CN112026948B - Overhead power line inspection tower climbing robot - Google Patents
Overhead power line inspection tower climbing robot Download PDFInfo
- Publication number
- CN112026948B CN112026948B CN202010864584.2A CN202010864584A CN112026948B CN 112026948 B CN112026948 B CN 112026948B CN 202010864584 A CN202010864584 A CN 202010864584A CN 112026948 B CN112026948 B CN 112026948B
- Authority
- CN
- China
- Prior art keywords
- fixed
- moving mechanism
- fixed jaw
- claw
- lifting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an overhead power line inspection tower climbing robot. The lifting telescopic connecting mechanism is used for connecting the upper and lower fixed claw moving mechanisms; the fixed jaw moving mechanism comprises a fixed frame, an auxiliary hook and two fixed jaw mechanisms, the fixed frame is provided with a double-thread screw rod and a guide rail shaft, the double-thread screw rod is provided with a horizontal screw rod nut seat, the horizontal screw rod nut seat is provided with a fixed jaw mechanism, and the side surface of the fixed frame is provided with a sliding wheel structure; the lifting telescopic connection mechanism comprises a connecting rod, an outer connecting plate, a sliding block, a lifting motor, a lifting coupler and a one-way threaded rod, the upper and lower fixed claw moving mechanism fixing frames are connected by the connecting rod, and an output shaft of the lifting motor faces downwards and is coaxially connected with the one-way threaded rod; the lifting screw nut seat is fixed on the lower external connection plate, and the lifting screw nut seat is sleeved on the one-way threaded rod in a threaded manner. The invention can well realize the function of automatically loading and unloading the tower and has the advantages of good universality and the like.
Description
Technical Field
The invention relates to a high-voltage iron tower climbing device, in particular to an overhead power line inspection tower climbing robot.
Background
At present, the electric power inspection and the work of the upper and lower high-voltage iron towers and the like basically depend on technical personnel to personally attend to dangerous places for inspection. Meanwhile, high voltage electricity is very dangerous, according to investigation statistics of relevant departments, data of the high voltage electricity is at least 8000 people reported according to records of electric shock death in China every year, so that maintenance workers in the relevant departments of high voltage transmission lines and high voltage power iron towers are dangerous to a certain extent every time, and if power failure is adopted for maintenance and inspection, great economic loss is caused. The robot is used for replacing the human being to carry out the inspection work of the overhead line continuously, and the development trend of the inspection of the power line in the future is certainly reached.
Disclosure of Invention
In order to solve the problems in the background art, the invention aims to provide an inspection tower climbing robot which can carry equipment to automatically go up and down a high-voltage iron tower.
The technical scheme of the invention is as follows:
the invention comprises an upper fixed jaw moving mechanism, a lifting telescopic connecting mechanism and a lower fixed jaw moving mechanism, wherein the upper fixed jaw moving mechanism and the lower fixed jaw moving mechanism are connected through the lifting telescopic connecting mechanism.
The fixed jaw moving mechanism comprises a fixed frame, an auxiliary hook and two fixed jaw mechanisms, a double-thread screw rod and a guide rail shaft which are parallel are supported and installed on the fixed frame, the double-thread screw rod is rotatably installed on the fixed frame through a bearing, two thread sections with opposite rotation directions are arranged on two sides of the middle part of the double-thread screw rod, horizontal screw rod nut seats are sleeved on the two thread sections through threads, the horizontal screw rod nut seats are sleeved on the guide rail shaft, a fixed jaw mechanism is fixed on each horizontal screw rod nut seat, a horizontal motor is installed on a fixed frame at one end of the double-thread screw rod, and an output shaft of the horizontal motor is coaxially and fixedly connected with the end part of the double-thread screw rod through a coupler; auxiliary hooks are hinged on the fixing frames at the two ends of the double-thread screw rod; the side of the fixed frame close to the high-voltage iron tower is fixedly provided with a sliding wheel structure.
The fixed claw mechanism comprises a fixed claw, a claw body, a fixed claw motor, a fixed claw screw nut seat and a fixed claw screw; the claw body is fixed on a horizontal screw nut seat, the fixed claw is embedded in a sliding groove of the claw body and moves along the sliding groove, the moving direction is perpendicular to the axial direction of the double-thread screw rod, a fixed claw motor is installed at one end of the claw body, an output shaft of the fixed claw motor is coaxially and fixedly connected with the end part of the fixed claw screw rod through a fixed claw coupling, the fixed claw screw rod is sleeved with a fixed claw screw nut seat through threads, and the fixed claw screw nut seat is fixedly connected with the fixed claw.
The lifting telescopic connection mechanism comprises a connecting rod, an outer connecting plate, a sliding block, a lifting motor, a lifting coupler, a one-way threaded rod and a lifting screw nut seat, wherein a fixed frame of the upper fixed jaw moving mechanism is connected with a fixed frame of the lower fixed jaw moving mechanism through the connecting rod; the bottom of a fixed frame of the upper fixed jaw moving mechanism and the top of a fixed frame of the lower fixed jaw moving mechanism are both fixedly connected with an outer connecting plate, strip-shaped grooves are formed in the outer connecting plate, a sliding block is embedded in each strip-shaped groove in a sliding mode, and all the sliding blocks are fixed to the back face of the carrying box body; the lifting screw nut seat is fixed on an outer connecting plate at the top of a fixing frame of the lower fixed jaw moving mechanism, and the lifting screw nut seat is sleeved on the one-way threaded rod through threads.
The auxiliary hook comprises a hook, an auxiliary hook lower arm and a torsion shaft sleeve, the hook is fixedly connected with one end of the auxiliary hook lower arm, the other end of the auxiliary hook lower arm far away from the hook is hinged to the fixing frame through the torsion shaft sleeve, and a tail rod is fixedly arranged at the other end of the auxiliary hook lower arm far away from the hook.
The claw body is provided with a through hole for the double-thread screw rod and the guide rail shaft to movably penetrate through.
The sliding wheel structure comprises a rolling bearing, a sliding wheel bracket, a rotating shaft and wheels; the root of the sliding wheel bracket is rotatably arranged on the fixed frame through a rolling bearing, the tail end of the sliding wheel bracket is divided into two branch arms, a rotating shaft is supported and arranged between the two branch arms, and wheels are movably sleeved on the rotating shaft.
Four connecting rods are connected between the fixing frame of the upper fixed jaw moving mechanism and the fixing frame of the lower fixed jaw moving mechanism, the four connecting rods are connected end to end, the two connecting rods are hinged to form a group of connecting rods, two groups of connecting rods are connected between the fixing frame of the upper fixed jaw moving mechanism and the fixing frame of the lower fixed jaw moving mechanism, one end of each group of connecting rods is hinged to the bottom of the fixing frame of the upper fixed jaw moving mechanism, and the other end of each group of connecting rods is hinged to the top of the fixing frame of the lower fixed jaw moving mechanism.
The invention adopts the ball screw pair to control the machine body to ascend or descend in a creeping manner, the fixed claws and the auxiliary hooks are used for realizing obstacle crossing of the robot, and the direct distance of the fixed claws is adjusted to adapt to different high-voltage electric iron tower conditions and realize obstacle crossing; the automatic tower loading and unloading function can be well realized, and the universal device has the advantages of good universality and the like.
The invention has the beneficial effects that:
the invention reduces the risk of life-threatening risks such as falling or electric shock in manual maintenance and climbing of the high-voltage tower.
The tower climbing mechanism of the overhead power line inspection robot has the capabilities of stabilizing climbing and descending and automatically crossing obstacles, and can adapt to complex iron tower environments.
Drawings
FIG. 1 is a perspective view of one embodiment of the present invention;
FIG. 2 is a partial view of the present invention;
FIG. 3 is an enlarged view of a portion of the area F of FIG. 1;
FIG. 4 is a second perspective view of the present invention;
FIG. 5 is a schematic view of an auxiliary hook according to the present invention;
FIG. 6 is a schematic view of a sliding wheel structure according to the present invention;
FIG. 7 is a schematic view of the fixing jaw of the present invention;
FIG. 8 is a top view of the present invention;
FIG. 9 is a diagram of the working state of the present invention;
FIG. 10 is a state diagram of the operation of the present invention;
fig. 11 is a perspective view of the robot with the carrier housing of the present invention.
In the figure: 1. the device comprises a bearing, 2, a fixed jaw mechanism, 2-1, a fixed jaw, 2-2, a sliding chute, 2-3, a fixed jaw screw rod, 2-4, a fixed jaw screw rod nut seat, 2-5, a fixed jaw coupler, 2-6 and a fixed jaw motor; 3. a guide rail shaft, 4, a bidirectional threaded rod, 5 and a horizontal screw rod nut seat; 6. 6-1 parts of an auxiliary hook, 6-2 parts of a hook, 6-3 parts of an auxiliary hook lower arm and a torsion shaft sleeve; 7. the device comprises a fixed frame, 8, a horizontal motor, 9, a horizontal coupling, 10, a connecting rod, 11, an external connecting plate, 12, a sliding block, 13, a lifting motor, 14, a lifting coupling, 15, a one-way threaded rod, 16, a lifting lead screw nut seat, 17, a sliding wheel structure, 17-1, a rolling bearing, 17-2, a sliding wheel support, 17-3, a rotating shaft, 17-4 and wheels; 18. horizontal bar, 19, angle steel, 20, carrying case.
Detailed Description
The invention is further described with reference to the accompanying drawings and the detailed description.
As shown in fig. 1, 2 and 4, the device comprises an upper fixed jaw moving mechanism, a lifting telescopic connecting mechanism and a lower fixed jaw moving mechanism, wherein the upper fixed jaw moving mechanism and the lower fixed jaw moving mechanism are connected through the lifting telescopic connecting mechanism.
The fixed jaw moving mechanism is perpendicular to the walking direction of the robot, as shown in fig. 1 and 8, the fixed jaw moving mechanism comprises a fixed frame 7, an auxiliary hook 6 and two fixed jaw mechanisms 2, a double-thread screw rod 4 and a guide rail shaft 3 which are parallel are supported and installed on the fixed frame 7, the double-thread screw rod 4 is rotatably installed on the fixed frame 7 through a bearing 1, two thread sections with opposite rotation directions are arranged on two sides of the middle part of the double-thread screw rod 4, a horizontal screw rod nut seat 5 is sleeved on each thread section through a thread, the horizontal screw rod nut seat 5 is sleeved on the guide rail shaft 3, one fixed jaw mechanism 2 is fixed on each horizontal screw rod nut seat 5, a horizontal motor 8 is installed on the fixed frame 7 at one end of the double-thread screw rod 4, and an output shaft of the horizontal motor 8 is coaxially and fixedly connected with the end part of the double-thread screw rod 4 through a coupler 9; the fixing frames 7 at the two ends of the double-thread screw rod 4 are respectively provided with an auxiliary hook 6 in a hinged manner, and the auxiliary hooks 6 are connected to the fixing frames 7 through elastic pieces; the side surface of the fixed frame 7 close to the high-voltage iron tower is fixedly provided with a sliding wheel structure 17; the horizontal motor 8 operates to drive the double-threaded screw rod 4, and then drives the two horizontal screw nut seats 5 which are sleeved on the two thread sections of the double-threaded screw rod 4 to approach or keep away along the guide rail shaft 3, and further drives the respective fixed claw mechanisms 2 of the two horizontal screw nut seats 5 to approach or keep away.
The fixed jaw mechanism 2 is horizontally arranged perpendicular to the advancing direction of the robot, and as shown in fig. 7, the fixed jaw mechanism 2 comprises a fixed jaw 2-1, a jaw body 2-2, a fixed jaw motor 2-6, a fixed jaw lead screw nut seat 2-4 and a fixed jaw lead screw 2-3; the claw body 2-2 is fixed on a horizontal screw nut seat 5, a fixed claw 2-1 is embedded in a sliding groove of the claw body 2-2 and moves along the sliding groove, the moving direction is vertical to the axial direction of the double-thread screw 4, one end of the claw body 2-2 is provided with a fixed claw motor 2-6, an output shaft of the fixed claw motor 2-6 is coaxially and fixedly connected with the end part of a fixed claw screw 2-3 through a fixed claw coupling 2-5, the fixed claw screw 2-3 is sleeved with a fixed claw screw nut seat 2-4 through threads, and the fixed claw screw nut seat 2-4 is fixedly connected with a fixed claw 2-1; the fixed claw motor 2-6 operates to drive the fixed claw screw rod 2-3 to rotate, and then the screw rod nut sliding pair drives the whole fixed claw screw rod nut seat 2-4 and the fixed claw 2-1 to move horizontally along the sliding groove of the claw body 2-2 and move along the angle steel 19 close to or far away from the high-voltage iron tower. The claw body 2-2 is provided with a through hole for the double-thread screw rod 4 and the guide rail shaft 3 to movably penetrate through.
As shown in fig. 1, 3 and 4, the lifting telescopic connection mechanism includes a connecting rod 10, an external connection plate 11, a slider 12, a lifting motor 13, a lifting coupler 14, a one-way threaded rod 15 and a lifting lead screw nut seat 16, a fixed frame 7 of the upper fixed jaw moving mechanism and a fixed frame 7 of the lower fixed jaw moving mechanism are connected through the connecting rod 10, a lifting motor 13 is fixedly installed at the bottom of the fixed frame 7 of the upper fixed jaw moving mechanism, and an output shaft of the lifting motor 13 is coaxially connected with the upper end of the one-way threaded rod 15 through the lifting coupler 14 downwards; in specific implementation, the bottom of the fixing frame 7 of the upper fixed jaw moving mechanism and the top of the fixing frame 7 of the lower fixed jaw moving mechanism are both fixedly connected with an external connecting plate 11, the bottom of the fixing frame 7 of the upper fixed jaw moving mechanism is fixedly connected with two external connecting plates 11, the top of the fixing frame 7 of the lower fixed jaw moving mechanism is both fixedly connected with an external connecting plate 11, the external connecting plate 11 is provided with a strip-shaped groove, the strip-shaped groove is parallel to the axial direction of a one-way threaded rod 15, the external connecting plate 11 is also arranged along the axial direction of the one-way threaded rod 15, a sliding block 12 is embedded in each strip-shaped groove in a sliding manner, and all the sliding blocks 12 are fixed on the back of the carrying box body 20; the carrying box body 20 is driven by the slide block 12 to move up and down along the strip-shaped groove; the lifting screw nut seat 16 is fixed on an external connecting plate 11 at the top of a fixed frame 7 of the lower fixed jaw moving mechanism, and the lifting screw nut seat 16 is sleeved on the one-way threaded rod 15 through threads. The lifting motor 13 operates to drive the one-way threaded rod 15 to rotate, and further drives the lifting screw nut seat 16 to move up and down along the one-way threaded rod 15 under the guidance of the connecting rod 10, and further drives the upper fixed jaw moving mechanism and the lower fixed jaw moving mechanism to move close to or away from each other.
As shown in figure 5, the auxiliary hook 6 comprises a hook 6-1, an auxiliary hook lower arm 6-2 and a torsion shaft sleeve 6-3, the hook 6-1 is fixedly connected with one end of the auxiliary hook lower arm 6-2, the auxiliary hook lower arm 6-2 is hinged to the fixed frame 7 through the torsion shaft sleeve 6-3 at the other end far away from the hook 6-1, a torsion spring is arranged in the torsion shaft sleeve 6-3, and the torsion spring drives the hook 6-1 and the auxiliary hook lower arm 6-2 to integrally rotate and reset upwards towards the direction close to the top surface of the fixed frame 7 in a natural state. The other end of the auxiliary hook lower arm 6-2, which is far away from the hook 6-1, is fixedly provided with a tail rod, and the tail rod is perpendicular to the body of the auxiliary hook lower arm 6-2 and is used for being blocked by a cross bar 18 on a high-voltage iron tower so as to drive the auxiliary hook 6 to integrally rotate.
Therefore, the auxiliary hook 6 does not need to be driven by electric power, when the upper fixed claw moving mechanism ascends, the tail rod of the lower arm 6-2 of the auxiliary hook in the auxiliary hook 6 enables the auxiliary hook 6 to rotate opposite to the spring force of the torsion spring of the torsion shaft sleeve 6-3 under the blocking of the cross bar 18, and the spring force of the torsion spring in the torsion shaft sleeve 6-3 is overcome to hook the cross bar 18. The vertical gravity of the upper fixed claw moving mechanism is blocked by the cross bar, so that the hook 6-1 of the auxiliary hook 6 is tightly hooked on the cross bar 18, and the upper fixed claw moving mechanism integrally ascends in the hooking process.
Torsion shaft sleeves 6-3 are arranged on two sides of a rotating shaft of the auxiliary hook 6 and have certain torque, when the upper fixed claw moving mechanism integrally rises to the fixed claw mechanism 2 to cross the cross bar 18, a tail rod of the lower arm 6-2 of the auxiliary hook is not blocked by the cross bar 18 any more, a hook 6-1 of the auxiliary hook 6 is separated from the cross bar 18, and the auxiliary hook 6 returns to the original position so as not to block rising or falling.
As shown in fig. 6, the sliding wheel structure 17 includes a rolling bearing 17-1, a sliding wheel bracket 17-2, a rotating shaft 17-3, and a wheel 17-4; the root of a sliding wheel bracket 17-2 is rotatably arranged on the fixed frame 7 through a rolling bearing 17-1, the tail end of the sliding wheel bracket 17-2 is divided into two branch arms, a rotating shaft 17-3 is supported and arranged between the two branch arms, and wheels 17-4 are movably sleeved on the rotating shaft 17-3.
The root of the sliding wheel bracket 17-2 is connected with the fixed frame by a tapered roller bearing and can freely roll in the horizontal plane. Two wheels are arranged on the side surface of the fixing frame 7, and the two wheels 17-4 just support the fixing frame 7 and do not contact with the edge of the angle steel 19, so that the rotating angle of the auxiliary hook 6 can meet the requirement.
Four connecting rods 10 are connected between a fixing frame 7 of the upper fixed jaw moving mechanism and a fixing frame 7 of the lower fixed jaw moving mechanism, the four connecting rods 10 are connected end to end, the two connecting rods 10 are hinged to form a group of connecting rods, two groups of connecting rods are connected between the fixing frame 7 of the upper fixed jaw moving mechanism and the fixing frame 7 of the lower fixed jaw moving mechanism, one end of each group of connecting rods is hinged to the bottom of the fixing frame 7 of the upper fixed jaw moving mechanism, and the other end of each group of connecting rods is hinged to the top of the fixing frame 7 of the lower fixed jaw moving mechanism.
The robot is positioned on angle steel at the bottom of a high-voltage transmission line iron tower, as shown in figure 9, the high-voltage iron tower is mainly constructed by cross bars 18 and angle steel 19, and the robot climbs on the angle steel 19 and passes over the cross bars 18.
The robot climbs upwards from the bottom of the iron tower of the high-voltage transmission line and is in a compressed state initially, the upper fixed claw moving mechanism is in a loosened state, and the lower fixed claw moving mechanism is in a clamped state to support the mechanism independently. The distance between the front clamping device and the rear clamping device is 200 mm.
As shown in fig. 10, first, the fixed jaw mechanism 2 of the lower fixed jaw moving mechanism extends and clamps the angle steel 19, and the fixed jaw mechanism 2 of the upper fixed jaw moving mechanism is in a retracted state;
then, the upper fixed jaw moving mechanism is driven to move upwards relative to the lower fixed jaw moving mechanism through the lifting telescopic connecting mechanism, and when the upper fixed jaw moving mechanism moves upwards and passes through the cross bar 18, the auxiliary hook 6 of the upper fixed jaw moving mechanism hooks the cross bar 18 until the fixed jaw mechanism 2 of the upper fixed jaw moving mechanism passes over the cross bar 18;
then, the auxiliary hook 6 of the upper fixed jaw moving mechanism is separated from the cross bar 18, the fixed jaw mechanism 2 of the upper fixed jaw moving mechanism extends out and clamps the angle steel 19 above the cross bar 18, the fixed jaw mechanism 2 of the lower fixed jaw moving mechanism retracts,
thirdly, the lower fixed jaw moving mechanism is driven to move upwards relative to the upper fixed jaw moving mechanism through the lifting telescopic connecting mechanism, the fixed jaw mechanism 2 of the lower fixed jaw moving mechanism extends out and clamps the angle steel 19, and the fixed jaw mechanism 2 of the upper fixed jaw moving mechanism retracts;
and then continuously repeating the three steps to control the operation, thereby realizing the climbing of the robot.
As shown in fig. 10, the specific working movement process is as follows:
in the initial case:
in the lower fixed jaw moving mechanism: controlling a horizontal motor 8 of the fixed jaw moving mechanism to work to drive the fixed jaw mechanisms 2 on the two sides to be away from each other, wherein the distance between the fixed jaw mechanisms 2 on the two sides is larger than the width of the angle steel 19;
then, a fixed claw motor 2-6 in each fixed claw mechanism 2 on the two sides is controlled to work to drive the fixed claws 2-1 to extend out towards the angle steel 19 and cross the angle steel 19 and be positioned on the two sides of the angle steel 19;
and then, controlling a horizontal motor 8 in a fixed jaw moving mechanism of the lower fixed jaw moving mechanism to work to drive the fixed jaw mechanisms 2 at the two sides to approach each other, so that the fixed jaws 2-1 of the fixed jaw mechanisms 2 at the two sides are clamped at the two sides of the angle steel 19.
In the upper fixed jaw moving mechanism: controlling a horizontal motor 8 of the fixed jaw moving mechanism to work to drive the fixed jaw mechanisms 2 on the two sides to be away from each other, wherein the distance between the fixed jaw mechanisms 2 on the two sides is larger than the width of the angle steel 19; then, a fixed claw motor 2-6 in each fixed claw mechanism 2 on the two sides is controlled to work to drive the fixed claws 2-1 to retract towards the angle steel 19 and to be far away from the angle steel 19;
(a)
the lifting motor 13 of the lifting telescopic connection mechanism is controlled to work in a forward rotation mode, the upper fixed claw moving mechanism and the lower fixed claw moving mechanism move away from each other, so that the upper fixed claw moving mechanism is pushed upwards along the angle steel, the two groups of connecting rods reach the maximum extension amount, and the upper fixed claw moving mechanism rises by 120 mm.
(b)
If the upper fixed jaw moving mechanism is in the cross bar position, the auxiliary hook 6 of the upper fixed jaw moving mechanism hooks the cross bar 18.
If the upper fixed claw moving mechanism is in a non-horizontal bar position, the upper fixed claw moving mechanism comprises: controlling a horizontal motor 8 of the fixed jaw moving mechanism to work to drive the fixed jaw mechanisms 2 on the two sides to be away from each other, wherein the distance between the fixed jaw mechanisms 2 on the two sides is larger than the width of the angle steel 19;
then, a fixed claw motor 2-6 in each fixed claw mechanism 2 on the two sides is controlled to work to drive the fixed claws 2-1 to extend out towards the angle steel 19 and cross the angle steel 19 and be positioned on the two sides of the angle steel 19;
and then controlling a horizontal control motor 8 in the fixed jaw moving mechanism of the upper fixed jaw moving mechanism to work to drive the fixed jaw mechanisms 2 at the two sides to approach each other, so that the fixed jaws 2-1 of the fixed jaw mechanisms 2 at the two sides are clamped at the two sides of the angle steel 19.
(c)
In the lower fixed jaw moving mechanism: controlling a horizontal motor 8 of the fixed jaw moving mechanism to work to drive the fixed jaw mechanisms 2 on the two sides to be away from each other, wherein the distance between the fixed jaw mechanisms 2 on the two sides is larger than the width of the angle steel 19; and then, a fixed claw motor 2-6 in each fixed claw mechanism 2 at two sides is controlled to work to drive the fixed claws 2-1 to retract towards the angle steel 19 and to be far away from the angle steel 19.
(d)
The lifting motor 13 of the lifting telescopic connecting mechanism is controlled to work to rotate forwards, the upper fixed jaw moving mechanism and the lower fixed jaw moving mechanism are close to each other, so that the lower fixed jaw moving mechanism is pushed upwards along the angle steel, the two groups of connecting rods reach the minimum elongation, and the lower fixed jaw moving mechanism rises by 120 mm.
(e)
In the lower fixed jaw moving mechanism: controlling a horizontal motor 8 of the fixed jaw moving mechanism to work to drive the fixed jaw mechanisms 2 on the two sides to be away from each other, wherein the distance between the fixed jaw mechanisms 2 on the two sides is larger than the width of the angle steel 19;
then, a fixed claw motor 2-6 in each fixed claw mechanism 2 on the two sides is controlled to work to drive the fixed claws 2-1 to extend out towards the angle steel 19 and cross the angle steel 19 and be positioned on the two sides of the angle steel 19;
and then, controlling a horizontal motor 8 in a fixed jaw moving mechanism of the lower fixed jaw moving mechanism to work to drive the fixed jaw mechanisms 2 at the two sides to approach each other, so that the fixed jaws 2-1 of the fixed jaw mechanisms 2 at the two sides are clamped at the two sides of the angle steel 19.
(a) And (e) completing one-time ascending movement by the tower climbing mechanism of the overhead power line inspection robot. The whole mechanism enters the next motion cycle.
Therefore, the invention adopts the ball screw pair to control the machine body to ascend or descend in a creeping manner, the fixed claws and the auxiliary hooks are used for realizing the obstacle crossing of the robot, and the distance between the fixed claws is adjusted to adapt to different high-voltage electric iron tower conditions and realize the obstacle crossing; the automatic tower loading and unloading function can be well realized, and the universal device has the advantages of good universality and the like.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (4)
1. The utility model provides an overhead power line patrols and examines tower climbing robot which characterized in that: the device comprises an upper fixed jaw moving mechanism, a lifting telescopic connecting mechanism and a lower fixed jaw moving mechanism, wherein the upper fixed jaw moving mechanism and the lower fixed jaw moving mechanism are connected through the lifting telescopic connecting mechanism;
the fixed claw moving mechanism comprises a fixed frame (7), an auxiliary hook (6) and two fixed claw mechanisms (2), a double-thread screw rod (4) and a guide rail shaft (3) which are parallel are supported and installed on the fixed frame (7), the double-thread screw rod (4) is rotatably installed on the fixed frame (7) through a bearing (1), two thread sections with opposite rotation directions are arranged on two sides of the middle part of the double-thread screw rod (4), horizontal screw rod nut seats (5) are sleeved on the two thread sections through threads, meanwhile, horizontal lead screw nut seats (5) are sleeved on the guide rail shaft (3), a fixed claw mechanism (2) is fixed on each horizontal lead screw nut seat (5), a horizontal motor (8) is installed on a fixed frame (7) at one end of the double-thread lead screw (4), and an output shaft of the horizontal motor (8) is coaxially and fixedly connected with the end part of the double-thread lead screw (4) through a coupling (9); auxiliary hooks (6) are hinged on the fixing frames (7) at the two ends of the double-thread screw rod (4); a sliding wheel structure (17) is fixedly arranged on the side surface of the fixed frame (7) close to the high-voltage iron tower;
the fixed claw mechanism (2) comprises a fixed claw (2-1), a claw body (2-2), a fixed claw motor (2-6), a fixed claw screw rod nut seat (2-4) and a fixed claw screw rod (2-3); the claw body (2-2) is fixed on a horizontal screw nut seat (5), the fixed claw (2-1) is embedded in a sliding groove of the claw body (2-2) and moves along the sliding groove, the moving direction is vertical to the axial direction of the double-thread screw rod (4), one end of the claw body (2-2) is provided with a fixed claw motor (2-6), an output shaft of the fixed claw motor (2-6) is coaxially and fixedly connected with the end part of the fixed claw screw rod (2-3) through a fixed claw coupling (2-5), the fixed claw screw rod (2-3) is sleeved with the fixed claw screw nut seat (2-4) through threads, and the fixed claw screw nut seat (2-4) is fixedly connected with the fixed claw (2-1);
the lifting telescopic connecting mechanism comprises a connecting rod (10), an external connecting plate (11), a sliding block (12), a lifting motor (13), a lifting coupler (14), a one-way threaded rod (15) and a lifting lead screw nut seat (16), wherein a fixing frame (7) of the upper fixed jaw moving mechanism is connected with a fixing frame (7) of the lower fixed jaw moving mechanism through the connecting rod (10), the lifting motor (13) is fixedly installed at the bottom of the fixing frame (7) of the upper fixed jaw moving mechanism, and an output shaft of the lifting motor (13) faces downwards and is coaxially connected with the upper end of the one-way threaded rod (15) through the lifting coupler (14); the bottom of a fixing frame (7) of the upper fixed jaw moving mechanism and the top of the fixing frame (7) of the lower fixed jaw moving mechanism are fixedly connected with an external connecting plate (11), strip-shaped grooves are formed in the external connecting plate (11), a sliding block (12) is embedded in each strip-shaped groove in a sliding mode, and all the sliding blocks (12) are fixed to the back face of the carrying box body (20); the lifting screw nut seat (16) is fixed on an external connecting plate (11) at the top of a fixed frame (7) of the lower fixed jaw moving mechanism, and the lifting screw nut seat (16) is sleeved on the one-way threaded rod (15) through threads;
the auxiliary hook (6) comprises a hook (6-1), an auxiliary hook lower arm (6-2) and a torsion shaft sleeve (6-3), the hook (6-1) is fixedly connected with one end of the auxiliary hook lower arm (6-2), the auxiliary hook lower arm (6-2) is hinged to the fixed frame (7) through the torsion shaft sleeve (6-3) at the other end far away from the hook (6-1), and a tail rod is fixedly arranged at the other end far away from the hook (6-1) of the auxiliary hook lower arm (6-2).
2. The overhead power line inspection tower-climbing robot according to claim 1, wherein: the claw body (2-2) is provided with a through hole for the double-thread screw rod (4) and the guide rail shaft (3) to movably penetrate through.
3. The overhead power line inspection tower-climbing robot according to claim 1, wherein: the sliding wheel structure (17) comprises a rolling bearing (17-1), a sliding wheel bracket (17-2), a rotating shaft (17-3) and wheels (17-4); the root of the sliding wheel bracket (17-2) is rotatably arranged on the fixed frame (7) through a rolling bearing (17-1), the tail end of the sliding wheel bracket (17-2) is divided into two branch arms, a rotating shaft (17-3) is supported and arranged between the two branch arms, and wheels (17-4) are movably sleeved on the rotating shaft (17-3).
4. The overhead power line inspection tower-climbing robot according to claim 1, wherein: four connecting rods (10) are connected between a fixing frame (7) of the upper fixed jaw moving mechanism and a fixing frame (7) of the lower fixed jaw moving mechanism, the four connecting rods (10) are connected end to end, the two connecting rods (10) are hinged into a group of connecting rods, two groups of connecting rods are connected between the fixing frame (7) of the upper fixed jaw moving mechanism and the fixing frame (7) of the lower fixed jaw moving mechanism, one end of each group of connecting rods is hinged to the bottom of the fixing frame (7) of the upper fixed jaw moving mechanism, and the other end of each group of connecting rods is hinged to the top of the fixing frame (7) of the lower fixed jaw moving mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010864584.2A CN112026948B (en) | 2020-08-25 | 2020-08-25 | Overhead power line inspection tower climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010864584.2A CN112026948B (en) | 2020-08-25 | 2020-08-25 | Overhead power line inspection tower climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112026948A CN112026948A (en) | 2020-12-04 |
| CN112026948B true CN112026948B (en) | 2022-02-18 |
Family
ID=73581312
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010864584.2A Active CN112026948B (en) | 2020-08-25 | 2020-08-25 | Overhead power line inspection tower climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112026948B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112864955B (en) * | 2021-04-13 | 2022-12-23 | 合肥工业大学 | Threading device of space truss communication cable |
| CN113895536B (en) * | 2021-11-18 | 2022-09-27 | 国网湖南省电力有限公司 | Bionic tower-climbing robot |
| CN114069482B (en) * | 2021-11-30 | 2023-09-26 | 国网四川省电力公司南充供电公司 | Overhead cable inspection device for rural distribution network |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104129447A (en) * | 2014-07-08 | 2014-11-05 | 南京工程学院 | Power transmission tower climbing robot and power transmission tower routing inspection mode thereof |
| CN107472392A (en) * | 2017-07-07 | 2017-12-15 | 武汉科技大学 | A kind of wheel type barrier-crossing climbing level robot |
| CN108860354A (en) * | 2018-03-30 | 2018-11-23 | 西南交通大学 | A kind of electric power tower climbing robot and its obstacle-detouring method |
| JP2019110615A (en) * | 2017-12-15 | 2019-07-04 | 住友電気工業株式会社 | Overhead wire travel device and self-traveling wire inspection device |
| CN110395329A (en) * | 2019-07-30 | 2019-11-01 | 南京昱晟机器人科技有限公司 | A kind of hook formula climbing robot |
-
2020
- 2020-08-25 CN CN202010864584.2A patent/CN112026948B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104129447A (en) * | 2014-07-08 | 2014-11-05 | 南京工程学院 | Power transmission tower climbing robot and power transmission tower routing inspection mode thereof |
| CN107472392A (en) * | 2017-07-07 | 2017-12-15 | 武汉科技大学 | A kind of wheel type barrier-crossing climbing level robot |
| JP2019110615A (en) * | 2017-12-15 | 2019-07-04 | 住友電気工業株式会社 | Overhead wire travel device and self-traveling wire inspection device |
| CN108860354A (en) * | 2018-03-30 | 2018-11-23 | 西南交通大学 | A kind of electric power tower climbing robot and its obstacle-detouring method |
| CN110395329A (en) * | 2019-07-30 | 2019-11-01 | 南京昱晟机器人科技有限公司 | A kind of hook formula climbing robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112026948A (en) | 2020-12-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112026948B (en) | Overhead power line inspection tower climbing robot | |
| CN109572849B (en) | Robot clamping mechanism and climbing robot for transmission tower | |
| CN106112993B (en) | A kind of alternative expression climbing level robot | |
| CN205928630U (en) | Alternating pole -climbing robot | |
| CN205472513U (en) | A lift platform for power plant equipment overhauls | |
| CN205472511U (en) | Stable elevating platform that overhauls | |
| CN101771250B (en) | Inspection robot mechanism | |
| CN108161892A (en) | A kind of manipulator carried for mold | |
| CN201383635Y (en) | Inspection robot mechanism | |
| CN111618880B (en) | Manned robot climbing along iron tower foot nails and application method thereof | |
| CN107528257B (en) | Power transmission line damper position adjusting device | |
| CN112117702A (en) | Equipotential robot for live replacement of suspension insulator string | |
| CN102059704B (en) | Novel iron tower climbing robot manipulator device | |
| CN108974169A (en) | A kind of power cord bar climbing level robot | |
| CN204123034U (en) | A kind of manipulator for motor base automatic turning | |
| CN209786636U (en) | Double-arm coordinated operation device for suspension insulator string of power transmission line | |
| CN209948531U (en) | Equipotential robot for live replacement of suspension insulator string | |
| CN219535346U (en) | Liftable formula automatically controlled cabinet | |
| CN113879418B (en) | Cross locking type telegraph pole climbing robot | |
| CN216332385U (en) | Cross locking type robot for climbing telegraph pole | |
| CN116177413A (en) | Manganese plate follow-up picking and placing system and method for electrolysis workshop | |
| CN112117701B (en) | Double-arm coordination operation device for suspension insulator string of power transmission line | |
| CN213731647U (en) | Working frame for maintaining construction engineering machinery | |
| CN210246130U (en) | Line patrol robot applying winch | |
| CN209850247U (en) | Manual adjusting mechanism for rivet welding machining station of steel member |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230116 Address after: Room B2160, Floor 2, Building 1 (North), No. 368, Liuhe Road, Puyan Street, Binjiang District, Hangzhou City, Zhejiang Province, 310051 Patentee after: Hangzhou Yuanshi Intelligent Technology Co.,Ltd. Address before: 310018 Xiasha Higher Education Zone, Hangzhou, Zhejiang Patentee before: HANGZHOU DIANZI University |