CN112661074A - Pole-climbing robot with liftable working platform - Google Patents
Pole-climbing robot with liftable working platform Download PDFInfo
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- CN112661074A CN112661074A CN202011517090.3A CN202011517090A CN112661074A CN 112661074 A CN112661074 A CN 112661074A CN 202011517090 A CN202011517090 A CN 202011517090A CN 112661074 A CN112661074 A CN 112661074A
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Abstract
The invention belongs to the field of automatic climbing machinery, and particularly relates to a pole-climbing robot with a liftable working platform, which comprises: the climbing mechanism comprises a climbing frame and at least 4 hub motors, the hub motors are symmetrically arranged on two sides of the bottom of the climbing frame in two groups, and the two groups of hub motors are connected through a telescopic rod; the lifting platform is positioned below the climbing mechanism and comprises two groups of symmetrically arranged working platforms and a horizontal movable pedal, the working platforms are fixedly connected in a detachable mode, the pedal penetrates through the bottom of the working platforms, winding mechanisms are fixed on the lower portions of the inner sides of the working platforms, and the winding mechanisms are connected with the two sides of the climbing frame through ropes; and the controller is electrically connected with the hub motor, the telescopic rod and the winding mechanism. The automatic lifting device can realize the automatic lifting of the manned working platform, the climbing mechanism and the lifting platform are operated in two parts, and the automatic lifting device is flexible and convenient to install on site, safe and reliable.
Description
Technical Field
The invention belongs to the field of automatic climbing machinery, and particularly relates to a pole-climbing robot with a liftable working platform.
Background
In order to meet the user's demand for reliability of power supply, live working of power distribution networks is becoming more and more common. At present, an electric worker in charge of maintenance climbs a line tower by self by using appliances such as a pole climber or works by using an insulating ladder or an electric working vehicle during live working, but the electric worker has certain defects.
(1) When climbing by oneself or using insulating ladder, generally can only guarantee 1 people's operation on the shaft tower, be not suitable for when needing 2 people or many people's collaborative operation.
(2) The live working vehicle can work by multiple persons in a coordinated mode, but the equipment is large in size, the lines of a distribution network are generally complex, and large-scale equipment cannot be installed in the peripheral space of multiple towers.
Therefore, the mechanism which is light and easy to use, can bear a single person or a plurality of persons and can automatically climb the distribution line tower is urgently needed, and the working difficulty of constructors can be greatly reduced.
Disclosure of Invention
The invention aims to provide a pole-climbing robot with a liftable working platform, which can bear a single person or a plurality of persons and can automatically climb a distribution line pole tower, and constructors can control a mechanism to lift to realize live-line work so as to solve the problems in the background technology.
The invention provides a specific technical scheme as follows:
the utility model provides a take liftable work platform's pole-climbing robot, includes:
the climbing mechanism comprises a climbing frame and at least 4 hub motors, the hub motors are symmetrically arranged on two sides of the bottom of the climbing frame in two groups, and the two groups of hub motors are connected through telescopic rods;
the lifting platform is positioned below the climbing mechanism and comprises two groups of symmetrically arranged working platforms and a horizontal movable pedal, the working platforms are fixedly connected in a detachable mode, the pedal penetrates through the bottom of the working platform, winding mechanisms are fixed on the lower portions of the inner sides of the working platforms, and the winding mechanisms are connected with the two sides of the climbing frame through ropes;
the controller, the controller with in-wheel motor, telescopic link and winding mechanism electric connection, the controller control is two sets of in-wheel motor counter-rotation scrambles, controls winding mechanism coiling and receive and release the rope in order to go up and down work platform.
Furthermore, the climbing frame comprises a support seat and two sets of wheel shaft supports which are rotatably connected, a motor shaft of the hub motor is rotatably fixed on the wheel shaft supports, the support seats are respectively fixed on the outer sides of the ends of the wheel shaft supports and arranged in parallel with the motor shaft of the hub motor, and the rope is fixed in the middle of the support seats.
Furthermore, 3 hub motors are fixed on the single group of wheel axle supports, and the diameters of the hub motors at the two ends are the same and larger than that of the hub motor in the middle.
Furthermore, a limiting block is fixed at one end, extending out of the working platform, of the pedal, and the limiting block is connected with the outer side of the working platform through a tension spring.
Further, work platform includes the fence board of vertical installation and the level sets up two spacing splint in fence board bottom, the footboard is two horizontal reverse movement between the spacing splint.
Furthermore, semicircular notches are formed in the sides, close to each other, of the pedals, and the diameter of each semicircular notch is larger than the maximum outer diameter of the telegraph pole.
Further, the winding mechanism is a winch or an electric winch or a roller motor.
Furthermore, the hub motor driving device further comprises a limiting sensor, wherein the limiting sensor is installed on one side of the telescopic rod and used for detecting the wheel base of the two sets of hub motors.
Further, still include manual control board, remote controller and motor drive, manual control board is fixed on the fence board, the remote controller with controller wireless communication, manual control board and motor drive with controller electric connection.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the pole-climbing robot with the liftable working platform, when a pole piece is climbed, the rotating directions of the hub motors rotate oppositely, the length of the telescopic rod can be automatically adjusted along with the radial change condition of a rod-shaped object by the inclination angle in the climbing process, the walking wheels of the hub motors are always tightly attached to the rod shape under any condition, and sufficient friction force is provided for the whole device; the wheel groups on the opposite sides of the climbing mechanism form an encircling shape and are attached to the surface of the wire rod, so that positive pressure is realized, and the force rises by utilizing friction; after the mechanism is locked and positioned by utilizing the self locking function of the climbing mechanism, the working platform is lifted to the working position by the lifting mechanism.
2. According to the pole-climbing robot with the liftable working platform, the mounting part of the climbing mechanism is the outer side of the hub motor shaft, and the load can generate certain component force to act on the surface of the pole through the hub motor shaft, so that the friction force is increased, and the reliability of the pole-climbing robot is further improved; a plurality of in-wheel motor of climbing use different diameters, can be better with the laminating of line pole surface.
3. According to the pole-climbing robot with the liftable working platform, the winding mechanism is matched with the rope to lift and stop the lifting platform, the climbing mechanism climbs to a specified height in advance before the step, the telescopic rod is used for tightening the function to position the pole-climbing robot, and then the working platform is lifted, so that the structural stability of the climbing robot can be greatly improved, and safety accidents caused by the fact that the working platform shakes in the climbing or descending motion process of the robot are avoided.
Drawings
For ease of illustration, the invention is described in detail by the following specific examples and figures.
FIG. 1 is a schematic view of the overall structure of a pole-climbing robot with a liftable working platform according to the invention;
FIG. 2 is a schematic view of the whole structure of the pole-climbing robot with a liftable working platform in the bottom direction;
FIG. 3 is a top view of the whole structure of the pole-climbing robot with a liftable working platform in the state that the pedals are opened;
FIG. 4 is a schematic structural diagram of another embodiment of a climbing mechanism of the pole-climbing robot with a liftable working platform according to the present invention;
FIG. 5 is a schematic view of the working principle of the controller of the pole-climbing robot with the liftable working platform according to the present invention;
the reference numbers are as follows:
10. a climbing mechanism; 11. a climbing frame; 111. a wheel axle bracket; 112. a support base; 12. a hub motor; 13. a telescopic rod; 14. a winding mechanism; 15. a rope; 20. lifting the platform; 21. a working platform; 211. a fence panel; 212. a limiting clamp plate; 22. a pedal; 23. a limiting block; 24. a tension spring; 30. a controller; 31. and a limit sensor.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "fixed," "mounted," "connected," or "disposed" to another element, it can be directly on the other element or be indirectly on the other element. It will be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships that are based on the orientations or positional relationships shown in the drawings, are used merely to facilitate description of the present invention and to simplify description, and do not indicate or imply that the referenced devices or elements must have the particular orientations, configurations and operations described in the specification, and therefore are not to be considered limiting.
Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to a number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.
The invention will be further described in detail with reference to the following examples, which are given in the accompanying drawings:
referring to fig. 1-4, a pole-climbing robot with a liftable working platform comprises a climbing mechanism 10, a lifting platform 20 and a controller 30.
The climbing mechanism 10 comprises a climbing frame 11 and at least 4 in-wheel motors 12, the in-wheel motors 12 are symmetrically arranged on two sides of the bottom of the climbing frame 11 in two groups, and the two groups of in-wheel motors 12 are connected through a telescopic rod 13. In this embodiment, the telescopic rod 13 can be a hydraulic rod, and can also be an electric lead screw to realize extension and retraction. When the telescopic rod 13 is contracted, the hub motors 12 on the two sides are driven to approach. The telescopic rod 13 extends or contracts according to the change of the action direction and the rod diameter, and the climbing mechanism 10 has a tightening function, so that the tight contact with the rod surface is realized, and the reliable climbing is realized.
The lifting platform 20 comprises two groups of symmetrically arranged working platforms 21 and a horizontal movable pedal 22, the lifting platform 20 is located below the climbing mechanism 10, the working platforms 21 are fixedly connected in a detachable mode, the winding mechanisms 14 are fixed on the lower portions of the inner sides of the working platforms 21, and the winding mechanisms 14 are connected with the two sides of the climbing frame 11 through ropes 15.
The controller 30 is electrically connected with the in-wheel motors 12, the telescopic rods 13 and the winding mechanisms 14, the controller 30 controls the two sets of in-wheel motors 12 to rotate reversely to climb, and the winding mechanisms 14 are controlled to wind and unwind and release ropes so as to lift the working platform 21.
In some embodiments of the present invention, as shown in fig. 1-2, the climbing frame 11 includes a frame base 112 and two sets of rotatably connected axle brackets 111, the motor shaft of the in-wheel motor 12 is rotatably fixed on the axle brackets 111, the frame bases 112 are respectively fixed on the outer sides of the ends of the axle brackets 111 and are arranged in parallel with the motor shaft of the in-wheel motor 12, and the rope 15 is fixed in the middle of the frame base 112.
In this embodiment, 4 in the number of in-wheel motors 12 are selected for use, the symmetry sets up in the wire pole both sides, wheel shaft support 111 is for adopting 4 bar welding to form "worker" font supports, "the tip of two sets of" worker "font supports is connected through rotating connecting piece such as bolt or round pin axle, the middle section branch of" worker "font support is as the bracing piece of in-wheel motor 12, with the motor shaft coaxial coupling of in-wheel motor 12, support seat 112 is 2 solitary carrier bars, set up respectively in the outside tip of" worker "font support, as the carry part that promotes platform 20, the load can produce certain size component power through the motor shaft of in-wheel motor 12 and act on the wire pole surface, frictional force has been increased, further improves its reliability.
In another embodiment of the present invention, as shown in fig. 4, 3 hub motors 12 are fixed on a single group of the wheel axle bracket 111, and the diameters of the hub motors 12 at the two ends are the same and are larger than the diameter of the hub motor 12 at the middle part. In the climbing process, the plurality of in-wheel motors 12 are different in diameter and can be better attached to the surface of the telegraph pole.
In this embodiment, a limiting block 23 is fixed to one end of the pedal 22 extending out of the working platform 21, and the limiting block 23 is connected to the outer side of the working platform 21 through a tension spring 24. Because the pedal 22 can freely move in the horizontal direction, the safety concern that the gap of the position of the pedal 22 close to the telegraph pole is too large and potential safety hazard exists is avoided as far as possible, and the tension spring 24 is arranged outside, so that the pedal 22 can always contract inwards to be close to the outside of the telegraph pole as far as possible under the tension force of the tension spring 24 in the lifting process of the climbing mechanism 10.
In some embodiments of the present invention, the working platform 21 includes a vertically installed fence board 211 and two stop splints 212 horizontally disposed at the bottom of the fence board 211, and the pedal 22 horizontally moves reversely between the two stop splints 212. By providing the limit cleat 212, the load carrying capability of the pedal 22 is ensured, while also providing a temporary stepping area for the operator and a fixed location for the winding mechanism 14 to be installed.
In some embodiments of the present invention, the pedal 22 has a semicircular notch on its side close to the pedal, and the diameter of the semicircular notch is larger than the maximum outer diameter of the utility pole. The above-mentioned gap is provided to make the pedals 22 on both sides of the utility pole as close as possible, and at the same time, to ensure that the pedals 22 do not interfere with the utility pole to obstruct the elevation of the lifting platform 20.
In some embodiments of the present invention, the winding mechanism 14 is a winch or an electric winch or a drum motor. The winding mechanism 14 is controlled by the controller 30 to wind and unwind the rope to raise and lower the work platform 21. Taking an electric winch as an example, the electric winch is fixed on the working platform 21, the upper end of the steel wire rope 15 is fixed on the mounting part of the climbing mechanism 10, the controller 30 controls the winch to rotate to tighten the steel wire rope 15, and the working platform 21 ascends. And stopping when the lifting device is lifted to the working position. When the winch is reversed, the work platform 21 is lowered until it reaches the ground.
In this embodiment, a winch may be adopted, which simultaneously winds and unwinds the steel wire ropes 15 on both sides to realize synchronous ascending on both sides; two winches can also be adopted, the two winches respectively lift the working platform 21 on the side, and the working platforms 21 on the two sides can work independently.
In some embodiments of the present invention, the present invention further comprises a limit sensor 31, wherein the limit sensor 31 is installed at one side of the telescopic rod 13 and is used for detecting the wheelbase of the two sets of in-wheel motors 12.
In some embodiments of the present invention, the enclosure device further comprises a manual control board, a remote controller and a motor driver, wherein the manual control board is fixed on the enclosure board 211, the remote controller is in wireless communication with the controller 30, and the manual control board and the motor driver are electrically connected with the controller 30.
The controller 30 is mainly composed of a PLC, and the PLC automatically works according to the received control panel button or the instruction of the remote controller and the work flow, so as to realize the automatic lifting of the work platform.
The climbing mechanism 10 has an ultrasonic distance detector on top to detect the distance of the climbing mechanism from the top of the pole when approaching the line on top of the pole. After the distance is close enough to meet the safety distance, the PLC automatically stops the climbing mechanism to ascend. The PLC can also control a proximity sensor between the climbing mechanism 10 and the lifting platform 20 to detect the relative position, so as to control the work of the winding mechanism 14 and realize the safety limit protection of the whole mechanism.
The specific working principle of the invention is as follows:
the climbing mechanism 10 is first prepared to be connected as a unit, the in-wheel motor 12 of the climbing mechanism 10 is activated to climb up the pole as the climbing mechanism 10 is raised to the top of the pole or a designated height. The controller 30 automatically controls the telescopic rod 13 to be locked, so that the climbing mechanism 10 is positioned and fixed.
The lifting platforms 20 are then assembled into a whole, and since the ropes 15 are fixed on both sides of the climbing frame 11 of the climbing mechanism 10 in advance, the winding mechanism 14 is controlled to start and the working platform 21 is lifted to the working position and then stopped, so that the field constructor can work.
After the work is finished, the winding mechanism 14 is controlled to rotate reversely, so that the rope 15 is unwound, and the working platform 21 can be placed to the ground from the working position. And then the telescopic rod 13 is controlled to extend adaptively to unlock the climbing mechanism 10, and simultaneously, the hub motor 12 automatically rolls downwards along the outer surface of the telegraph pole under the action of gravity until the climbing mechanism 10 descends to the ground.
In the invention, the power supply is a common storage battery, can be arranged in the climbing frame or the working platform, and is not shown in a specific structure diagram. The climbing device is simple in structure, simple and convenient to operate, practical and reliable, can be applied to climbing of various rod pieces, and is not limited to telegraph poles.
While there have been shown and described what are at present considered the fundamental principles of the invention, the essential features and advantages thereof, it will be understood by those skilled in the art that the present invention is not limited by the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.
Claims (9)
1. The utility model provides a take liftable work platform's pole-climbing robot which characterized in that includes:
the climbing mechanism comprises a climbing frame and at least 4 hub motors, the hub motors are symmetrically arranged on two sides of the bottom of the climbing frame in two groups, and the two groups of hub motors are connected through telescopic rods;
the lifting platform is positioned below the climbing mechanism and comprises two groups of symmetrically arranged working platforms and a horizontal movable pedal, the working platforms are fixedly connected in a detachable mode, the pedal penetrates through the bottom of the working platform, winding mechanisms are fixed on the lower portions of the inner sides of the working platforms, and the winding mechanisms are connected with the two sides of the climbing frame through ropes;
the controller, the controller with in-wheel motor, telescopic link and winding mechanism electric connection, the controller control is two sets of in-wheel motor counter-rotation scrambles, controls winding mechanism coiling and receive and release the rope in order to go up and down work platform.
2. The climbing robot with the liftable working platform according to claim 1, wherein the climbing frame comprises a frame base and two sets of rotatably connected wheel shaft supports, a motor shaft of the in-wheel motor is rotatably fixed on the wheel shaft supports, the frame bases are respectively fixed on the outer sides of the end portions of the wheel shaft supports and arranged in parallel with the motor shaft of the in-wheel motor, and the rope is fixed in the middle of the frame base.
3. The pole-climbing robot with the liftable working platform as claimed in claim 1, wherein 3 hub motors are fixed on a single group of the wheel axle supports, and the diameters of the hub motors at two ends are the same and larger than that of the hub motor at the middle part.
4. The pole-climbing robot with the liftable working platform as claimed in claim 1, wherein the winding mechanism is a winch, an electric winch or a drum motor.
5. The pole-climbing robot with the liftable working platform according to claim 1, wherein a limiting block is fixed at one end of the pedal extending out of the working platform, and the limiting block is connected with the outer side of the working platform through a tension spring.
6. The pole-climbing robot with the liftable working platform as claimed in any one of claims 1 to 5, wherein the working platform comprises a fence plate which is vertically installed and two limit clamping plates which are horizontally arranged at the bottom of the fence plate, and the pedal moves horizontally and reversely between the two limit clamping plates.
7. The pole-climbing robot with the liftable working platform as claimed in claim 6, wherein the pedals are provided with semicircular notches at opposite sides, and the diameter of each semicircular notch is larger than the maximum outer diameter of the telegraph pole.
8. The pole-climbing robot with the liftable working platform according to claim 7, further comprising a limit sensor, wherein the limit sensor is mounted on one side of the telescopic rod and used for detecting the wheel base of the two sets of wheel hub motors.
9. The pole-climbing robot with the liftable working platform according to claim 8, further comprising a manual control board, a remote controller and a motor driver, wherein the manual control board is fixed on the fence board, the remote controller is in wireless communication with the controller, and the manual control board and the motor driver are electrically connected with the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011517090.3A CN112661074A (en) | 2020-12-21 | 2020-12-21 | Pole-climbing robot with liftable working platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011517090.3A CN112661074A (en) | 2020-12-21 | 2020-12-21 | Pole-climbing robot with liftable working platform |
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| Publication Number | Publication Date |
|---|---|
| CN112661074A true CN112661074A (en) | 2021-04-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011517090.3A Pending CN112661074A (en) | 2020-12-21 | 2020-12-21 | Pole-climbing robot with liftable working platform |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113879418A (en) * | 2021-10-15 | 2022-01-04 | 国网江苏省电力有限公司东海县供电分公司 | Cross locking type robot for climbing telegraph pole |
| CN114803964A (en) * | 2022-05-17 | 2022-07-29 | 中国南方电网有限责任公司超高压输电公司南宁局 | Lifting device for high-altitude operation |
| CN115416777A (en) * | 2022-07-31 | 2022-12-02 | 贵州电网有限责任公司 | Climbing structure applied to columnar rod body |
| CN115450410A (en) * | 2022-07-31 | 2022-12-09 | 贵州电网有限责任公司 | Lifting device for be used for column body of rod |
-
2020
- 2020-12-21 CN CN202011517090.3A patent/CN112661074A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113879418A (en) * | 2021-10-15 | 2022-01-04 | 国网江苏省电力有限公司东海县供电分公司 | Cross locking type robot for climbing telegraph pole |
| CN113879418B (en) * | 2021-10-15 | 2024-05-24 | 国网江苏省电力有限公司东海县供电分公司 | Cross locking type telegraph pole climbing robot |
| CN114803964A (en) * | 2022-05-17 | 2022-07-29 | 中国南方电网有限责任公司超高压输电公司南宁局 | Lifting device for high-altitude operation |
| CN114803964B (en) * | 2022-05-17 | 2024-03-19 | 中国南方电网有限责任公司超高压输电公司南宁局 | Lifting device for high-altitude operation |
| CN115416777A (en) * | 2022-07-31 | 2022-12-02 | 贵州电网有限责任公司 | Climbing structure applied to columnar rod body |
| CN115450410A (en) * | 2022-07-31 | 2022-12-09 | 贵州电网有限责任公司 | Lifting device for be used for column body of rod |
| CN115450410B (en) * | 2022-07-31 | 2024-06-04 | 贵州电网有限责任公司 | Lifting device for be used for columnar rod body |
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