CN105965524B - A kind of steel tower inspecting robot and its method of work - Google Patents
A kind of steel tower inspecting robot and its method of work Download PDFInfo
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- CN105965524B CN105965524B CN201610550799.0A CN201610550799A CN105965524B CN 105965524 B CN105965524 B CN 105965524B CN 201610550799 A CN201610550799 A CN 201610550799A CN 105965524 B CN105965524 B CN 105965524B
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- fuselage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- 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
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- 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
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Abstract
The present invention relates to a kind of steel tower inspecting robot, including upper fuselage, lower fuselage and controller, upper fuselage installs magnechuck and controller, front end is installed by camera, lower fuselage installation lower magnechuck, storage battery and electric capstan, rear end is installed by camera, the left driving motor and right driving motor of left gear and right gear are provided with lower fuselage, left gear, left rack, left spring, left universal joint are sequentially connected, right gear, right rack, right spring, right universal joint are sequentially connected, and the not-go-end of left universal joint and right universal joint is connected with upper fuselage；Camera, upper magnechuck, lower magnechuck, left driving motor, right driving motor, electric capstan and storage battery are electrically connected with controller respectively.The present invention additionally provides the method for work of iron tower climbing robot at the same time, can be climbed by the present invention instead of staff on steel tower, and the instrument carried by robot makes an inspection tour steel tower, reduces danger.
Description
Technical field
The invention belongs to robotic technology field, more particularly to a kind of steel tower inspecting robot and its method of work.
Background technology
Electric system steel tower is now widely used for transmission line of electricity, and newly-built transmission line of electricity is mostly led using steel tower support
Line is, it is necessary to periodically be overhauled and safeguarded to steel tower, to ensure the safe and reliable operation of transmission line of electricity.
Often voltage class is higher for transmission line of electricity, and Line To Line, the safe distance of line over the ground is also larger, causes electric power pylon
It is often higher.Can only be by being maked an inspection tour under tower to steel tower during the daily tour of tour personnel, the method is often thin for some
The defects of micro-, cannot find in time, steel tower and circuit is run in spite of illness, add dangerous operating factor, manually climb shaft tower and patrol
Depending on, it is often time-consuming and laborious, and climbing steel tower can also greatly increase the danger coefficient of people.
The content of the invention
For existing phenomenon there are the problem of, can be in each region of steel tower the present invention provides a kind of steel tower crusing robot
Climbing, and the barriers such as screw are avoided, it is each easy to observe understanding steel tower by hand-held control terminal by the camera of carrying
Position situation, security risk existing for timely exclusion.
Technical solution is used by the present invention solves its above problem：
A kind of steel tower inspecting robot, including upper fuselage, lower fuselage and controller are provided.
The upper fuselage is frame-type structure, is provided with magnechuck above upper fuselage bottom plate, is installed in upper fuselage
There is controller, controller is wirelessly connected with hand-held control terminal, and camera is provided with upper fuselage upper surface.
The lower fuselage is frame-type structure, is provided with lower magnechuck above lower fuselage bottom plate, is installed in lower fuselage
There is storage battery, camera is installed in lower fuselage lower face.
Left driving motor and right driving motor are provided with lower fuselage, in left driving motor and right driving motor output shaft
Upper installation left gear and right gear, the left gear, right gear respectively are engaged with left rack, right rack respectively, the left rack
It is installed through with right rack by the way that the bearing in lower fuselage is parallel longitudinal in lower fuselage, the left rack and right rack top end
End connects one end of one end of left spring and right spring, left spring and the right spring other end and left universal joint and right universal joint respectively
It is fixedly connected, the other end of left universal joint and right universal joint is fixedly connected with upper fuselage respectively, and the lower fuselage interior is close to upper
Fuselage side is provided with electric capstan, and fuselage is fixed on fuselage under the steel wire penetrating coiled thereon, the left universal joint,
Left spring, left rack, right universal joint, right spring and any one side towards steel tower of right rack and upper fuselage and lower fuselage and steel tower
Contact the height that the vertical height between one side is more than barrier.
The camera, upper magnechuck, lower magnechuck, left driving motor, right driving motor, electric capstan and electric power storage
Pond is electrically connected with controller respectively.
Preferably, the upper fuselage and lower fuselage outer layer are equipped with solar panels, and the solar panels and storage battery electrically connect
Connect.
Preferably, the camera is rotation high-definition camera.
Preferably, the hand-held control terminal contains monitoring screen.
Meanwhile a kind of steel tower inspecting robot based on more than, present invention also offers a kind of steel tower inspecting robot
Application method, includes the following steps：
Step 1：Climbing up and down
Hand-held control terminal controls left gear and right gear in left driving motor and right driving motor by controller
The upper end of left rack and right rack is respectively at, while upper magnechuck and lower magnechuck are powered, and make inspecting robot
It is fixed on vertically on steel tower.
Upwards during climbing, the upper magnechuck power-off of controller control, while keep lower magnechuck to be powered, left driving motor
Positive operating circuit is connected with right driving motor, drives left gear and right gear to rotate forward, left gear and right gear drive a left side
Rack and right rack move upwards through lower fuselage, push fuselage and move upwards, while electric capstan slack rope works, and unclamp disk
Around steel wire rope on it, when left rack and right rack moves to left gear and right gear is located at left rack and right rack lower part end
During end, left driving motor and right driving motor are stopped, and upper magnechuck is powered, and makes fuselage electromagnetic adsorption on steel tower.
Lower magnechuck power-off, while it is kept powered on magnetic-disc energization, left driving motor and right driving motor turn-on reversal
Operating circuit, drives left gear and right gear to rotate backward, and left gear and right gear move upwards along left rack and right rack, draws
Dynamic lower fuselage moves upwards, while electric capstan tight rope works, and steel wire rope is shunk, instantly on the left gear and right gear in fuselage
When being raised to left rack and right rack upper end, lower magnechuck is powered, and makes lower fuselage absorption on steel tower, while power on magnetic
Disk powers off, and completes one at this time and climbs the cycle upwards, continues upward climbing and repeats above workflow always.
Downwards during climbing, workflow is opposite with above operating process.
Step 2：Left and right slightly turns to
When turning right by a small margin, hand-held control terminal controls upper magnechuck to power off by controller, while keeps lower electricity
Magnetic-disc is powered, and right driving motor is stopped, and left driving motor connects positive operating circuit, and left gear drives left rack to pass through
Lower fuselage moves upwards, drives left rack to push fuselage and is slightly turned to the right centered on right universal joint, while electric mincing
Disk slack rope works, and unclamps the steel wire rope of coiling on it.
When turning left by a small margin, workflow is opposite with above operating process.
Step 3：Left and right significantly turns to
When significantly turning right, hand-held control terminal controls upper magnechuck to power off by controller, while keeps lower electricity
Magnetic-disc is powered, right driving motor turn-on reversal operating circuit, and right gear drives right rack to be moved downward through lower fuselage, left drive
Dynamic motor connects positive operating circuit, and left gear drives left rack to be moved upwards through lower fuselage, makes fuselage to the right significantly
Turn to, while electric capstan slack rope works, and unclamps the steel wire rope of coiling on it.
When significantly turning left, workflow is opposite with above operating process.
Step 4：Leaping over obstacles
Upper fuselage obstacle detouring
Fuselage upper surface is close to barrier in control robot, and left gear and right gear is respectively at left rack and the right side
The upper end of rack, the upper magnechuck power-off of controller control, while keep lower magnechuck to be powered, left driving motor and the right side
Drive motor to connect positive operating circuit, drive left gear and right gear to rotate forward, left gear and right gear drive left rack
Moved upwards through lower fuselage with right rack, push fuselage and move upwards, while electric capstan does not work, with left gear and
The movement of right gear, steel wire rope are in tension, gradually pull upper fuselage centered on left spring and right spring to away from iron
Frame direction is stretched, after the distance of upper fuselage and steel tower is higher than barrier, electric capstan distance of fuselage and steel tower in holding
Work higher than slack rope in the state of barrier, allow fuselage across obstacle, after upper fuselage leaping over obstacles, electric capstan continues
Slack rope works, and unclamps steel wire rope, while upper magnechuck is powered, by the recovery elasticity of spring, left spring and right spring reset
Make fuselage absorption on brandreth.
Lower fuselage obstacle detouring
Fuselage upper surface is close to barrier under subsequent controller control robot, and is respectively at left gear and right gear
The lower end of left rack and right rack, lower magnechuck power-off, while it is kept powered on magnetic-disc energization, electric capstan tight rope work
Make, tense wire rope, gradually pull lower fuselage to be stretched centered on left spring and right spring to away from brandreth direction, instantly fuselage
After being higher than barrier with the distance of steel tower, the distance of fuselage and steel tower is higher than in the state of barrier under holding, left driving electricity
Machine and right driving motor turn-on reversal operating circuit, drive left gear and right gear to rotate backward, and left gear and right gear edge are left
Rack and right rack move upwards, pull lower fuselage to move upwards, instantly after fuselage leaping over obstacles, electric capstan continues slack rope work
Make, unclamp steel wire rope, be powered with magnechuck at present, by the recovery elasticity of spring, left spring and right spring reset make lower machine
Body is adsorbed on brandreth, completes leaping over obstacles.
Step 5：Steel tower is maked an inspection tour
Allow robot to be climbed on steel tower by above step, pass through the rotatable camera on upper fuselage and lower fuselage
Steel tower situation is detected, the situation of detecting is had a try by hand-held control terminal and is shown to monitoring screen, is sentenced for ground staff
Disconnected problem, timely processing defect, while solar panels, which absorb the electricity that sunlight produces, can make robot increase the working time.
Implement the steel tower crusing robot of the present invention, have the advantages that：
1st, by electromagnetic chuck device, reduce climbing group valency, alleviate weight, improve the controllability of equipment
1st, by rotating high-definition camera, what staff can be closely checks steel tower produced problem, finds in time
Defect；
2nd, equipment operation can be carried out under tower by wireless control terminal, staff, avoids manually climbing from anticipating
Outside；
3rd, climbed up and down with obstacle detouring by that can realize, reach steel tower optional position；
4th, overall structure is simple, small, and adaptation is wide, can be moved in various iron surfaces；
5th, a variety of mini-plants can be carried to work, it is versatile.
Brief description of the drawings
Below in conjunction with accompanying drawings and embodiments, the invention will be further described；
Fig. 1 is the vertical view figure structure schematic representation of the preferred embodiment of the present invention；
Fig. 2 is the side view figure structure schematic representation of the preferred embodiment of the present invention.
In attached drawing：
The upper fuselages of 1-, the upper magnechucks of 11-, 12- cameras,
Fuselage under 2-, magnechuck under 21-, 22- storage batteries,
The left universal joints of 231-, 232- left springs, the left racks of 233-, 234- left gears, 235- left driving motors,
The right universal joints of 241-, the right springs of 242-, the right racks of 243-, 244- right gears, 245- right driving motors,
251- electric capstans, 252- steel wire ropes, 253- bearings,
3- controllers；
Embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates the basic structure of the present invention, therefore it only shows composition related to the present invention.
Further, it is desirable that explanation, unless stated otherwise or is pointed out, otherwise the term that may relate in specification
The descriptions such as " on ", " under ", "left", "right" are used only for distinguishing various components in specification, element, step etc., rather than use
Logical relation or ordinal relation between expression various components, element, step etc..
The correlation word of " forward direction work " " reverse operation " of left driving motor and right driving motor is only for description
It is convenient, the carrying out practically direction of motor is not represented.
As shown in Fig. 1 and my Fig. 2, a kind of steel tower inspecting robot, including upper fuselage 1, lower fuselage 2 and controller 3.
The upper fuselage 1 is frame-type structure, magnechuck 11 is provided with above upper 1 bottom plate of fuselage, in upper fuselage 1
Controller 3 is installed, controller 3 is wirelessly connected with hand-held control terminal, and camera 12 is provided with upper 1 upper surface of fuselage.
The lower fuselage 2 is frame-type structure, lower magnechuck 21 is provided with above lower 2 bottom plate of fuselage, in lower fuselage 2
Storage battery 22 is installed, camera 12 is installed in lower 2 lower face of fuselage.
Further, the upper fuselage 1 and lower 2 outer layer of fuselage are equipped with solar panels, the solar panels and storage battery 22
It is electrically connected.
Further, the camera 12 is rotation high-definition camera.
Left driving motor 235 and right driving motor 245 are provided with lower fuselage 2, in left driving motor 235 and right driving
Left gear 234 and right gear 244 be installed respectively on 245 output shaft of motor, the left gear 234, right gear 244 respectively with left tooth
Bar 233, right rack 243 engage, and the left rack 233 and right rack 243 are passed through by the way that the bearing 253 in lower fuselage 2 is parallel longitudinal
Wear in lower fuselage 2, the left rack 233 and 243 upper end of right rack connect left spring 232 and right spring respectively
242 one end, left spring 232 and 242 other end of right spring are fixedly connected with one end of left universal joint 231 and right universal joint 241,
The other end of left universal joint 231 and right universal joint 241 is fixedly connected with upper fuselage 1 respectively, and the lower inside of fuselage 2 is close to upper machine
1 side of body is provided with electric capstan 251, and the steel wire rope 252 coiled thereon is fixed on fuselage 1 through lower fuselage 2, the left side
Universal joint 231, left spring 232, left rack 233, right universal joint 241, right spring 242 and right rack 243 are any towards steel tower
Vertical height between when being contacted with upper fuselage 1 and lower fuselage 2 with steel tower is more than the height of barrier.
The camera 12, upper magnechuck 11, lower magnechuck 21, left driving motor 235, right driving motor 245, electricity
Dynamic capstan winch 251 and storage battery 22 are electrically connected with controller 3 respectively.
Further, the hand-held control terminal contains monitoring screen.
Further, for a better understanding of the present invention, the application method of the present invention is additionally provided, is included the following steps：
Step 1：Climbing up and down
Hand-held control terminal controls the left gear in left driving motor 235 and right driving motor 245 by controller 3
234 and right gear 244 be respectively at the upper end of left rack 233 and right rack 243, while upper magnechuck 11 and lower electromagnetism
Sucker 21 is powered, and inspecting robot is fixed on vertically on steel tower.
Upwards during climbing, the upper magnechuck 11 of the control of controller 3 powers off, while keeps lower magnechuck 21 to be powered, left drive
Dynamic motor 235 connects positive operating circuit with right driving motor 245, drives left gear 234 and right gear 244 to rotate forward, left
Gear 234 and right gear 244 drive left rack 233 and right rack 243 to be moved upwards through lower fuselage 2, and it is upward to push fuselage 1
Movement, while 251 slack rope of electric capstan works, and the steel wire rope 252 of coiling on it is unclamped, when left rack 233 and right rack 243
Move to left gear 234 and when right gear 244 is located at left rack 233 and right 243 lower end of rack, 235 He of left driving motor
Right driving motor 245 is stopped, and upper magnechuck 11 is powered, and makes 1 electromagnetic adsorption of fuselage on steel tower.
Lower magnechuck 21 powers off, while is kept powered on magnetic-disc 11 and is powered, left driving motor 235 and right driving motor
245 turn-on reversal operating circuits, drive left gear 234 and right gear 244 to rotate backward, and left gear 234 and right gear 244 are along a left side
Rack 233 and right rack 243 move upwards, pull lower fuselage 2 to move upwards, while 251 tight rope of electric capstan works, steel wire rope
252 shrink, and the left gear 234 in fuselage 2 and right gear 244 rise to 243 upper end of left rack 233 and right rack instantly
When, lower magnechuck 21 is powered, and lower fuselage 2 is adsorbed on steel tower, while upper magnechuck 11 powers off, at this time complete one to
In the upper climbing cycle, continue upward climbing and repeat above workflow always.
Downwards during climbing, workflow is opposite with above operating process.
Step 2：Left and right slightly turns to
When turning right by a small margin, hand-held control terminal controls upper magnechuck 11 to power off by controller 3, while under holding
Magnechuck 21 is powered, and right driving motor 245 is stopped, and left driving motor 235 connects positive operating circuit, left gear 234
Drive left rack 233 to be moved upwards through lower fuselage 2, drive left rack 233 to push fuselage 1 centered on right universal joint 241
Slightly turn to the right, while 251 slack rope of electric capstan works, and unclamps the steel wire rope 252 of coiling on it.
When turning left by a small margin, workflow is opposite with above operating process.
Step 3：Left and right significantly turns to
When significantly turning right, hand-held control terminal controls upper magnechuck 11 to power off by controller 3, while under holding
Magnechuck 21 is powered, and 245 turn-on reversal operating circuit of right driving motor, right gear 244 drives right rack 243 to pass through lower fuselage
2 move downward, and left driving motor 235 connects positive operating circuit, and left gear 234 drives left rack 233 upward through lower fuselage 2
Movement, makes fuselage 1 significantly turn to the right, while 251 slack rope of electric capstan works, and unclamps the steel wire rope of coiling on it
252。
When significantly turning left, workflow is opposite with above operating process.
Step 4：Leaping over obstacles
Upper 1 obstacle detouring of fuselage
1 upper surface of fuselage is close to barrier in control robot, and left gear 234 and right gear 244 is respectively at a left side
The upper end of rack 233 and right rack 243, the upper magnechuck 11 of the control of controller 3 power off, while keep lower magnechuck 21
It is powered, left driving motor 235 connects positive operating circuit with right driving motor 245, is driving left gear 234 and right gear 244 just
To rotation, left gear 234 and right gear 244 drive left rack 233 and right rack 243 to be moved upwards through lower fuselage 2, push
Fuselage 1 moves upwards, while electric capstan 251 does not work, with the movement of left gear 234 and right gear 244, steel wire rope 252
In tension, upper fuselage 1 is gradually pulled to be stretched centered on left spring 232 and right spring 242 to away from brandreth direction, when
After the distance of upper fuselage 1 and steel tower is higher than barrier, electric capstan 251 fuselage 1 and distance of steel tower in holding are higher than obstacle
Slack rope works in the state of thing, allows 1 across obstacle of fuselage, and after upper 1 leaping over obstacles of fuselage, electric capstan 251 continues pine
Rope work, unclamps steel wire rope 252, while upper magnechuck 11 is powered, by the recovery elasticity of spring, left spring 232 and right bullet
Spring 242, which resets, makes fuselage 1 adsorb on brandreth.
Lower 2 obstacle detouring of fuselage
2 upper surface of fuselage is close to barrier under the subsequent control of controller 3 robot, and makes left gear 234 and right gear 244
The lower end of left rack 233 and right rack 243 is respectively at, lower magnechuck 21 powers off, while is kept powered on magnetic-disc 11
It is powered, the work of 251 tight rope of electric capstan, tense wire rope 252, gradually pulls lower fuselage 2 with left spring 232 and right spring 242
Centered on stretched to away from brandreth direction, after the distance of fuselage 2 and steel tower is higher than barrier instantly, fuselage 2 and iron under holding
The distance of tower is higher than in the state of barrier, 245 turn-on reversal operating circuit of left driving motor 235 and right driving motor, drives
Left gear 234 and right gear 244 rotate backward, and left gear 234 and right gear 244 are transported upwards along left rack 233 and right rack 243
It is dynamic, pull lower fuselage 2 to move upwards, instantly after 2 leaping over obstacles of fuselage, electric capstan 251 continues slack rope work, unclamps steel wire rope
252, it is powered with magnechuck 21 at present, by the recovery elasticity of spring, left spring 232 and the reset of right spring 242 make lower fuselage 2
Absorption completes leaping over obstacles on brandreth.
Step 5：Steel tower is maked an inspection tour
Allow robot to be climbed on steel tower by above step, pass through the rotatable shooting on upper fuselage 1 and lower fuselage 2
First 12 detect steel tower situation, and the situation of detecting is had a try by hand-held control terminal and is shown to monitoring screen, for ground staff into
When the electricity that row decision problem, timely processing defect, while solar panels absorb sunlight generation can make robot increase work
Between.
In conclusion only presently preferred embodiments of the present invention, is not used for limiting the scope of the present invention, by above-mentioned
Description, relevant staff can carry out various change without departing from the scope of the technological thought of the present invention' completely
More and change.The technical scope of this invention is not limited to the content on specification, all claimed ranges under this invention
The shape, construction, feature and the so-called equivalent changes and modifications of spirit, should all include and scope of the presently claimed invention
It is interior.
Claims (5)
- A kind of 1. steel tower inspecting robot, it is characterised in that：Including upper fuselage (1), lower fuselage (2) and controller (3)；The upper fuselage (1) is frame-type structure, upper magnechuck (11) is provided with above upper fuselage (1) bottom plate, in upper fuselage (1) controller (3) is installed in, controller (3) is wirelessly connected with hand-held control terminal, is installed in upper fuselage (1) upper surface There is camera (12)；The lower fuselage (2) is frame-type structure, lower magnechuck (21) is provided with above lower fuselage (2) bottom plate, in lower fuselage (2) storage battery (22) is installed in, camera (12) is installed in lower fuselage (2) lower face；Left driving motor (235) and right driving motor (245) are provided with lower fuselage (2), in left driving motor (235) and the right side Left gear (234) and right gear (244), the left gear (234), right gear are installed respectively on driving motor (245) output shaft (244) engaged respectively with left rack (233), right rack (243), the left rack (233) and right rack (243) pass through lower fuselage (2) the parallel longitudinal lower fuselage (2) that is installed through of bearing (253) in is interior, on the left rack (233) and right rack (243) Portion end connects one end of left spring (232) and right spring (242) respectively, left spring (232) and right spring (242) other end with Left universal joint (231) is fixedly connected with one end of right universal joint (241), left universal joint (231) and right universal joint (241) it is another End is fixedly connected with upper fuselage (1) respectively, and the lower fuselage (2) is internal to be provided with electric capstan close to upper fuselage (1) side (251), the steel wire rope (252) coiled thereon is fixed on fuselage (1) through lower fuselage (2), the left universal joint (231), Left spring (232), left rack (233), right universal joint (241), right spring (242) and right rack (243) are any towards steel tower Vertical height between when being contacted with upper fuselage (1) and lower fuselage (2) with steel tower is more than the height of barrier；The camera (12), upper magnechuck (11), lower magnechuck (21), left driving motor (235), right driving motor (245), electric capstan (251) and storage battery (22) are electrically connected with controller (3) respectively.
- A kind of 2. steel tower inspecting robot as claimed in claim 1, it is characterised in that：The upper fuselage (1) and lower fuselage (2) Outer layer is equipped with solar panels, and the solar panels and storage battery (22) are electrically connected.
- A kind of 3. steel tower inspecting robot as claimed in claim 1, it is characterised in that：The camera (12) is rotation high definition Camera.
- A kind of 4. steel tower inspecting robot as claimed in claim 1, it is characterised in that：The hand-held control terminal contains prison Control screen.
- 5. use a kind of steel tower inspecting robot as described in Claims 1-4 is any, it is characterised in that：Including following work Step：Step 1：Climbing up and downHand-held control terminal controls the left gear in left driving motor (235) and right driving motor (245) by controller (3) (234) and right gear (244) is respectively at the upper end of left rack (233) and right rack (243), while upper magnechuck (11) it is powered with lower magnechuck (21), inspecting robot is fixed on vertically on steel tower；Upwards during climbing, magnechuck (11) power-off in controller (3) control, while keep lower magnechuck (21) to be powered, it is left Driving motor (235) connects positive operating circuit with right driving motor (245), is driving left gear (234) and right gear (244) just To rotation, left gear (234) and right gear (244) drive left rack (233) and right rack (243) upward through lower fuselage (2) Movement, pushes fuselage (1) and moves upwards, while electric capstan (251) slack rope works, and unclamps the steel wire rope of coiling on it (252), when left rack (233) and right rack (243) move to left gear (234) and right gear (244) is located at left rack (233) During with right rack (243) lower end, left driving motor (235) and right driving motor (245) are stopped, upper magnechuck (11) it is powered, makes fuselage (1) electromagnetic adsorption on steel tower；Lower magnechuck (21) power-off, while it is kept powered on magnetic-disc (11) energization, left driving motor (235) and right driving motor (245) turn-on reversal operating circuit, drives left gear (234) and right gear (244) to rotate backward, left gear (234) and right tooth Take turns (244) to move upwards along left rack (233) and right rack (243), pull lower fuselage (2) to move upwards, while electric capstan (251) tight rope works, and steel wire rope (252) is shunk, and the left gear (234) in fuselage (2) and right gear (244) rise to a left side instantly When rack (233) and right rack (243) upper end, lower magnechuck (21) is powered, and makes lower fuselage (2) absorption on steel tower, Upper magnechuck (11) power-off at the same time, in the upward climbing cycle of completion at this time one, continue upward climbing and repeat work above always Flow；Downwards during climbing, workflow is opposite with above operating process；Step 2：Left and right slightly turns toWhen turning right by a small margin, hand-held control terminal is powered off by magnechuck (11) in controller (3) control, while under holding Magnechuck (21) is powered, and right driving motor (245) is stopped, and left driving motor (235) connects positive operating circuit, left tooth Taking turns (234) drives left rack (233) to be moved upwards through lower fuselage (2), drives left rack (233) to push fuselage (1) with the right side Slightly turned to the right centered on universal joint (241), while electric capstan (251) slack rope works, and unclamps the steel of coiling on it Cord (252)；When turning left by a small margin, workflow is opposite with above operating process；Step 3：Left and right significantly turns toWhen significantly turning right, hand-held control terminal is powered off by magnechuck (11) in controller (3) control, while under holding Magnechuck (21) is powered, right driving motor (245) turn-on reversal operating circuit, and right gear (244) drives right rack (243) to wear Cross down fuselage (2) to move downward, left driving motor (235) connects positive operating circuit, and left gear (234) drives left rack (233) moved upwards through lower fuselage (2), fuselage (1) is significantly turned to the right, while electric capstan (251) slack rope work Make, unclamp the steel wire rope (252) of coiling on it；When significantly turning left, workflow is opposite with above operating process；Step 4：Leaping over obstaclesUpper fuselage (1) obstacle detouringFuselage (1) upper surface is close to barrier in control robot, and is respectively at left gear (234) and right gear (244) Left rack (233) and the upper end of right rack (243), magnechuck (11) power-off in controller (3) control, while under keeping Magnechuck (21) is powered, and left driving motor (235) connects positive operating circuit with right driving motor (245), drives left gear (234) rotated forward with right gear (244), left gear (234) and right gear (244) drive left rack (233) and right rack (243) moved upwards through lower fuselage (2), push fuselage (1) and move upwards, while electric capstan (251) does not work, with The movement of left gear (234) and right gear (244), steel wire rope (252) are in tension, gradually pull upper fuselage (1) with a left side Stretched centered on spring (232) and right spring (242) to away from brandreth direction, when the distance of upper fuselage (1) and steel tower is higher than barrier After hindering thing, slack rope works in the state of electric capstan (251) distance of fuselage (1) and steel tower in holding is higher than barrier, allows Upper fuselage (1) across obstacle, after upper fuselage (1) leaping over obstacles, electric capstan (251) continues slack rope work, unclamps steel wire Restrict (252), while upper magnechuck (11) is powered, it is multiple by the recovery elasticity of spring, left spring (232) and right spring (242) Position makes fuselage (1) absorption on brandreth；Lower fuselage (2) obstacle detouringFuselage (2) upper surface is close to barrier under subsequent controller (3) control robot, and makes left gear (234) and right gear (244) lower end of left rack (233) and right rack (243), lower magnechuck (21) power-off are respectively at, while is kept Magnechuck (11) is powered, the work of electric capstan (251) tight rope, tense wire rope (252), gradually pulls lower fuselage (2) with a left side Stretched centered on spring (232) and right spring (242) to away from brandreth direction, fuselage (2) and the distance of steel tower are higher than barrier instantly After hindering thing, in the state of the distance of fuselage (2) and steel tower is higher than barrier under holding, left driving motor (235) and right driving Motor (245) turn-on reversal operating circuit, drive left gear (234) and right gear (244) rotate backward, left gear (234) and Right gear (244) moves upwards along left rack (233) and right rack (243), pulls lower fuselage (2) to move upwards, instantly fuselage (2) after leaping over obstacles, electric capstan (251) continues slack rope work, unclamps steel wire rope (252), logical with magnechuck (21) at present Electricity, by the recovery elasticity of spring, left spring (232) and right spring (242) reset make lower fuselage (2) absorption on brandreth, complete Into leaping over obstacles；Step 5：Steel tower is maked an inspection tourAllow robot to be climbed on steel tower by above step, pass through the rotatable shooting on upper fuselage (1) and lower fuselage (2) Head (12) detects steel tower situation, and the situation of detecting is had a try by hand-held control terminal and is shown to monitoring screen, for ground staff Decision problem, timely processing defect are carried out, while the electricity that solar panels absorption sunlight produces can make robot increase work Time.
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| CN201610550799.0A CN105965524B (en) | 2016-07-13 | 2016-07-13 | A kind of steel tower inspecting robot and its method of work |
| CN201810011972.9A CN108555915B (en) | 2016-07-13 | 2016-07-13 | Method for quickly and accurately inspecting iron tower |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610550799.0A CN105965524B (en) | 2016-07-13 | 2016-07-13 | A kind of steel tower inspecting robot and its method of work |
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| CN201810011972.9A Active CN108555915B (en) | 2016-07-13 | 2016-07-13 | Method for quickly and accurately inspecting iron tower |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108555915A (en) * | 2016-07-13 | 2018-09-21 | 张悦 | A method of quick and precisely making an inspection tour steel tower |
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| CN110331661B (en) * | 2018-11-19 | 2021-02-05 | 长安大学 | Pier detection device based on electromagnetic spring |
| CN109372702B (en) * | 2018-12-11 | 2020-07-24 | 谷子恒 | Special climbing device for wind tower for wind power generation |
| CN114684288A (en) * | 2020-12-29 | 2022-07-01 | 深圳创想未来机器人有限公司 | Climbing robot, control method and computer readable storage medium |
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| JP4376660B2 (en) * | 2004-03-01 | 2009-12-02 | 日本電信電話株式会社 | Joint actuator |
| CN101168252A (en) * | 2006-10-25 | 2008-04-30 | 上海求是机器人有限公司 | Arm lifting type high voltage transmission line automatic polling robot |
| CN100485247C (en) * | 2007-09-30 | 2009-05-06 | 中国人民解放军国防科学技术大学 | Crawling type micro pipeline robot |
| US8864240B2 (en) * | 2010-09-20 | 2014-10-21 | Ash Equipment Company, Inc. | Vertical or horizontal robot for hydrodemolition of concrete |
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| CN102097765B (en) * | 2010-12-20 | 2012-08-22 | 重庆市电力公司綦南供电局 | Running state inspection method of high voltage line |
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| CN103692432A (en) * | 2013-12-13 | 2014-04-02 | 南京工程学院 | Tower climbing robot |
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| CN104108432B (en) * | 2014-07-10 | 2016-05-18 | 国家电网公司 | Steel tower climbing crusing robot |
| CN104215689B (en) * | 2014-08-22 | 2016-09-21 | 国家电网公司 | Carrying and barrier getting over mechanism for power transmission line electromagnetic detection |
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| CN105965524B (en) * | 2016-07-13 | 2018-05-11 | 泉州兆维信息技术有限公司 | A kind of steel tower inspecting robot and its method of work |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108555915A (en) * | 2016-07-13 | 2018-09-21 | 张悦 | A method of quick and precisely making an inspection tour steel tower |
| CN108555915B (en) * | 2016-07-13 | 2020-11-17 | 山东诺创电力科技有限公司 | Method for quickly and accurately inspecting iron tower |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108555915B (en) | 2020-11-17 |
| CN105965524A (en) | 2016-09-28 |
| CN108555915A (en) | 2018-09-21 |
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