bracket, the bracket of protective device described in two groups It is upper to be fixedly installed with the first fixture block and the second fixture block respectively, it is provided with sucker on first fixture block and the second fixture block, it is described First fixture block and second fixture block are with synthesis protective case, and the protective case is set in outside steel wire, and the bracket is equipped with limit Block offers limiting slot on the guide cylinder, and the limited block is fastened in the limiting slot, the sliding block, sucker, motor and Cylinder is electrically connected with the controller, and the controller signals are connected with the handheld terminal with operation and control interface.

The present invention realizes movement to two groups of protective devices using the sliding block of pneumatic actuation, make two groups of protective devices simultaneously to Steel wire is mobile, and the first fixture block and the second fixture block is allowed to cooperatively form cylinder-shaped protective case, the sucker on the first fixture block and the second fixture block First fixture block and the second fixture block can be firmly fixed together, in robot dysequilibrium, robot can pass through guarantor Sheath is hung upside down on steel wire, is avoided robot and is directly dropped the damage caused by robot；Protective device is equipped with and can release The I-beam wheel of protection rope is put, I-beam wheel is rotated by motor driven, thus control I-beam wheel release and withdraw protection rope, protection rope Use robot can be made to turn down to any position, facilitate taking for staff, the use of sucker can also make the first card Block and the second fixture block realize automatic disengagement, facilitate the reset of the first fixture block and the second fixture block；Tooth and cylinder on I-beam wheel side plate Cooperation, double locking can be played the role of to I-beam wheel together with motor；Sliding block, sucker, motor and cylinder are and controller Electrical connection, controller signals are connected with the handheld terminal with operation and control interface, realize and automatically control to robot；Structure of the invention Simply, easy to operate, it avoids robot and directly drops the damage caused by robot.

Preferably, the cross section of first fixture block and second fixture block is semi-circular, first fixture block with Second fixture block is with cylinder-shaped protective case is synthesized, and the protective case and steel wire are concentric, and the sucker is arranged in the first fixture block On the contact surface of the second fixture block.

In order to make protection rope be fixedly connected with the sliding for not influencing slide bar in guide post, the center of the slide bar with slide bar It is provided with stepped hole, fixed column, the ladder of the end face of the fixed column and the stepped hole are provided in the macropore of the stepped hole Face paste is closed, and the protection rope is fixedly connected after the aperture of stepped hole with the fixed column.

The beneficial effects of the present invention are: the present invention realizes the movement to two groups of protective devices using the sliding block of pneumatic actuation, Keep two groups of protective devices mobile to steel wire simultaneously, the first fixture block and the second fixture block is allowed to cooperatively form cylinder-shaped protective case, the first card First fixture block and the second fixture block can firmly be fixed together by the sucker on block and the second fixture block, in robot dysequilibrium When, robot can be hung upside down on steel wire by protective case, avoided robot and directly dropped the damage caused by robot；It protects Protection unit, which is equipped with, to be rotated with the I-beam wheel of release guard rope, I-beam wheel by motor driven, to control I-beam wheel release It restricts with protection is withdrawn, protects the use of rope robot can be made to turn down to any position, facilitate taking for staff, sucker Use can also make the first fixture block and the second fixture block realize it is automatic disengage, facilitate the reset of the first fixture block and the second fixture block；I-shaped The cooperation for taking turns the tooth and cylinder on side plate, can play the role of double locking to I-beam wheel together with motor；Sliding block, sucker, electricity Machine and cylinder are electrically connected with the controller, and controller signals are connected with the handheld terminal with operation and control interface, are realized to robot It automatically controls；The configuration of the present invention is simple, it is easy to operate, it avoids robot and directly drops the damage caused by robot.

Detailed description of the invention

Present invention will be further explained below with reference to the attached drawings and examples.

Fig. 1 is schematic three dimensional views of the invention；

Fig. 2 is the enlarged drawing in Fig. 1 of the present invention at A；

Fig. 3 is the three-dimensional assembling schematic diagram of protective device and bottom plate and steel wire in the present invention；

Fig. 4 is the schematic three dimensional views of protective device in the present invention；

Fig. 5 is the enlarged drawing in Fig. 4 of the present invention at B；

Fig. 6 be in the present invention the first fixture block and the second fixture block with the use of state diagram.

In figure: 1. robot bodies, 2. bottom plates, 3. controllers, 4. guide rails, 5. sliding blocks, 6. protective devices, 7. shells, 8. Motor, 9. I-beam wheels, 10. teeth, 11. cylinders, 12. latches, 13. guide cylinders, 14. protection ropes, 15. brackets, 16. first fixture blocks, 17. the second fixture block, 18. suckers, 19. limited blocks, 20. slide bars, 21. steel wires.

Specific embodiment

Presently in connection with attached drawing, the present invention will be further described in detail.These attached drawings are simplified schematic diagram, only with Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention.

A kind of power industry Wire walking robot with protective device as shown in Figure 1, including can be on steel wire 21 The robot body 1 of walking, robot body 1 include bottom plate 2 and controller 3, and the centre of 2 lower surface of bottom plate is welded with guide rail 4, As shown in figure 3, guide rail 4 is vertical with the moving direction of robot body 1, sliding block 5 is slidably fitted on guide rail 4, sliding block 5 is pneumatic It drives, is fixedly installed with protective device 6 as shown in Figure 4 on sliding block 5, two groups of protective devices 6 are set about the central symmetry of bottom plate It sets, protective device 6 includes shell 7, and shell 7 is welded on sliding block 5, and motor 8, the output shaft of motor 8 are fixedly installed on shell 7 On be fixedly installed with I-beam wheel 9, I-beam wheel 9 is located in shell 7, is evenly distributed in several teeth on the two sides side plate of I-beam wheel 9 10, tooth 10 and the side plate of I-beam wheel 9 are integrated manufacture structure, cylinder 11 are welded on shell 7, two cylinders 11 are located at The surface of both side plate, the extension end of cylinder 11 are welded with latch 12, as shown in figure 5, latch 12 is fastened on two neighboring tooth 10 Centre, open up through-hole on shell 7, guide cylinder 13 be welded in through-hole, guide cylinder 13 is located at the underface of I-beam wheel 9 and connection Inside and outside shell 7, slide bar 20 is slidably fitted in guide cylinder 13, as shown in Fig. 2, the inner circle of the periphery of slide bar 20 and guide cylinder 13 Circumferential surface fitting, the center of slide bar 20 is provided with stepped hole, fixed column, the end face of fixed column and ladder is provided in the macropore of stepped hole The cascaded surface in hole is bonded, and protection rope 14 is arranged in I-beam wheel 9, protection 14 one end fixation bindings of rope connect in I-beam wheel 9, another With fixed column bundled fixed after the aperture of stepped hole, 20 other end of slide bar is welded with bracket 15, two groups of protective devices 6 at end Bracket 15 on be respectively welded the first fixture block 16 and the second fixture block 17, the cross section of the first fixture block 16 and the second fixture block 17 is equal For semi-circular, the first fixture block 16 and the second fixture block 17 are with cylinder-shaped protective case is synthesized, as shown in fig. 6, protective case is set in steel wire Outside 21, and it is concentric with steel wire 21, and sucker 18 is arranged on the contact surface of the first fixture block 16 and the second fixture block 17；It is set on bracket 15 There is limited block 19, limiting slot is offered on guide cylinder 13, limited block 19 is fastened in limiting slot, sliding block 5, sucker 18,8 and of motor Cylinder 11 is electrically connected with controller 3, and 3 signal of controller is connected with the handheld terminal with operation and control interface.

The present invention realizes the movement to two groups of protective devices 6 using the sliding block 5 of pneumatic actuation, keeps two groups of protective devices 6 same When it is mobile to steel wire 21, allow the first fixture block 16 and the second fixture block 17 to cooperatively form cylinder-shaped protective case, the first fixture block 16 and second First fixture block 16 and the second fixture block 17 can firmly be fixed together by the sucker 18 on fixture block 17, balance and lose in robot Timing, robot can be hung upside down on steel wire 21 by protective case, avoided robot and directly dropped the damage caused by robot Evil；Protective device 6 is equipped with can be with the I-beam wheel 9 of release guard rope 14, and I-beam wheel 9 is by the driving rotation of motor 8, to control The release of I-beam wheel 9 and withdrawal protection rope 14, the use of protection rope 14 can make robot turn down to any position, facilitate work Personnel's takes, and the use of sucker 18 can also make the first fixture block 16 and the second fixture block 17 realize automatic disengagement, facilitates the first fixture block 16 and second fixture block 17 reset；The cooperation of tooth 10 and cylinder 11 on 9 side plate of I-beam wheel, can be with motor 8 together to I-shaped Wheel 9 plays the role of double locking；Sliding block 5, sucker 18, motor 8 and cylinder 11 are electrically connected with controller 3, and 3 signal of controller connects It is connected to the handheld terminal with operation and control interface, robot is realized and is automatically controlled；The configuration of the present invention is simple, it is easy to operate, it avoids Robot directly drops the damage caused by robot.

Robot of the invention is before use, the first fixture block 16 and the second fixture block 17 in two protective devices 6 are in and divide From state, the limited block 19 on bracket 15 is fastened in the limiting slot of guide cylinder 13, the upper surface of bracket 15 and guide cylinder 13 Lower end surface fitting, the latch 12 of 11 front end of cylinder is fastened among the two neighboring tooth 10 on 9 side plate of I-beam wheel, protection rope 14 In the state of tightening.

In the use of the present invention, robot body 1 is cooperated by pulley and the rope of steel wire 21, controller 3 drives 21 liang of steel wire The sliding block 5 of side is close to steel wire 21, until the first fixture block 16 and the second fixture block 17 are fastened on and are formed together cylinder-shaped protective case, Protective case is set in outside steel wire 21, and cylinder-shaped protective case and steel wire are concentric, and controller 3 opens sucker 18, and sucker 18 works, will Together with first fixture block 16 is firmly inhaled with the second fixture block 17, robot starts to work；When robot dysequilibrium, robot Pulley and steel wire are detached from, and robot is hung upside down on steel wire by protective case, are issued signal to controller 3 by handheld terminal, are made Controller 3 controls four cylinders 11 and shrinks simultaneously, and cylinder 11 is shunk, and latch 12 controls electricity far from 9 side plate of I-beam wheel, controller 3 Machine 8 rotates forward, and I-beam wheel 9 rotates, and release guard rope 14 while I-beam wheel 9 rotates, slide bar 20 is deviate from out of guide cylinder 13, machine Human body 1 is far from bracket 15 and steel wire 21, when robot body 1 reaches the height that staff can touch or ground, Signal is issued to controller 3 by handheld terminal, controller 3 controls motor 8 and stops operating, i.e., I-beam wheel 9 stops release guard Rope 14, meanwhile, controller 3 closes sucker 18, the first fixture block 16 and the separation of the second fixture block 17, and is detached from from steel wire 21, to When bracket 15 is fallen on the ground, controller 3 controls motor 8 and inverts, and protection rope 14 is retracted in I-beam wheel 9, controller 3 controls Cylinder 11 stretches out, and latch 12 is fastened among two neighboring tooth 10, I-beam wheel 9 is locked.

Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.

Claims

1. A power industry tightrope walking robot with a protective device, comprising a robot body (1) capable of walking on a wire (21), the robot body (1) comprising a base plate (2) and a controller (3), characterized in that A guide rail (4) is fixedly installed in the middle of the lower surface of the bottom plate (2), the guide rail (4) is perpendicular to the moving direction of the robot body (1), and a slide rail (4) is slidably installed on the guide rail (4). Block (5), the slider (5) is pneumatically driven, a protection device (6) is fixedly installed on the slider (5), and the two sets of protection devices (6) are symmetrically arranged with respect to the center of the bottom plate, so The protection device (6) comprises a casing (7), the casing (7) is fixedly mounted on the slider (5), a motor (8) is fixedly mounted on the casing (7), and the casing (7) is fixedly mounted on the casing (7). An I-shaped wheel (9) is fixedly installed on the output shaft of the motor (8), the I-shaped wheel (9) is located in the housing (7), and the side plates on both sides of the I-shaped wheel (9) A plurality of teeth (10) are evenly distributed around the circumference, and cylinders (11) are fixedly mounted on the casing (7), and the two cylinders (11) are respectively located directly above the two side plates, and the cylinders (11) The protruding end of the casing (7) is fixedly installed with a clamping tooth (12), the clamping tooth (12) is clamped in the middle of two adjacent teeth (10), and a guide cylinder (13) is fixedly installed on the casing (7). , the guide cylinder (13) is located directly below the I-shaped wheel (9) and communicates with the inside and outside of the housing (7), a sliding rod (20) is slidably installed in the guide cylinder (13), and the sliding rod The circumferential surface of (20) is in contact with the inner circumferential surface of the guide cylinder (13), and a protective rope (14) is wound around the I-shaped wheel (9). The I-shaped wheel (9) is fixedly connected, and the other end is fixedly connected with one end of the sliding rod (20), the other end of the sliding rod (20) is fixedly installed with a bracket (15), and the two sets of protection devices (6) A first clamping block (16) and a second clamping block (17) are respectively fixedly installed on the bracket (15), and suction cups (18) are provided on both the first clamping block (16) and the second clamping block (17). , the first block (16) and the second block (17) cooperate to form a protective sleeve, the protective sleeve is sleeved outside the steel wire (21), and the bracket (15) is provided with a limit block (19) ), a limit slot is set on the guide cylinder (13), the limit block (19) is clamped in the limit slot, the slider (5), the suction cup (18), the motor (8) The air cylinder (11) is electrically connected with the controller (3), and the controller (3) is signally connected with a hand-held terminal with a control interface.

2. The power industry tightrope walking robot with a protection device according to claim 1, wherein the cross-sections of the first clamping block (16) and the second clamping block (17) are both semi-circular, so The first clamping block (16) and the second clamping block (17) cooperate to form a cylindrical protective sleeve, the protective sleeve and the steel wire (21) are coaxial, and the suction cup (18) is arranged on the first clamping block (17). The contact surface of the block (16) and the second clamping block (17).

3. The electric power industry tightrope walking robot with a protection device according to claim 1, wherein a stepped hole is opened in the center of the sliding rod (20), and a large hole of the stepped hole is provided with a fixed column, so The end surface of the fixing column is fitted with the stepped surface of the stepped hole, and the protective rope (14) is fixedly connected to the fixing column after passing through the small hole of the stepped hole.