The invention provides a clamping device for climbing an iron tower and a robot thereof, and relates to the technical field of robots, the clamping device mainly comprises a motor, a frame body, a lead screw, a first linkage part, a second linkage part and a first clamping jaw, and the first linkage part is in threaded connection with the lead screw; second linkage parts are symmetrically and flexibly arranged at the left end and the right end of the first linkage part and used for sequentially achieving swinging and linear movement of the first clamping jaw. According to the scheme, the clamping device is driven by one motor, complex and reliable clamping actions such as swing and linear movement of the clamping jaws can be continuously achieved in a reciprocating mode, the overall structure is simple and light, energy consumption is low, multi-stage flexible linkage is achieved, it can be ensured that the clamping jaws are stably clamped on the tower body, and the clamping phenomenon of the clamping device is avoided; according to the scheme, a profiling structure is further designed on the clamping jaw, the attaching area of the clamping jaw to the tower body is increased, and damage to the surface of the tower body is effectively reduced; according to the scheme, torque detection and ultrasonic detection can be added, and the anti-overload and anti-collision performance of the clamping device is further improved.

    本发明提供了一种用于攀爬铁塔的夹持装置及其机器人,涉及机器人技术领域,主要包括电机、框体、丝杠、第一联动部、第二联动部及第一卡爪,第一联动部与丝杠螺纹连接;第一联动部的左右两端对称且柔性地设置有第二联动部,用于依次实现第一卡爪的摆动及直线移动。本方案通过一个电机驱动,可连续往复实现卡爪的摆动、直线移动等复杂、可靠的夹持动作,整体结构简洁轻便、能耗低,且实现了多级柔性联动,可确保卡爪稳固地夹持在塔体上,避免了夹持装置的卡死现象;本方案还在卡爪上设计了仿形结构,提升了对塔体的贴合面积,有效降低了对塔体表面的损伤;本方案还可增加力矩检测及超声波检测,进一步提升了夹持装置的防过载、防碰撞性能。


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    Titel :

    Clamping device for climbing iron tower and robot thereof


    Weitere Titelangaben:

    一种用于攀爬铁塔的夹持装置及其机器人


    Beteiligte:
    LIU ZHIDONG (Autor:in) / WEI ZHIMIN (Autor:in) / WANG QINGYUN (Autor:in) / WANG LIJIE (Autor:in) / LYU DONGHUI (Autor:in) / CHANG WENSHUANG (Autor:in) / XU YONG (Autor:in)

    Erscheinungsdatum :

    2024-03-05


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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