CN108555915A - A method of quick and precisely making an inspection tour steel tower - Google Patents
A method of quick and precisely making an inspection tour steel tower Download PDFInfo
- Publication number
- CN108555915A CN108555915A CN201810011972.9A CN201810011972A CN108555915A CN 108555915 A CN108555915 A CN 108555915A CN 201810011972 A CN201810011972 A CN 201810011972A CN 108555915 A CN108555915 A CN 108555915A
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- fuselage
- rack
- gear
- driving motor
- magnechuck
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 89
- 239000010959 steel Substances 0.000 title claims abstract description 89
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000007689 inspection Methods 0.000 title claims abstract description 12
- 230000009194 climbing Effects 0.000 claims abstract description 20
- 230000004888 barrier function Effects 0.000 claims description 22
- 230000005611 electricity Effects 0.000 claims description 15
- 230000008569 process Effects 0.000 claims description 9
- 238000011084 recovery Methods 0.000 claims description 6
- 230000007547 defect Effects 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 claims description 5
- 238000001179 sorption measurement Methods 0.000 claims description 3
- 235000008331 Pinus X rigitaeda Nutrition 0.000 claims description 2
- 235000011613 Pinus brutia Nutrition 0.000 claims description 2
- 241000018646 Pinus brutia Species 0.000 claims description 2
- 238000010521 absorption reaction Methods 0.000 claims 1
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004870 electrical engineering Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of method for quick and precisely making an inspection tour steel tower, this method is realized using a kind of steel tower inspecting robot.This method includes the method climbed up and down, the method for left and right turn, the method for leaping over obstacles of steel tower inspecting robot, and with the function of recording tour content by photographic device.This method has the advantageous effect of quickly climbing steel tower, additionally it is possible to realize that long-range real time inspection makes an inspection tour the advantageous effect of content by camera and wireless communication module, significantly reduce manual labor, improve efficiency.
Description
Technical field
The present invention relates to overhaul of the equipments field in electrical engineering, specially a kind of method for quick and precisely making an inspection tour steel tower.
Background technology
Electric system steel tower is now widely used for transmission line of electricity, and newly-built transmission line of electricity mostly uses steel tower support to lead
Line needs that periodically steel tower is overhauled and safeguarded, 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.It can only be by being maked an inspection tour to steel tower under tower when the daily tour of tour personnel, the method is often thin for some
Micro- defect cannot be found in time, and steel tower and circuit is made to run in spite of illness, increase dangerous operating factor, and artificial shaft tower of climbing patrols
Depending on, it is often time-consuming and laborious, and climbing steel tower can also greatly increase the danger coefficient of people.
Invention content
For existing phenomenon there are the problem of, the present invention provides a kind of steel tower crusing robots, can be in each region of steel tower
Climbing, and the barriers such as screw are avoided, it is each convenient for understanding steel tower by the observation of hand-held control terminal by the camera of carrying
Position situation excludes existing security risk in time.
The technical solution of the technical problem to be solved in the present invention is：
A kind of steel tower inspecting robot, including upper fuselage, lower fuselage and controller are provided.The upper fuselage is frame-type knot
Structure is equipped with upper magnechuck above upper fuselage bottom plate, controller is equipped in upper fuselage, and controller is wirelessly connected with hand
Formula control terminal is held, camera is installed in upper fuselage upper surface.The lower fuselage is frame-type structure, above lower fuselage bottom plate
Lower magnechuck is installed, accumulator is installed in lower fuselage, camera is installed in lower fuselage lower face.In lower fuselage
Be provided with left driving motor and right driving motor, installed respectively in left driving motor and right driving motor output shaft left gear and
Right gear, the left gear, right gear are engaged with left rack, right rack respectively, and the left rack and right rack pass through lower fuselage
Interior bearing is parallel longitudinal to be installed through in lower fuselage, the left rack and right rack upper end be separately connected left spring and
One end of right spring, left spring and the right spring other end are fixedly connected with one end of left universal joint and right universal joint, left universal joint
It is fixedly connected respectively with upper fuselage with the other end of right universal joint, the electric capstan is mounted on lower fuselage interior close to upper fuselage
Side, fuselage is fixed on fuselage under the steel wire penetrating coiled thereon, the left universal joint, left spring, left rack, the right side ten thousand
Xiang Jie, right spring and right rack it is any towards steel tower when being contacted with steel tower with upper fuselage and lower fuselage between it is vertical
Height is more than the height of barrier.The camera, upper magnechuck, lower magnechuck, left driving motor, right driving motor,
Electric capstan and accumulator are electrically connected with controller respectively.
Preferably, the upper fuselage and lower fuselage outer layer are equipped with solar panels, and the solar panels and accumulator electrically connect
It connects.
Preferably, the camera is rotation high-definition camera.
Preferably, the hand-held control terminal contains monitoring screen.
Meanwhile based on a kind of above steel tower inspecting robot, the present invention also provides a kind of steel tower inspecting robots
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
It is respectively at the upper end of left rack and right rack, while upper magnechuck and lower magnechuck are powered, and make inspecting robot
It is fixed on steel tower vertically.
Upwards when climbing, the upper magnechuck power-off of controller control, while lower magnechuck being kept to be powered, left driving motor
Positive operating circuit is connected with right driving motor, left gear and right gear is driven to rotate forward, and left gear and right gear drive a left side
Rack and right rack are moved upwards across lower fuselage, are pushed fuselage and are moved 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
When 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 being kept powered on magnetic-disc energization, left driving motor and right driving motor turn-on reversal operating circuit,
Left gear and right gear is driven to rotate backward, left gear and right gear are moved upwards along left rack and right rack, pull lower fuselage
It moves upwards, while electric capstan tight rope works, steel wire rope is shunk, and the left gear in fuselage and right gear rise to left tooth instantly
When item and right rack upper end, lower magnechuck is powered, and lower fuselage is made to be adsorbed on steel tower, while upper magnechuck powers off,
One is completed at this time and climbs the period upwards, is continued upward climbing and is repeated the above workflow always.
Downwards when climbing, workflow is opposite with the 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 by controller and powers off, while keeping 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, and 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 the above operating process.
Step 3：Left and right substantially turns to
When significantly turning right, hand-held control terminal controls upper magnechuck by controller and powers off, while keeping lower electricity
Magnetic-disc is powered, right driving motor turn-on reversal operating circuit, and right gear drives right rack to be moved downward across lower fuselage, left drive
Dynamic motor connects positive operating circuit, and left gear drives left rack to be moved upwards across lower fuselage, makes fuselage to the right substantially
It turns to, while electric capstan slack rope works, unclamps the steel wire rope of coiling on it.
When significantly turning left, workflow is opposite with the 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 made to be respectively at left rack and the right side
The upper end of rack, the upper magnechuck power-off of controller control, while lower magnechuck being kept to be powered, left driving motor and the right side
Driving motor connects positive operating circuit, and left gear and right gear is driven to rotate forward, left gear and right gear drive left tooth and
Right rack is moved upwards across lower fuselage, is pushed fuselage and is moved upwards, while electric capstan does not work, with left gear and the right side
The movement of gear, steel wire rope are in tension, gradually pull upper fuselage centered on left spring and right spring to far from brandreth
Direction is stretched, and after upper fuselage is higher than barrier at a distance from steel tower, electric capstan is keeping upper fuselage high at a distance from steel tower
Slack rope works in the state of barrier, allows fuselage across obstacle, and after upper fuselage leaping over obstacles, electric capstan continues pine
Steel wire rope is unclamped in rope work, while upper magnechuck is powered, and by the recovery elasticity of spring, left spring and right spring reset make
Upper fuselage is adsorbed on brandreth.
Lower fuselage obstacle detouring
Fuselage upper surface is close to barrier under subsequent controller control robot, and left gear and right gear is made to be respectively at
The lower end of left rack and right rack, lower magnechuck power-off, while being kept powered on magnetic-disc energization, electric capstan tight rope work
Make, tense wire rope, gradually pulls lower fuselage to be stretched to far from brandreth direction centered on left spring and right spring, instantly fuselage
After being higher than barrier at a distance from steel tower, in the state that fuselage is higher than barrier at a distance from steel tower 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 are along left
Rack and right rack move upwards, and 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
It allows robot to be climbed on steel tower by above step, passes through the rotatable camera on upper fuselage and lower fuselage
Steel tower situation is detected, situation will be detected by hand-held control terminal has a try and be shown to monitoring screen, is sentenced for ground staff
Disconnected problem, timely processing defect, while solar panels, which absorb the electricity that sunlight generates, can make robot increase the working time.
The steel tower crusing robot for implementing the present invention, has the advantages that：
1, by electromagnetic chuck device, reduce climbing component, alleviate weight, improve the controllability of equipment
2, by rotating high-definition camera, staff can short distance check the steel tower problem, find in time
Defect；
3, by wireless control terminal, staff can carry out equipment operation under tower, avoid manually climbing and anticipate
Outside；
4, by may be implemented to climb with obstacle detouring up and down, steel tower any position is reached；
5, overall structure is simple, small, and adaptation is wide, can be moved in various iron surfaces；
6, a variety of mini-plants can be carried to work, it is versatile.
Description of the drawings
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- accumulators,
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；
Specific implementation mode
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 the composition relevant to the 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 "upper", "lower", "left", "right" are used only for distinguishing various components, element, step etc. in specification, 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, upper magnechuck 11 is equipped with above 1 bottom plate of upper fuselage, in upper fuselage 1
Controller 3 is installed, controller 3 is wirelessly connected with hand-held control terminal, and camera 12 is equipped in 1 upper surface of upper fuselage.
The lower fuselage 2 is frame-type structure, is equipped with lower magnechuck 21 above 2 bottom plate of lower fuselage, storage is equipped in lower fuselage 2
Battery 22 is equipped with camera 12 in 2 lower face of lower fuselage.
Further, the upper fuselage 1 and lower 2 outer layer of fuselage are equipped with solar panels, the solar panels and accumulator 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 in 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
Item 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
It wears in lower fuselage 2, the left rack 233 and 243 upper end of right rack are separately connected left spring 232 and right spring
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 electric capstan 251 is mounted on down
2 inside of fuselage is close to 1 side of upper fuselage, and the steel wire rope 252 coiled thereon is fixed on across lower fuselage 2 on fuselage 1, 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 upper fuselage 1 and lower fuselage 2 and steel tower contact 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 accumulator 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 for additionally providing the present invention, includes 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 made to be fixed on steel tower vertically.
Upwards when climbing, the upper magnechuck 11 of the control of controller 3 powers off, while lower magnechuck 21 being kept to be powered, left drive
Dynamic motor 235 connects positive operating circuit with right driving motor 245, and left gear 234 and right gear 244 is driven to rotate forward, left
Gear 234 and right gear 244 drive left rack 233 and right rack 243 to be moved upwards across 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 being kept powered on the energization of magnetic-disc 11, 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, and 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 made to be adsorbed on steel tower, while upper magnechuck 11 powers off, complete at this time one to
The upper climbing period continues upward climbing and repeats the above workflow always.
Downwards when climbing, workflow is opposite with the 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 by controller 3 and powers off, 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
It drives left rack 233 to be moved upwards across lower fuselage 2, left rack 233 is driven to push fuselage 1 centered on right universal joint 241
It slightly turns to the right, while 251 slack rope of electric capstan works, unclamps the steel wire rope 252 of coiling on it.
When turning left by a small margin, workflow is opposite with the above operating process.
Step 3：Left and right substantially turns to
When significantly turning right, hand-held control terminal controls upper magnechuck 11 by controller 3 and powers off, while under holding
Magnechuck 21 is powered, 245 turn-on reversal operating circuit of right driving motor, and 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 to pass through lower fuselage 2 upward
Movement, makes fuselage 1 substantially 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 the above operating process.
Step 4：Leaping over obstacles
1 obstacle detouring of upper fuselage
1 upper surface of fuselage is close to barrier in control robot, and left gear 234 and right gear 244 is made to be 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 keeping 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 tooth 233 and right rack 243 to be moved upwards across lower fuselage 2, push machine
Body 1 moves upwards, while electric capstan 251 does not work, with the movement of left gear 234 and right gear 244, at steel wire rope 252
In tension, upper fuselage 1 is gradually pulled to be stretched to far from brandreth direction centered on left spring 232 and right spring 242, when upper
For fuselage 1 higher than after barrier at a distance from steel tower, electric capstan 251 is keeping upper fuselage 1 at a distance from steel tower higher than barrier
In the state of slack rope work, allow 1 across obstacle of fuselage, after upper 1 leaping over obstacles of fuselage, electric capstan 251 continues slack rope
Steel wire rope 252 is unclamped in work, while upper magnechuck 11 is powered, by the recovery elasticity of spring, left spring 232 and right spring
242 resets make fuselage 1 be adsorbed 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
It is respectively at the lower end of left rack 233 and right rack 243, lower magnechuck 21 powers off, while being kept powered on magnetic-disc 11
It is powered, 251 tight rope of electric capstan work, tense wire rope 252 gradually pulls lower fuselage 2 with left spring 232 and right spring 242
Centered on to far from brandreth direction stretch, instantly fuselage 2 with steel tower at a distance from be higher than barrier after, 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
It is adsorbed on brandreth, completes leaping over obstacles.
Step 5：Steel tower is maked an inspection tour
It allows robot to be climbed on steel tower by above step, passes through the rotatable camera shooting on upper fuselage 1 and lower fuselage 2
First 12 detect steel tower situation, will detect situation by hand-held control terminal and have a try and be 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 supposed to be a limitation to 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 the present invention is not limited to the contents of the specification, all claimed range institutes under this invention
The shape stated, 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 (3)
1. a kind of method for quick and precisely making an inspection tour steel tower, it is characterised in that：
This method applies a kind of steel tower inspecting robot,
The steel tower inspecting robot includes upper fuselage (1), lower fuselage (2) and controller (3), the upper fuselage (1) and
Lower fuselage (2) outer layer is equipped with solar panels, and the solar panels and accumulator (22) are electrically connected；The upper fuselage (1) is frame
Type structure is equipped with upper magnechuck (11) above upper fuselage (1) bottom plate, and controller (3) is equipped in upper fuselage (1),
Controller (3) is wirelessly connected with hand-held control terminal, and camera (12) is equipped in upper fuselage (1) upper surface；The lower machine
Body (2) is frame-type structure, and lower magnechuck (21) is equipped with above lower fuselage (2) bottom plate, and storage is equipped in lower fuselage (2)
Battery (22) is equipped with camera (12) in lower fuselage (2) lower face；It is provided with left driving motor (235) in lower fuselage (2)
With right driving motor (245), left gear is installed respectively in left driving motor (235) and right driving motor (245) output shaft
(234) it is nibbled respectively with left rack (233), right rack (243) with right gear (244), the left gear (234), right gear (244)
It closes, the left rack (233) and right rack (243) are installed through down by the way that the bearing (253) in lower fuselage (2) is parallel longitudinal
In fuselage (2), the left rack (233) and right rack (243) upper end are separately connected left spring (232) and right spring
(242) the one of one end, left spring (232) and right spring (242) other end and left universal joint (231) and right universal joint (241)
End is fixedly connected, and the other end of left universal joint (231) and right universal joint (241) is fixedly connected with upper fuselage (1) respectively, the electricity
Dynamic capstan winch (251) is mounted on internal close upper fuselage (1) side of lower fuselage (2), and the steel wire rope coiled thereon (252) passes through lower machine
Body (2) is fixed on fuselage (1), the left universal joint (231), left spring (232), left rack (233), right universal joint
(241), right spring (242) and right rack (243) any one side towards steel tower and upper fuselage (1) and lower fuselage (2) and steel tower
Contact the height that the vertical height between one side is more than barrier；The camera (12), upper magnechuck (11), lower electromagnetism are inhaled
Disk (21), left driving motor (235), right driving motor (245), electric capstan (251) and accumulator (22) respectively with controller
(3) it is electrically connected；
The method for making an inspection tour steel tower includes step：
Step 1：Climbing hand-held control terminal controls left driving motor (235) and right driving motor by controller (3) up and down
(245) left gear (234) and right gear (244) on are respectively at the upper end of left rack (233) and right rack (243),
Upper magnechuck (11) and lower magnechuck (21) are powered simultaneously, and inspecting robot is made to be fixed on steel tower vertically；
Upwards when climbing, magnechuck (11) power-off in controller (3) control, while lower magnechuck (21) being kept 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) to pass through lower fuselage (2) upward
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)
When 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 being 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
Wheel (244) is moved upwards along left rack (233) and right rack (243), pulls 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 lower fuselage (2) is made to be adsorbed on steel tower,
Upper magnechuck (11) power-off simultaneously completes a upward climbing period, continues upward climbing and repeat the above work always at this time
Flow；
Downwards when climbing, workflow is opposite with the above operating process；
Step 2：Left and right slightly turns to
When 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
Wheel (234) drives left rack (233) to be moved upwards across lower fuselage (2), and left rack (233) is driven to push fuselage (1) with the right side
It is slightly turned to the right centered on universal joint (241), while electric capstan (251) slack rope works, unclamps the steel of coiling on it
Cord (252)；
When turning left by a small margin, workflow is opposite with the above operating process；
Step 3：Left and right substantially turns to
When 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
It crosses down fuselage (2) to move downward, left driving motor (235) connects positive operating circuit, and left gear (234) drives left rack
(233) it is moved upwards across lower fuselage (2), fuselage (1) is made substantially to turn to the right, while electric capstan (251) slack rope work
Make, unclamps the steel wire rope (252) of coiling on it；
When significantly turning left, workflow is opposite with the above operating process；
Step 4：Leaping over obstacles
Fuselage (1) upper surface is close to barrier in upper fuselage (1) obstacle detouring control robot, and makes left gear (234) and right gear
(244) it is respectively at the upper end of left rack (233) and right rack (243), magnechuck (11) is disconnected in controller (3) control
Electricity, while lower magnechuck (21) being kept to be powered, left driving motor (235) connects positive work electricity with right driving motor (245)
Road drives left gear (234) and right gear (244) to rotate forward, and left gear (234) and right gear (244) drive left tooth (233)
It is moved upwards across lower fuselage (2) with right rack (243), pushes fuselage (1) and move upwards, while electric capstan (251) is no
Work, with the movement of left gear (234) and right gear (244), steel wire rope (252) is in tension, gradually pulls upper machine
Body (1) is stretched centered on left spring (232) and right spring (242) to far from brandreth direction, when upper fuselage (1) and steel tower away from
After higher than barrier, electric capstan (251) slack rope in the state of keeping upper fuselage (1) to be higher than barrier at a distance from steel tower
Work, allows fuselage (1) across obstacle, and after upper fuselage (1) leaping over obstacles, electric capstan (251) continues slack rope work, pine
Steel wire rope (252) is opened, while upper magnechuck (11) is powered, by the recovery elasticity of spring, left spring (232) and right spring
(242) resetting makes fuselage (1) be adsorbed on brandreth；
Fuselage (2) upper surface is close to barrier under the subsequent controller of lower fuselage (2) obstacle detouring (3) control robot, and makes left gear
(234) and right gear (244) is respectively at the lower end of left rack (233) and right rack (243), and lower magnechuck (21) is disconnected
Electricity, while it being kept powered on magnetic-disc (11) energization, electric capstan (251) tight rope work, tense wire rope (252) gradually pulls
Lower fuselage (2) is stretched centered on left spring (232) and right spring (242) to far from brandreth direction, instantly fuselage (2) and steel tower
Distance higher than after barrier, under holding fuselage (2) with steel tower at a distance from higher than barrier in the state of, left driving motor
(235) it is rotated backward with right driving motor (245) turn-on reversal operating circuit, drive left gear (234) and right gear (244),
Left gear (234) and right gear (244) are moved upwards along left rack (233) and right rack (243), pull lower fuselage (2) upward
Movement, instantly after fuselage (2) leaping over obstacles, electric capstan (251) continues slack rope work, unclamps steel wire rope (252), with electric at present
Magnetic-disc (21) is powered, and by the recovery elasticity of spring, left spring (232) and right spring (242) reset make lower fuselage (2) adsorb
On brandreth, leaping over obstacles is completed；
Step 5：Steel tower is maked an inspection tour allows robot to be climbed on steel tower by above step, by upper fuselage (1) and lower fuselage (2)
Rotatable camera (12) detect steel tower situation, situation will be detected by hand-held control terminal have a try and be shown to monitor screen
Curtain carries out decision problem, timely processing defect for ground staff, while the electricity that solar panels absorption sunlight generates can make machine
Device people increases the working time.
2. a kind of steel tower inspecting robot according to claim 1, it is characterised in that：
The camera (12) is rotation high-definition camera.
3. a kind of steel tower inspecting robot according to claim 1, it is characterised in that：
The hand-held control terminal contains monitoring screen.
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| CN201810011972.9A CN108555915B (en) | 2016-07-13 | 2016-07-13 | Method for quickly and accurately inspecting iron tower |
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| CN201810011972.9A CN108555915B (en) | 2016-07-13 | 2016-07-13 | Method for quickly and accurately inspecting iron tower |
| 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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Cited By (2)
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| CN109372702A (en) * | 2018-12-11 | 2019-02-22 | 谷子恒 | The dedicated climbing device of wind-power electricity generation wind tower |
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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 |
| CN110331661B (en) * | 2018-11-19 | 2021-02-05 | 长安大学 | Pier detection device based on electromagnetic spring |
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| Publication number | Publication date |
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| CN105965524B (en) | 2018-05-11 |
| CN108555915B (en) | 2020-11-17 |
| CN105965524A (en) | 2016-09-28 |
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