CN111086566B - Live working robot climbing device - Google Patents
Live working robot climbing device Download PDFInfo
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- CN111086566B CN111086566B CN201911289447.4A CN201911289447A CN111086566B CN 111086566 B CN111086566 B CN 111086566B CN 201911289447 A CN201911289447 A CN 201911289447A CN 111086566 B CN111086566 B CN 111086566B
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- hoop
- locking
- unlocking
- cylinder
- fixed
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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
Abstract
The invention discloses a climbing device of a live working robot, which comprises a hoop device and a clamping device, wherein the clamping device comprises a clamping cylinder and a clamping block, the clamping cylinder is fixed on the hoop device, the clamping block is fixed on a telescopic rod of the clamping cylinder, one side of the clamping block, which is close to a central shaft of the hoop device, is provided with a first chute, and balls are arranged in the first chute; the inner side of the hoop device is provided with a second sliding groove, and balls are arranged in the second sliding groove. The invention provides a climbing device of a live working robot, which has the advantages of simple structure, stable use and connection of the device, flexible and convenient up and down movement and the like.
Description
Technical Field
The invention relates to the technical field of power equipment, in particular to a climbing device of an electrified working robot.
Background
Electric power often needs to climb to the wire pole with electricity and carries out the wiring when overhauing, and live-wire operation is dangerous high, has the potential safety hazard, and needs to ascend a height, and workman intensity of labour is great. For some simple wiring work, the robot can be handed over to complete, so how to transport the robot to the top end of the telegraph pole is the most important, and the existing climbing vehicle has high cost, limited climbing distance and difficult unfolding in uneven mountainous areas. Therefore, it is necessary to design a climbing device for an electric working robot to convey the electric working robot to a target position.
Chinese patent application publication No. CN110193175A, published as 2019, 09 and 03, entitled "people-carrying automatic climbing device suitable for telegraph poles", discloses a people-carrying automatic climbing device suitable for telegraph poles, which mainly comprises a fixed power plate, wherein two sides of the fixed power plate are respectively hinged with a rotating power plate through hinge shafts, clamping devices are respectively arranged between the fixed power plate and the rotating power plates at two sides, and power devices are respectively arranged at the inner sides of the fixed power plate and the rotating power plate; the lower end of the fixed power plate is respectively provided with a base and a second hinge seat, and two sides of the base are respectively provided with a fixing device; the clamping motor, the climbing motor and the hydraulic oil cylinder are respectively connected with the controller, and the clamping motor and the climbing motor are respectively provided with a power-off contracting brake device. But this patent is used for the automatic climbing of wire pole manned, is not suitable for the transport of live working robot.
Disclosure of Invention
The invention provides a climbing device for an electric working robot, aiming at overcoming the problem that the electric working robot is difficult to convey to an operating position in the prior art, and the climbing device has the advantages of simple structure, stable use and connection of the device, flexible and convenient up and down movement and the like.
The second object of the present invention is: the utility model provides a live working robot climbing device, the device can go up and down by oneself, does not need extra hoist device, and application scope is wide.
In order to achieve the purpose, the invention adopts the following technical scheme:
a climbing device for a live working robot comprises a hoop device and a clamping device, wherein the clamping device comprises a clamping cylinder and a clamping block, the clamping cylinder is fixed on the hoop device, the clamping block is fixed on a telescopic rod of the clamping cylinder, a first sliding groove is formed in one side, close to a central shaft of the hoop device, of the clamping block, and balls are arranged in the first sliding groove; the inner side of the hoop device is provided with a second sliding groove, and balls are arranged in the second sliding groove.
In the technical scheme, the climbing device further comprises a controller and a control element, and an air source and a power source required by the used electric appliance and the used air cylinder can be externally connected or a mobile air source and a power source (such as an air pump and a battery) can be directly arranged on the device. The hoop device is used for clamping the telegraph pole and ensuring that the telegraph pole can move up and down along the telegraph pole under the action of the driving device, the driving device can be external hoisting equipment, a pulley can be arranged at the top end of the telegraph pole, a lifting rope bypasses the pulley, one end of the lifting rope is fixed on the hoop device, the other end of the lifting rope is fixed on the driving structure, and the lifting rope is pulled through the driving structure to enable the hoop device to move up and down. The driving device can also be directly arranged on the hoop device to directly drive the hoop device to move up and down. After the hoop device is sleeved on the telegraph pole, the clamping cylinder tightly presses the clamping block on the telegraph pole, and the hoop device can not shake through the contact of the balls and the telegraph pole, and the balls can roll in the sliding grooves, so that the hoop device can move up and down to a proper position under the driving of the driving device to perform live working.
Preferably, the hoop device comprises a hoop body, the hoop body comprises two hoop semicircles, one ends of the two hoop semicircles are hinged, and the other ends of the two hoop semicircles are clamped through a pin shaft structure. The structure facilitates the fixation of the hoop device on the telegraph pole and the taking down of the hoop device.
Preferably, the locking device further comprises a locking block and a locking cylinder, the locking cylinder is fixed on the hoop device, and the locking block is fixed with a telescopic rod of the locking cylinder. The locking block is made of materials with large friction coefficient such as rubber, when the locking block is tightly pressed with the telegraph pole, the hoop device is locked and cannot move up and down and rotate left and right relative to the telegraph pole, and an actuating mechanism arranged on the hoop device can conveniently perform the next action.
Preferably, one side of the locking block, which is close to the central shaft of the hoop device, is of a V-shaped structure. The locking block with the V-shaped structure can ensure that the hoop device and the telegraph pole have more contact points, and has the function of automatic centering, thereby ensuring the connection stability.
Preferably, the hoop device comprises two hoop bodies, and the two hoop bodies are coaxially arranged up and down and are connected through a connecting rod. Two staple bolt bodies distribute from top to bottom, can guarantee that the staple bolt device is difficult to rock after connecting on the wire pole, connect more stably.
Preferably, the lifting mechanism comprises a lifting cylinder and two locking structures used for clamping the telegraph pole, the cylinder body and the telescopic rod of the lifting cylinder are respectively fixed with the upper hoop body and the lower hoop body, one end of the connecting rod is fixed with one hoop body, and the connecting rod is fixedly and slidably connected with the other hoop body.
The lifting structure is used for driving the hoop devices to move up and down, when the locking structure on one hoop body locks the telegraph pole and the locking structure on the other hoop body does not lock the telegraph pole, the lifting cylinder is started, the relative positions of the two hoop bodies are changed, then the locking relations of the locking structures on the two hoop bodies are exchanged, the lifting cylinder is started again, the relative positions of the two hoop bodies are restored to the original state, and the upper and lower positions of the two hoop bodies relative to the telegraph pole are changed; the hoop device can be integrally lifted or lowered by repeating the actions. The repeated actions can be set by software, the controller controls the operation end to selectively ascend or descend, and the controller can control each executive component to sequentially move, so that the hoop device can move up and down, and the operation process is simplified. Above-mentioned scheme has adopted the scheme that the cylinder goes up and down, guarantees when going up and down, has at least one staple bolt body to press from both sides tight wire pole all the time, for adopting conventional wheeled climbing scheme, the lift mode is more reliable, the condition that the easy landing that skids of wheeled climbing scheme when going up and down can not appear, and the driving piece power that the technical scheme of this application needs is little, can reduce the weight of device. Compared with the scheme of adopting external hoisting, the utility model reduces the equipment cost (hoisting equipment), and does not need to be provided with pulleys in advance on the telegraph pole, thereby greatly increasing the application range of the device. The cylinder can be replaced by a driving structure which can realize telescopic motion, such as an oil cylinder, a push rod motor and the like.
Preferably, the two hoop bodies are respectively provided with one locking structure, each locking structure comprises a fixed block, a locking block, an unlocking rod and an unlocking cylinder, the fixed blocks are provided with locking chutes, the locking blocks and the telescopic springs are arranged in the locking chutes, and the locking blocks are in sliding connection with the locking chutes; the unlocking rod is fixed with the locking block, and the telescopic rod of the unlocking cylinder is fixed with one end of the unlocking rod.
Among the above-mentioned technical scheme, the staple bolt body can be fixed on the wire pole with locking structure, and when locking structure on one of them staple bolt body, can realize the removal of another staple bolt body (not locking) through the flexible of lift cylinder. When the hoop body needs to be moved, the unlocking cylinder on the hoop body can be started, the unlocking rod drives the locking block to slide, then unlocking is carried out, and the hoop body can be moved after the locking block is separated from the telegraph pole. The unlocking cylinder moves reversely, the unlocking rod drives the locking block to compress the telegraph pole, and locking of the hoop body is achieved.
Preferably, the two hoop bodies are respectively provided with one locking structure, each locking structure comprises a fixed block, a locking block, an expansion spring, an unlocking rod and an unlocking cylinder, the fixed blocks are provided with locking chutes, the locking blocks and the expansion springs are arranged in the locking chutes, the locking blocks are in sliding connection with the locking chutes, one ends of the expansion springs are connected with the locking blocks, and the other ends of the expansion springs are connected with the fixed blocks; the unlocking rod is provided with a first unlocking inclined surface, the locking block is provided with a second unlocking inclined surface matched with the first unlocking inclined surface, the first unlocking inclined surface is in contact with the second unlocking inclined surface, and the telescopic rod of the unlocking cylinder is fixed with one end of the unlocking rod.
Among the above-mentioned technical scheme, locking structure can fix the staple bolt body on the wire pole, and the moving direction of unblock pole is perpendicular with the slip direction of locking piece, and when locking structure on one of them staple bolt body was locked, can realize the removal of another staple bolt body (not locking) through the flexible of lift cylinder. When the hoop body needs to be moved, the unlocking cylinder on the hoop body can be started, the first unlocking inclined plane on the unlocking rod drives the locking block to slide, so that unlocking is carried out, and the hoop body can be moved after the locking block is separated from the telegraph pole. The unlocking cylinder moves reversely, the extrusion effect of the unlocking rod on the second unlocking inclined plane on the locking block disappears, the locking block extends outwards under the effect of the telescopic spring, the telegraph pole is pressed, and the locking of the hoop body is realized. Even if the cylinder fails in the using process, the locking block can still lock the device on the telegraph pole, and the device is prevented from falling and being damaged.
Preferably, the safety lock structure comprises a connecting piece, the connecting piece is fixed on one of the hoop bodies, a first connecting groove and a second connecting groove are formed in the connecting piece, the first connecting groove and the second connecting groove are staggered, and one end of the first connecting groove is communicated with one end of the second connecting groove; the locking mechanism comprises a hoop body, a first unlocking rod, a second unlocking rod and a locking mechanism, wherein the locking mechanism comprises a first locking mechanism and a second locking mechanism, the first locking mechanism is arranged on the hoop body, the second locking mechanism is arranged on the hoop body, the locking mechanism comprises a first locking mechanism and a second locking mechanism, the locking mechanism comprises.
The technical scheme can interlock the unlocking rods on the two hoop bodies, and ensures that at least one locking structure locks the telegraph pole in the use process. When the first unlocking rod is in an unlocking state, the first unlocking rod is positioned at the joint of the first connecting groove and the second connecting groove, the second unlocking rod cannot enter the joint, and the second unlocking rod cannot be unlocked; when the first unlocking rod is in a locking state, the second unlocking rod can enter the joint of the first connecting groove and the second connecting groove, and after the second unlocking rod enters the first unlocking rod, the first unlocking rod cannot enter the joint, and the first unlocking rod cannot unlock.
The invention has the beneficial effects that: (1) the device is stable in use and connection, and flexible and convenient to move up and down; (2) the device is convenient to disassemble and assemble when in use; (3) the hoop device is stably connected with the wire rod and is not easy to shake; (4) the device can be lifted automatically, an additional hoisting device is not needed, and the application range is wide; (5) the lifting mode is more reliable, and the situation that the wheel type climbing scheme is easy to slip and slide when being lifted can not occur; (6) the device can be locked when climbing, and the safety of the device is ensured.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of embodiment 3;
FIG. 3 is a schematic structural view of a lock structure in embodiment 4;
FIG. 4 is a schematic structural view of a safety lock structure according to the present invention;
fig. 5 is a schematic structural view of the lock structure in embodiment 5.
In the figure: the hoop device comprises a hoop device 1, a hoop body 1.1, a second chute 1.1, a connecting rod 1.2, a clamping device 2, a clamping cylinder 2.1, a clamping block 2.2, a first chute 2.3, a ball 3, a locking block 4, a locking cylinder 5, a lifting structure 6, a lifting cylinder 6.1, a locking structure 6.2, a fixing block 6.2.1, a locking chute 6.2.1.1, a locking block 6.2.2, a second unlocking inclined plane 6.2.1, a telescopic spring 6.2.3, an unlocking rod 6.2.4, a first unlocking rod 6.2.4.1, a second unlocking rod 6.2.4.2, a first unlocking inclined plane 6.2.4.3, an unlocking cylinder 6.2.5, a safety lock structure 7, a connecting piece 7.1, a first connecting groove 7.2 and a second connecting groove 7.3.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments.
Example 1:
as shown in fig. 1, a climbing device for a live working robot comprises a hoop device 1 and a clamping device 2, wherein the clamping device 2 comprises a clamping cylinder 2.1 and a clamping block 2.2, the clamping cylinder 2.1 is fixed on the hoop device 1, the clamping block 2.2 is fixed on a telescopic rod of the clamping cylinder 2.1, one side of the clamping block 2.2 close to a central shaft of the hoop device 1 is of a V-shaped structure, one side of the clamping block 2.2 close to the central shaft of the hoop device 1 is provided with a first chute 2.3, and a ball 3 is arranged in the first chute 2.3; the hoop device 1 comprises a hoop body 1.1, the hoop body 1.1 comprises two hoop semicircles, one ends of the two hoop semicircles are hinged, and the other ends of the two hoop semicircles are clamped through a pin shaft structure; the inboard of staple bolt body 1.1 is equipped with second spout 1.1.1, is equipped with ball 3 in the second spout 1.1.1.
In the above technical scheme, the climbing device further comprises a controller and a control element, and the air pump and the battery are directly arranged on the device. The hoop device 1 is used for clamping a telegraph pole and ensuring that the telegraph pole can move up and down along the telegraph pole under the action of the driving device, the driving device can be external hoisting equipment, a pulley can be arranged at the top end of the telegraph pole, a lifting rope bypasses the pulley, one end of the lifting rope is fixed on the hoop device 1, the other end of the lifting rope is fixed on a driving structure, and the driving structure pulls the lifting rope to enable the hoop device 1 to move up and down. The driving device can also be directly arranged on the hoop device 1 to directly drive the hoop device 1 to move up and down. After the hoop device 1 is sleeved on the telegraph pole, the clamping cylinder 2.1 tightly presses the clamping block 2.2 on the telegraph pole, and the hoop device 1 is not shaken due to the contact of the balls 3 and the telegraph pole, and the balls 3 can roll in the sliding grooves, so that the hoop device 1 can be driven by the driving device to move up and down to a proper position for live working.
Example 2:
as shown in fig. 1, on the basis of embodiment 1, the climbing device for the live working robot further comprises a locking block 4 and a locking cylinder 5, wherein the locking cylinder 5 is fixed on the hoop device 1, and the locking block 4 is fixed with a telescopic rod of the locking cylinder 5.
The locking block 4 is made of materials with large friction coefficient such as rubber, when the locking block 4 is tightly pressed with the telegraph pole, the hoop device 1 is locked and cannot move up and down and rotate left and right relative to the telegraph pole, and an actuating mechanism arranged on the hoop device 1 can conveniently perform the next action.
Example 3:
as shown in fig. 2, on the basis of embodiment 1, the hoop device 1 includes two hoop bodies 1.1, and the two hoop bodies 1.1 are coaxially arranged up and down; the climbing device of the electric working robot further comprises a lifting structure 6, the lifting structure 6 comprises a lifting cylinder 6.1 and two locking structures 6.2 used for clamping telegraph poles, a cylinder body and a telescopic rod of the lifting cylinder 6.1 are respectively fixed with the upper hoop body and the lower hoop body 1.1, one end of the connecting rod 1.2 is fixed with one hoop body 1.1, and the connecting rod 1.2 is fixedly and slidably connected with the other hoop body 1.1. The hoop device 1 comprises two hoop bodies 1.1, wherein the two hoop bodies 1.1 are coaxially arranged from top to bottom and are connected through a connecting rod 1.2.
Among the above-mentioned technical scheme, two staple bolt bodies 1.1 distribute from top to bottom, can guarantee that staple bolt device 1 is difficult to rock after connecting on the wire pole, connect more stably. The lifting structure 6 is used for driving the hoop devices 1 to move up and down, when the locking structure 6.2 on one hoop body 1.1 locks the telegraph pole and the locking structure 6.2 on the other hoop body 1.1 does not lock the telegraph pole, the lifting cylinder 6.1 is started, the relative positions of the two hoop bodies 1.1 are changed, then the locking relations of the locking structures 6.2 on the two hoop bodies 1.1 are exchanged, the lifting cylinder 6.1 is started again, the relative positions of the two hoop bodies 1.1 are restored to the original state, and the up-down positions of the two hoop bodies 1.1 relative to the telegraph pole are changed; by repeating the above-described operation, the entire hoop device 1 can be raised or lowered. The repeated actions can be set by software, the controller controls the operation end to selectively ascend or descend, and the controller can control each executive component to sequentially move, so that the hoop device 1 can move up and down, and the operation process is simplified. Above-mentioned scheme has adopted the scheme that the cylinder goes up and down, guarantees when going up and down, has at least one staple bolt body 1.1 to press from both sides tight wire pole all the time, for adopting conventional wheeled climbing scheme, the lift mode is more reliable, the condition that the wheeled climbing scheme skidded when going up and down easily can not appear, and the driving piece power that the technical scheme of this application needs is little, can reduce the weight of device. Compared with the scheme of adopting external hoisting, the utility model reduces the equipment cost (hoisting equipment), and does not need to be provided with pulleys in advance on the telegraph pole, thereby greatly increasing the application range of the device. The cylinder can be replaced by a driving structure which can realize telescopic motion, such as an oil cylinder, a push rod motor and the like.
Example 4:
as shown in fig. 3 and 4, on the basis of embodiment 3, two hoop bodies 1.1 are respectively provided with one locking structure 6.2, each locking structure 6.2 includes a fixed block 6.2.1, a locking block 6.2.2, an unlocking rod 6.2.4 and an unlocking cylinder 6.2.5, the fixed block 6.2.1 is provided with a locking chute 6.2.1.1, the locking block 6.2.2 and a telescopic spring 6.2.3 are arranged in the locking chute 6.2.1.1, and the locking block 6.2.2 is in sliding connection with the locking chute 6.2.1.1; the unlocking rod 6.2.4 is fixed with the locking block 6.2.2, and the telescopic rod of the unlocking cylinder 6.2.5 is fixed with one end of the unlocking rod 6.2.4. The safety lock structure 7 comprises a connecting piece 7.1, the connecting piece 7.1 is fixed on one hoop body 1.1, a first connecting groove 7.2 and a second connecting groove 7.3 are formed in the connecting piece 7.1, the first connecting groove 7.2 and the second connecting groove 7.3 are staggered, and one end of the first connecting groove 7.2 is communicated with one end of the second connecting groove 7.3; the lock release lever 6.2.4 disposed on the upper anchor ear body 1.1 is the first lock release lever 6.2.4.1, the lock release lever 6.2.4 disposed on the lower anchor ear body 1.1 is the second lock release lever 6.2.4.2, the first lock release lever 6.2.4.1 is disposed in the first connecting groove 7.2 and slides in the extending direction of the first connecting groove 7.2, and the second lock release lever 6.2.4.2 is disposed in the second connecting groove 7.3 and slides in the extending direction of the second connecting groove 7.3.
In the technical scheme, the locking structure 6.2 can fix the hoop body 1.1 on the telegraph pole, and when the locking structure 6.2 on one hoop body 1.1 is locked, the movement of the other hoop body 1.1 (unlocked) can be realized through the extension and retraction of the lifting cylinder 6.1. When the hoop body 1.1 needs to be moved, the unlocking cylinder 6.2.5 on the hoop body 1.1 can be started, the unlocking rod 6.2.4 drives the locking block 6.2.2 to slide, so as to unlock, and after the locking block 6.2.2 is separated from the telegraph pole, the hoop body 1.1 can be moved. The unlocking cylinder 6.2.5 moves reversely, and the unlocking rod 6.2.4 drives the locking block 6.2.2 to press the telegraph pole, so that the locking of the hoop body 1.1 is realized. The locking structure 6.2 can fix the hoop body 1.1 on the telegraph pole, and when the locking structure 6.2 on one hoop body 1.1 is locked, the movement of the other hoop body 1.1 (unlocked) can be realized through the extension and contraction of the lifting cylinder 6.1. When the hoop body 1.1 needs to be moved, the unlocking cylinder 6.2.5 on the hoop body 1.1 can be started, the unlocking rod 6.2.4 drives the locking block 6.2.2 to slide, so as to unlock, and after the locking block 6.2.2 is separated from the telegraph pole, the hoop body 1.1 can be moved. The unlocking cylinder 6.2.5 moves reversely, and the unlocking rod 6.2.4 drives the locking block 6.2.2 to press the telegraph pole, so that the locking of the hoop body 1.1 is realized.
Example 5:
as shown in fig. 5, on the basis of embodiment 3, the two hoop bodies 1.1 are respectively provided with one locking structure 6.2, each locking structure 6.2 includes a fixed block 6.2.1, a locking block 6.2.2, an extension spring 6.2.3, an unlocking rod 6.2.4 and an unlocking cylinder 6.2.5, the fixed block 6.2.1 is provided with a locking chute 6.2.1.1, the locking block 6.2.2 and the extension spring 6.2.3 are arranged in the locking chute 6.2.1.1, the locking block 6.2.2 is in sliding connection with the locking chute 6.2.1.1, one end of the extension spring 6.2.3 is connected with the locking block 6.2.2, and the other end of the extension spring 6.2.3 is connected with the fixed block 6.2.1; a first unlocking inclined plane 6.2.4.3 is arranged on the unlocking rod 6.2.4, a second unlocking inclined plane 6.2.1 matched with the first unlocking inclined plane 6.2.4.3 is arranged on the locking block 6.2.2, the first unlocking inclined plane 6.2.4.3 is in contact with the second unlocking inclined plane 6.2.2.1, and a telescopic rod of the unlocking cylinder 6.2.5 is fixed with one end of the unlocking rod 6.2.4; the safety lock structure 7 comprises a connecting piece 7.1, a first connecting groove 7.2 and a second connecting groove 7.3 are arranged on the connecting piece 7.1, the first connecting groove 7.2 and the second connecting groove 7.3 are staggered, and one ends of the first connecting groove 7.2 and the second connecting groove 7.3 are communicated; the lock release lever 6.2.4 disposed on the upper anchor ear body 1.1 is the first lock release lever 6.2.4.1, the lock release lever 6.2.4 disposed on the lower anchor ear body 1.1 is the second lock release lever 6.2.4.2, the first lock release lever 6.2.4.1 is disposed in the first connecting groove 7.2 and slides in the extending direction of the first connecting groove 7.2, and the second lock release lever 6.2.4.2 is disposed in the second connecting groove 7.3 and slides in the extending direction of the second connecting groove 7.3.
In the technical scheme, the locking structure 6.2 can fix the hoop body 1.1 on the telegraph pole, the moving direction of the unlocking rod 6.2.4 is vertical to the sliding direction of the locking block 6.2.2, and when the locking structure 6.2 on one hoop body 1.1 is locked, the other hoop body 1.1 (unlocked) can move by the extension and contraction of the lifting cylinder 6.1. When the hoop body 1.1 needs to be moved, the unlocking cylinder 6.2.5 on the hoop body 1.1 can be started, so that the first unlocking inclined plane 6.2.4.3 on the unlocking rod 6.2.4 drives the locking block 6.2.2 to slide, and then unlocking is performed, and after the locking block 6.2.2 is separated from the telegraph pole, the hoop body 1.1 can be moved. The unlocking cylinder 6.2.5 moves reversely, the extrusion effect of the unlocking rod 6.2.4 on the second unlocking inclined plane 6.2.2.1 on the locking block 6.2.2 disappears, the locking block 6.2.2 extends outwards under the action of the telescopic spring 6.2.3 to press the telegraph pole, and the locking of the hoop body 1.1 is realized. Even if the air cylinder fails in use, the locking block 6.2.2 can still lock the device on the telegraph pole, so that the device is prevented from being damaged by slipping. The locking structure 6.2 can fix the hoop body 1.1 on the telegraph pole, and when the locking structure 6.2 on one hoop body 1.1 is locked, the movement of the other hoop body 1.1 (unlocked) can be realized through the extension and contraction of the lifting cylinder 6.1. When the hoop body 1.1 needs to be moved, the unlocking cylinder 6.2.5 on the hoop body 1.1 can be started, the unlocking rod 6.2.4 drives the locking block 6.2.2 to slide, so as to unlock, and after the locking block 6.2.2 is separated from the telegraph pole, the hoop body 1.1 can be moved. The unlocking cylinder 6.2.5 moves reversely, and the unlocking rod 6.2.4 drives the locking block 6.2.2 to press the telegraph pole, so that the locking of the hoop body 1.1 is realized.
The invention has the beneficial effects that: (1) the device is stable in use and connection, and flexible and convenient to move up and down; (2) the device is convenient to disassemble and assemble when in use; (3) the hoop device is stably connected with the wire rod and is not easy to shake; (4) the device can be lifted automatically, an additional hoisting device is not needed, and the application range is wide; (5) the lifting mode is more reliable, and the situation that the wheel type climbing scheme is easy to slip and slide when being lifted can not occur; (6) the device can be locked when climbing, and the safety of the device is ensured.
Claims (2)
1. A climbing device for a live working robot is characterized by comprising a hoop device and a clamping device, wherein the clamping device comprises a clamping cylinder and a clamping block, the clamping cylinder is fixed on the hoop device, the clamping block is fixed on a telescopic rod of the clamping cylinder, one side of the clamping block, which is close to a central shaft of the hoop device, is provided with a first chute, and balls are arranged in the first chute; a second sliding groove is formed in the inner side of the hoop device, and balls are arranged in the second sliding groove; the hoop device comprises two hoop bodies which are coaxially arranged up and down and are connected through a connecting rod; the lifting structure comprises a lifting cylinder and two locking structures for clamping the telegraph pole, a cylinder body and a telescopic rod of the lifting cylinder are respectively fixed with the upper hoop body and the lower hoop body, one end of a connecting rod is fixed with one hoop body, and the connecting rod is fixedly and slidably connected with the other hoop body;
the two hoop bodies are respectively provided with one locking structure, each locking structure comprises a fixed block, a locking block, an expansion spring, an unlocking rod and an unlocking cylinder, the fixed blocks are provided with locking chutes, the locking blocks and the expansion springs are arranged in the locking chutes, the locking blocks are in sliding connection with the locking chutes, one ends of the expansion springs are connected with the locking blocks, and the other ends of the expansion springs are connected with the fixed blocks; the unlocking rod is provided with a first unlocking inclined surface, the locking block is provided with a second unlocking inclined surface matched with the first unlocking inclined surface, the first unlocking inclined surface is in contact with the second unlocking inclined surface, and a telescopic rod of the unlocking cylinder is fixed with one end of the unlocking rod;
the safety lock structure comprises a connecting piece, wherein the connecting piece is fixed on one hoop body, a first connecting groove and a second connecting groove are formed in the connecting piece, the first connecting groove and the second connecting groove are staggered, and one end of the first connecting groove is communicated with one end of the second connecting groove; the locking mechanism comprises a hoop body, a first unlocking rod, a second unlocking rod and a locking mechanism, wherein the locking mechanism comprises a first locking mechanism and a second locking mechanism, the first locking mechanism is arranged on the hoop body, the second locking mechanism is arranged on the hoop body, the locking mechanism comprises a first locking mechanism and a second locking mechanism, the locking mechanism comprises.
2. The climbing device for the live working robot according to claim 1, wherein the hoop device comprises a hoop body, the hoop body comprises two hoop semicircles, one ends of the two hoop semicircles are hinged, and the other ends of the two hoop semicircles are clamped through a pin shaft structure.
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| CN112909830B (en) * | 2021-01-22 | 2022-04-22 | 国网山东省电力公司曹县供电公司 | Cable tensioning device for high-altitude power construction |
| CN116752799B (en) * | 2023-08-17 | 2023-11-07 | 合肥工业大学 | Transmission tower overhauls device |
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