CN111130016B - High-voltage electric power tower climbing robot - Google Patents
High-voltage electric power tower climbing robot Download PDFInfo
- Publication number
- CN111130016B CN111130016B CN202010103091.7A CN202010103091A CN111130016B CN 111130016 B CN111130016 B CN 111130016B CN 202010103091 A CN202010103091 A CN 202010103091A CN 111130016 B CN111130016 B CN 111130016B
- Authority
- CN
- China
- Prior art keywords
- motor
- fixedly arranged
- large arm
- arm
- block
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000009194 climbing Effects 0.000 title claims abstract description 69
- 230000005540 biological transmission Effects 0.000 claims description 23
- 230000008602 contraction Effects 0.000 claims description 8
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims 1
- 238000009434 installation Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 210000000245 forearm Anatomy 0.000 description 2
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 2
- 239000010931 gold Substances 0.000 description 2
- 229910052737 gold Inorganic materials 0.000 description 2
- 244000309464 bull Species 0.000 description 1
- 230000002493 climbing effect Effects 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
- -1 strain clamp Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- 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 high-voltage electric pole tower climbing robot which comprises a loading device, a driving connecting device and a climbing device. The driving connection device is an installation platform and a foundation of each device, a storage battery and a control box are installed, the loading device can carry electric power fittings needing to be conveyed to the top of the tower, and the climbing device realizes climbing of the robot on the high-voltage tower.
Description
Technical Field
The invention relates to the technical field of high-voltage power transmission, in particular to a climbing robot for a high-voltage power tower.
Background
High tension transmission line is in the use, and the electric power gold utensil on high-tension tower and the high tension transmission line needs often to be maintained or change such as insulator, strain clamp, suspension clamp, and high altitude maintainer need take the instrument and the part that needs to be changed on the tower when maintaining, carries noon greatly increased danger at climbing the tower in-process, in order to solve this kind of problem, needs design a high voltage electric power tower climbing robot.
Disclosure of Invention
Aiming at the problems, the invention provides a high-voltage electric tower climbing robot which comprises a loading device, a driving connecting device and a climbing device.
The loading device comprises a bearing box, an upper cover, an upper spring head, an extension spring, a lower spring head, a lower connecting shaft, an upper connecting shaft, a shell, a large bearing, an outer gear, a lifting block, a lifting electric cylinder and an inner positioning plate, wherein the upper cover is rotatably installed above the bearing box, two ends of each extension spring are fixedly installed on the upper spring head and the lower spring head respectively, the upper spring head is rotatably installed on the upper cover through the upper connecting shaft, the lower spring head is rotatably installed on the lifting block through the lower connecting shaft, the shell is fixedly installed on the outer side of the bearing box, the bottom of the lifting electric cylinder is fixedly installed on the side face of the bearing box, the lifting block is fixedly installed at the top of the lifting electric cylinder, the inner positioning plate is fixedly installed on the inner side of the lifting block, the inner side of the large bearing is fixedly installed on the outer side.
The driving connecting device comprises a connecting shell, an inner plate, a planetary gear, an inner gear, a planetary motor, a control box, a waterproof cover, a base plate, a track gear ring, a rotating motor, a rotating pinion, a rotating gearwheel, a rotating track, a storage battery and a control box, wherein the connecting shell is fixedly arranged on the outer side of the control box, the inner plate is fixedly arranged on the connecting shell, the planetary gear is rotatably arranged on the inner plate, the planetary motor is fixedly arranged on the connecting shell, the inner gear is fixedly arranged on a motor shaft of the planetary motor, the inner gear is meshed with the four planetary gears, the four planetary gears are meshed with an outer gear, the outer side of a large bearing is fixedly arranged on the inner side of the connecting shell, the connecting shell is rotatably arranged on a bearing box, the base plate is rotatably arranged on the outer side of the control box through a rolling bearing, the rotating, the rotating small gear is fixedly arranged on a motor shaft of the rotating motor and meshed with the rotating large gear, the track gear ring is fixedly arranged on the base plate, and the rotating track is fixedly arranged on the base plate.
The climbing device comprises a friction plate, a clamping electric cylinder, a clamping seat, a contraction spring, an outer rotating block, an inner rotating block, a tail end motor, an inner small arm, a small arm electric cylinder, an outer small arm, a small arm motor, a large arm electric cylinder, an inner large arm, an outer large arm, a large arm motor, a large arm rotating block, a transmission belt, a transmission block, a transmission motor, a track motor, a climbing block, a traveling gear, a traveling shaft and a traveling limiting block, wherein the friction plate is fixedly arranged on the inner side of the clamping plate, the clamping plate is slidably arranged on the clamping seat, the clamping electric cylinder is fixedly arranged on the clamping seat, the two clamping plates are respectively and fixedly arranged on the two tops of the clamping electric cylinder, the clamping seat is fixedly arranged below the outer rotating block, one end of the contraction spring is fixedly arranged on the inner side of the clamping plate, the other end of the contraction spring is fixedly arranged on the outer side of, the inner rotating block is rotatably installed on the inner small arm through a motor shaft of the tail end motor, the tail end motor is fixedly installed on the inner small arm, the inner small arm is slidably installed inside the outer small arm, the bottom of the electric cylinder of the small arm is fixedly installed at the bottom of the outer small arm, the top of the electric cylinder of the small arm is fixedly installed on the inner small arm, the outer small arm is rotatably installed on the inner large arm through a motor shaft of the small arm motor, the small arm motor is fixedly installed on the inner large arm, the inner large arm is slidably installed inside the outer large arm, the bottom of the electric cylinder of the large arm is fixedly installed at the bottom of the outer large arm, the top of the electric cylinder of the large arm is fixedly installed on the inner large arm, the large arm motor is fixedly installed on the large arm rotating block, the outer large arm is rotatably installed on the large arm rotating block through a motor shaft of the large arm motor, the transmission motor is fixedly installed on the climbing block, the transmission block is fixedly installed on the, the track motor is fixedly installed on the climbing block, the walking shaft is fixedly installed on a motor shaft of the track motor, the walking gear is fixedly installed on the walking shaft, the walking limiting block is fixedly installed at the top end of the walking shaft, the walking gear is meshed with the track toothed ring, and the walking shaft is installed with the rotating track in a sliding mode.
Furthermore, three extension springs are connected between the upper cover of the loading device and the bearing box, and the lifting electric cylinder drives the lifting block to enable the upper cover and the bearing box to form rotating fit through the extension springs.
Furthermore, the loading device and the driving connecting device form the rotation fit of the planetary gear train.
Furthermore, the four climbing devices respectively form a circular ring type sliding fit with the driving connecting device.
Furthermore, the clamping plate and the clamping seat form sliding fit, the outer rotating block and the inner rotating block form rotating fit, the inner small arm and the outer small arm form sliding fit, the outer small arm and the inner large arm form rotating fit, the inner large arm and the outer large arm form sliding fit, and the outer large arm and the large arm rotating block form rotating fit.
Furthermore, the friction plate is installed on the clamping plate at the tail end of the climbing device, so that clamping is firmer.
Further, the grip block of climbing device press from both sides when tightest, just in time can grab the angle steel of shaft tower tightly, the climbing is realized for drive connecting device's rotation to a plurality of climbing devices of rethread.
Furthermore, drive connecting device be a box that has the lid and add two connecting seats, built-in control box and battery of having, also be loading attachment and climb the mounting platform of device simultaneously.
Furthermore, the waterproof cover is detachably arranged at the top of the control box, and the storage battery and the control box are detachably arranged at the bottom of the control box.
Due to the adoption of the technical scheme, the invention has the following advantages: (1) electric power fittings which need to be brought to the top of a tower can be placed in the bearing box of the loading device, the upper cover can tightly press the bearing box through the combined action of the lifting electric cylinder and the three groups of extension springs, and the tools are prevented from falling out when a robot climbs; (2) in the climbing process, the control box can control the loading part to rotate relative to the driving connecting device, so that the loading part can be always kept parallel to the ground, and hardware fittings are prevented from falling out in the climbing process; (3) the control box of the driving connection device is provided with a waterproof cover which is sealed by a waterproof gasket and used for placing the water inlet of the control box of the storage battery box; (4) the four climbing devices can move circularly along the rotating track on the driving connecting device, so that the relative positions of the four climbing devices can be changed, and the robot can climb the four climbing devices more conveniently; (5) the climbing device can realize actions such as rotation, extension and the like, and provides enough freedom degree for climbing actions; (6) according to the invention, the friction plate is arranged on the clamping plate at the tail end of the climbing device, so that the clamping is firmer; (7) when the clamping plate of the climbing device is clamped most tightly, the angle steel of the tower can be exactly gripped, and climbing is realized through rotation of the plurality of climbing devices relative to the driving connecting device.
Drawings
FIG. 1 is an overall schematic view of the present invention.
Fig. 2, 3 and 4 are schematic structural views of the loading device of the present invention.
Fig. 5, 6 and 7 are schematic structural views of the driving connection device of the present invention.
Figures 8 and 9 are schematic structural views of the climbing device of the present invention.
Reference numerals: 1-a loading device; 2-drive the connection means; 3-a climbing device; 101-a carrying case; 102-an upper cover; 103-upper spring head; 104-an extension spring; 105-a lower spring head; 106-lower connecting shaft; 107-upper connecting shaft; 108-a housing; 109-big bearing; 110-an external gear; 111-a lifting block; 112-lifting electric cylinder; 113-inner positioning plate; 201-connecting shell; 202-inner plate; 203-planetary gear; 204-internal gear; 205-a planetary motor; 206-a control box; 207-waterproof cover; 208-a base plate; 209-track ring gear; 210-a rotating electrical machine; 211-rotating pinion gear; 212-rotating bull gear; 213-a rotating track; 214-a battery; 215-control box; 301-friction plate; 302-a clamping plate; 303-clamping an electric cylinder; 304-a holder; 305-a retraction spring; 306-an outer rotating block; 307-inner rotating block; 308-end motor; 309-inner forearm; 310-small arm electric cylinder; 311-outer forearm; 312-small arm motor; 313-big arm electric cylinder; 314-inner big arm; 315-outer big arm; 316-big arm motor; 317-big arm rotating block; 318-a drive belt; 319-transmission block; 320-a drive motor; 321-a track motor; 322-a climbing block; 323-a running gear; 324-a walking axis; 325-walking limited block.
Detailed Description
The present invention will be further described with reference to specific examples, which are illustrative of the invention and are not to be construed as limiting the invention.
Example (b): the high-voltage electric tower climbing robot is shown in figures 1, 2, 3, 4, 5, 6, 7 and 8. The driving connection device 2 is a box with a cover and two connecting seats, a control box 215 and a storage battery 214 are arranged in the box, and the box is also a mounting platform for the loading device 1 and the climbing device 3.
The loading device 1 has a specific structure as shown in fig. 2, 3 and 4, wherein an upper cover 102 is rotatably mounted above a carrying case 101, two ends of three extension springs 104 are respectively fixedly mounted on an upper spring head 103 and a lower spring head 105, the upper spring head 103 is rotatably mounted on the upper cover 102 through an upper connecting shaft 107, the lower spring head 105 is rotatably mounted on a lifting block 111 through a lower connecting shaft 106, a housing 108 is fixedly mounted on the outer side of the carrying case 101, the bottom of a lifting electric cylinder 112 is fixedly mounted on the side surface of the carrying case 101, the lifting block 111 is fixedly mounted on the top of the lifting electric cylinder 112, an inner positioning plate 113 is fixedly mounted on the inner side of the lifting block 111, the inner side of a large bearing 109 is fixedly mounted on the outer side of the carrying case 101, and the outer side of an outer. After putting the electric power fitting to be transported into the bearing box 2, the lifting electric cylinder 112 contracts to control the upper cover 102 to be tightly covered, and simultaneously, the upper cover 102 is tightened by the acting force of the tension spring 104, so that the fitting is prevented from falling out in the climbing process.
Specifically, as shown in fig. 5, 6 and 7, a specific structural schematic diagram of the driving connection device 2 is shown, wherein a connection shell 201 is fixedly installed on the outer side of a control box 206, an inner plate 202 is fixedly installed on the connection shell 201, planetary gears 203 are rotatably installed on the inner plate 202, a planetary motor 205 is fixedly installed on the connection shell 201, an internal gear 204 is fixedly installed on a motor shaft of the planetary motor 205, the internal gear 204 is engaged with four planetary gears 203, the four planetary gears 203 are engaged with an outer gear 11, the outer side of a large bearing 109 is fixedly installed on the inner side of the connection shell 201, the connection shell 201 is rotatably installed on a bearing box 101, a waterproof cover 207 is detachably installed on the top of the control box 206, a storage battery 214 and a control box 215 are detachably installed at the bottom of the control box 206, a base plate 208 is rotatably installed on the outer side of the control box 206 through a rolling bearing, a large rotating, the rotation pinion gear 211 is fixedly mounted on a motor shaft of the rotation motor 210, the rotation pinion gear 211 is engaged with the rotation large gear 212, the locus ring gear 209 is fixedly mounted on the base plate 208, and the rotation rail 213 is fixedly mounted on the base plate 208. The planetary motor 205 rotates to drive the internal gear 204 to rotate, so as to control the carrying box 101 to rotate, so as to control the loading device 1 to rotate relative to the driving connection device 2, the rotating motor 210 rotates to control the rotating pinion 211 to rotate, so as to drive the base plate 208 to rotate relative to the control box 206, all power of the robot is supplied by the storage battery 214, and all motors and electric cylinders are controlled through the control box 215.
Specifically, as shown in fig. 8 and fig. 9, a specific structural schematic diagram of the climbing device 3 is shown, wherein a friction plate 301 is fixedly installed inside a clamping plate 302, the clamping plate 302 is slidably installed on a clamping seat 304, a clamping electric cylinder 303 is fixedly installed on the clamping seat 304, the two clamping plates 302 are respectively fixedly installed on two tops of the clamping electric cylinder 303, the clamping seat 304 is fixedly installed below an outer rotating block 306, one end of a contraction spring 305 is fixedly installed inside the clamping plate 302, the other end of the contraction spring is fixedly installed outside the outer rotating block 306, the outer rotating block 306 is rotatably installed on the inner rotating block 307 through a stepping motor, the inner rotating block 307 is rotatably installed on an inner small arm 309 through a motor shaft of a terminal motor 308, the terminal motor 308 is fixedly installed on the inner small arm 309, the inner small arm 309 is slidably installed inside the outer small arm 311, the bottom of the small arm electric cylinder 310 is fixedly installed at the bottom of the outer small arm 311, the top is, the outer small arm 311 is rotatably arranged on the inner large arm 314 through a motor shaft of the small arm motor 312, the small arm motor 312 is fixedly arranged on the inner large arm 314, the inner large arm 314 is slidably arranged inside the outer large arm 315, the bottom of the large arm electric cylinder 313 is fixedly arranged at the bottom of the outer large arm 315, the top of the large arm electric cylinder is fixedly arranged on the inner large arm 314, the large arm motor 316 is fixedly arranged on the large arm rotating block 317, the outer large arm 315 is rotatably arranged on the large arm rotating block 317 through a motor shaft of the large arm motor 316, the large arm rotating block 317 is rotatably arranged on the climbing block 322 through a rolling bearing, the transmission motor 320 is fixedly arranged on the climbing block 322, the transmission block 319 is fixedly arranged on a motor shaft of the transmission motor 320, the transmission belt 318 is wound on the outer sides of the transmission block 319 and the large arm rotating block 317, the track motor 321 is fixedly arranged on the climbing block 322, the travelling shaft 324 is fixedly arranged on a motor shaft of the, the walking limiting block 325 is fixedly installed at the top end of the walking shaft 324, the walking gear 323 is meshed with the track gear ring 209, and the walking shaft 324 is installed with the rotating track 213 in a sliding mode. The track motor 321 rotates to control the climbing device 4 to walk along the rotating track 213, the transmission motor 320 rotates to control the large arm rotating block 317 to rotate relative to the climbing block 322, the large arm motor 316 rotates to control the outer large arm 315 to rotate relative to the large arm rotating block 317, the large arm electric cylinder 313 telescopically controls the inner large arm 314 to telescope relative to the outer large arm 315, the small arm motor 312 rotates to control the outer small arm 311 to rotate relative to the inner large arm 314, the small arm electric cylinder 310 telescopically controls the inner small arm 309 to telescope relative to the outer small arm 311, the tail end motor 308 rotates to control the inner rotating block 307 to rotate relative to the inner small arm 309, the stepping motor on the inner rotating block 307 rotates to control the outer rotating block 306 to rotate relative to the inner rotating block 307, the climbing part 4 reaches the vicinity of the tower angle steel needing to be clamped, and the clamping electric cylinder 303 telescopically controls the two clamping plates 302 to contract and slide relative to the clamping seat 304, so that the tower.
When the electric power fitting to be transported climbs a tower by using the invention, after the electric power fitting to be transported is placed in the bearing box 2, the lifting electric cylinder 112 is contracted, the upper cover 102 is controlled to be tightly covered, the upper cover 102 is tensioned by utilizing the acting force of the extension spring 104, the track motor 321 rotates to control the climbing device 4 to walk along the rotating track 213, the transmission motor 320 rotates to control the large arm rotating block 317 to rotate relative to the climbing block 322, the large arm motor 316 rotates to control the outer large arm 315 to rotate relative to the large arm rotating block 317, the large arm electric cylinder 313 telescopically controls the inner large arm 314 to telescope relative to the outer large arm 315, the small arm motor 312 rotates to control the outer small arm 311 to rotate relative to the inner large arm 314, the small arm electric cylinder 310 telescopically controls the inner small arm 309 to telescope relative to the outer small arm 311, the tail end motor 308 rotates to control the inner rotating block 307 to rotate relative to the inner small arm 309, the stepping motor on the inner rotating block 307 rotates to control the outer rotating block, realize climbing part 4 and arrive near the shaft tower angle steel that needs the centre gripping, two grip blocks 302 of centre gripping electric cylinder 303 telescopic control carry out inside and outside shrink for grip slipper 304 and slide, the realization is carried out the centre gripping with the shaft tower angle steel, the rotatory pinion 211 of rotating electrical machines 210 rotation control rotates, it is rotatory for control box 206 to drive base plate 208, make four climbing part 4 constantly repeat above-mentioned actions climb along the shaft tower, in the climbing process, planetary motor 205 rotates and drives internal gear 204 and rotate, thereby control bears box 101 and rotates, thereby control loading attachment 1 rotates for drive connecting device 2, make and bear box 101 and keep parallel with ground all the time, prevent that the gold utensil from falling out.
Claims (9)
1. The utility model provides a high voltage electricity shaft tower climbing robot, includes loading attachment (1), drive connecting device (2), climbing device (3), its characterized in that:
the loading device (1) comprises a bearing box (101), an upper cover (102), an upper spring head (103), an extension spring (104), a lower spring head (105), a lower connecting shaft (106), an upper connecting shaft (107), a shell (108), a large bearing (109), an outer gear (110), a lifting block (111), a lifting electric cylinder (112) and an inner positioning plate (113), wherein the upper cover (102) is rotatably installed above the bearing box (101), two ends of the three extension springs (104) are respectively and fixedly installed on the upper spring head (103) and the lower spring head (105), the upper spring head (103) is rotatably installed on the upper cover (102) through the upper connecting shaft (107), the lower spring head (105) is rotatably installed on the lifting block (111) through the lower connecting shaft (106), the shell (108) is fixedly installed on the outer side of the bearing box (101), and the bottom of the lifting electric cylinder (112) is fixedly installed on the side of the bearing box (101), the lifting block (111) is fixedly arranged at the top of the lifting electric cylinder (112), the inner positioning plate (113) is fixedly arranged at the inner side of the lifting block (111), the inner side of the large bearing (109) is fixedly arranged at the outer side of the bearing box (101), and the outer side of the outer gear (110) is fixedly arranged at the outer side of the bearing box (101);
the driving connecting device (2) comprises a connecting shell (201), an inner plate (202), a planetary gear (203), an inner gear (204), a planetary motor (205), a control box (206), a waterproof cover (207), a base plate (208), a track gear ring (209), a rotating motor (210), a rotating pinion (211), a rotating large gear (212), a rotating track (213), a storage battery (214) and a control box (215), wherein the connecting shell (201) is fixedly arranged on the outer side of the control box (206), the inner plate (202) is fixedly arranged on the connecting shell (201), the planetary gear (203) is rotatably arranged on the inner plate (202), the planetary motor (205) is fixedly arranged on the connecting shell (201), the inner gear (204) is fixedly arranged on a motor shaft of the planetary motor (205), the inner gear (204) is meshed with four planetary gears (203), and the four planetary gears (203) are meshed with an outer gear (11), the outer side of a large bearing (109) and the inner side of a connecting shell (201) are fixedly installed, the connecting shell (201) is rotatably installed on a bearing box (101), a base plate (208) is rotatably installed on the outer side of a control box (206) through a rolling bearing, a rotary large gear (212) is fixedly installed on the outer side of the control box (206), a rotary motor (210) is fixedly installed on the base plate (208), a rotary small gear (211) is fixedly installed on a motor shaft of the rotary motor (210), the rotary small gear (211) is meshed with the rotary large gear (212), a track gear ring (209) is fixedly installed on the base plate (208), and a rotary track (213) is fixedly installed on the base plate (208);
the climbing device (3) comprises a friction plate (301), a clamping plate (302), a clamping electric cylinder (303), a clamping seat (304), a contraction spring (305), an outer rotating block (306), an inner rotating block (307), a tail end motor (308), an inner small arm (309), a small arm electric cylinder (310), an outer small arm (311), a small arm motor (312), a large arm electric cylinder (313), an inner large arm (314), an outer large arm (315), a large arm motor (316), a large arm rotating block (317), a transmission belt (318), a transmission block (319), a transmission motor (320), a track motor (321), a climbing block (322), a traveling gear (323), a traveling shaft (324) and a traveling limiting block (325), wherein the friction plate (301) is fixedly arranged on the inner side of the clamping plate (302), the clamping plate (302) is slidably arranged on the clamping seat (304), the clamping electric cylinder (303) is fixedly arranged on the clamping seat (304), two clamping plates (302) are respectively and fixedly arranged at the two tops of a clamping electric cylinder (303), a clamping seat (304) is fixedly arranged below an outer rotating block (306), one end of a contraction spring (305) is fixedly arranged at the inner side of the clamping plates (302), the other end of the contraction spring is fixedly arranged at the outer side of the outer rotating block (306), the outer rotating block (306) is rotatably arranged on an inner rotating block (307) through a stepping motor, the inner rotating block (307) is rotatably arranged on an inner small arm (309) through a motor shaft of a tail end motor (308), the tail end motor (308) is fixedly arranged on the inner small arm (309), an inner small arm (309) is slidably arranged inside an outer small arm (311), the bottom of a small arm electric cylinder (310) is fixedly arranged at the bottom of the outer small arm (311), the top of the inner small arm (309) is fixedly arranged on the inner small arm (309), the outer small arm (311) is rotatably arranged on an inner large arm (314) through the motor shaft of, the small arm motor (312) is fixedly arranged on the inner large arm (314), the inner large arm (314) is slidably arranged inside the outer large arm (315), the bottom of the large arm electric cylinder (313) is fixedly arranged at the bottom of the outer large arm (315), the top of the large arm electric cylinder is fixedly arranged on the inner large arm (314), the large arm motor (316) is fixedly arranged on the large arm rotating block (317), the outer large arm (315) is rotatably arranged on the large arm rotating block (317) through a motor shaft of the large arm motor (316), the large arm rotating block (317) is rotatably arranged on the climbing block (322) through a rolling bearing, the transmission motor (320) is fixedly arranged on the climbing block (322), the transmission block (319) is fixedly arranged on a motor shaft of the transmission motor (320), the transmission belt (318) is wound on the outer sides of the transmission block (319) and the large arm rotating block (317), the large arm rotating track motor (321) is fixedly arranged on the climbing block (322), the walking shaft (324) is fixedly arranged on the motor shaft of the large arm rotating block (, the walking gear (323) is fixedly arranged on the walking shaft (324), the walking limiting block (325) is fixedly arranged at the top end of the walking shaft (324), the walking gear (323) is meshed with the track gear ring (209), and the walking shaft (324) is slidably arranged with the rotating track (213).
2. The high-voltage electric tower climbing robot as claimed in claim 1, wherein: three extension springs (104) are connected between an upper cover (102) and a bearing box (101) of the loading device, and a lifting electric cylinder (112) drives a lifting block (111) to enable the upper cover (102) and the bearing box (101) to form rotating fit through the extension springs (104).
3. The high-voltage electric tower climbing robot as claimed in claim 1, wherein: the loading device (1) and the driving connecting device (2) form the rotation fit of a planetary gear train.
4. The high-voltage electric tower climbing robot as claimed in claim 1, wherein: the four climbing devices (3) are respectively matched with the driving connecting device (2) in a circular ring type sliding mode.
5. The high-voltage electric tower climbing robot as claimed in claim 1, wherein: the clamping plate (302) and the clamping seat (304) form sliding fit, the outer rotating block (306) and the inner rotating block (307) form rotating fit, the inner small arm (309) and the outer small arm (311) form sliding fit, the outer small arm (311) and the inner large arm (314) form rotating fit, the inner large arm (314) and the outer large arm (315) form sliding fit, and the outer large arm (315) and the large arm rotating block (317) form rotating fit.
6. The high-voltage electric tower climbing robot as claimed in claim 1, wherein: the friction plate (301) is installed on the clamping plate (302) at the tail end of the climbing device (3), so that clamping is firmer.
7. The high-voltage electric tower climbing robot as claimed in claim 1, wherein: when the clamping plate (302) of the climbing device (3) is clamped to the maximum, the angle steel of the tower can be grabbed tightly, and climbing is realized by the rotation of the plurality of climbing devices (3) relative to the driving connecting device (2).
8. The high-voltage electric tower climbing robot as claimed in claim 1, wherein: the driving connecting device (2) is a box with a cover and two connecting seats, a control box (215) and a storage battery (214) are arranged in the box, and meanwhile, the driving connecting device is also a mounting platform for the loading device (1) and the climbing device (3).
9. The high-voltage electric tower climbing robot as claimed in claim 1, wherein: the waterproof cover (207) is detachably arranged at the top of the control box (206), and the storage battery (214) and the control box (215) are detachably arranged at the bottom of the control box (206).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010103091.7A CN111130016B (en) | 2020-02-19 | 2020-02-19 | High-voltage electric power tower climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010103091.7A CN111130016B (en) | 2020-02-19 | 2020-02-19 | High-voltage electric power tower climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111130016A CN111130016A (en) | 2020-05-08 |
| CN111130016B true CN111130016B (en) | 2021-05-25 |
Family
ID=70491329
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010103091.7A Expired - Fee Related CN111130016B (en) | 2020-02-19 | 2020-02-19 | High-voltage electric power tower climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111130016B (en) |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101252505B1 (en) * | 2011-03-10 | 2013-04-09 | (주)일지테크 | Robot hanger to reset pallet latch |
| CN104477272B (en) * | 2014-12-10 | 2017-02-22 | 武汉大学 | Line patrol robot capable of climbing poles and towers and climbing method |
| CN106314585B (en) * | 2016-09-25 | 2019-01-11 | 南京香宁国际人工智能和智能制造研究院有限公司 | A kind of intelligence electric pole climbing robot |
| CN107046941B (en) * | 2017-05-15 | 2019-06-04 | 南京溪苏机器人有限公司 | A kind of forestry fruit tree hovering picking robot |
| CN209565459U (en) * | 2017-12-25 | 2019-11-01 | 十堰市时纬自动化科技有限公司 | Forging and stamping material taking hand is grabbed |
| CN207819313U (en) * | 2018-01-23 | 2018-09-04 | 自贡市三人实业有限公司 | A kind of intelligent transmission line patrol block removing robot |
| CN109546573A (en) * | 2018-12-14 | 2019-03-29 | 杭州申昊科技股份有限公司 | A kind of high altitude operation crusing robot |
| CN110277749B (en) * | 2019-07-23 | 2020-10-23 | 常州海恩德智能电力科技股份有限公司 | High-voltage line inspection robot capable of climbing poles and wires |
| CN110641538B (en) * | 2019-08-21 | 2021-07-30 | 西南石油大学 | Electric load stair climbing machine |
-
2020
- 2020-02-19 CN CN202010103091.7A patent/CN111130016B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN111130016A (en) | 2020-05-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| RU2034771C1 (en) | Device for turning crane hook and load | |
| CN202616354U (en) | Lithium battery automatic laminating machine | |
| CN101214645B (en) | Single slideway sleeve barrel mechanical arm | |
| CN106514608A (en) | Wall-climbing robot carrying connecting rod type mechanical arm | |
| CN105644646A (en) | Wheel type pole-climbing robot | |
| CN109004393A (en) | Earthing or grounding means is used in a kind of adjustable portable power construction | |
| CN208827980U (en) | A kind of manned formula climbing level robot | |
| CN111130016B (en) | High-voltage electric power tower climbing robot | |
| CN106217357A (en) | Six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror and robot | |
| CN205327216U (en) | Wheeled pole -climbing robot | |
| CN202966264U (en) | Battery replacement device of novel electric automobile | |
| CN207120219U (en) | A kind of climbing robot for carrying slide rail type mechanical arm | |
| CN103753559A (en) | Suspension insulator climbing mechanism | |
| CN108189923A (en) | The folded arm formula absorption walking mechanism of wind-power tower O＆M robot | |
| CN207725507U (en) | The folded arm formula of wind-power tower O＆M robot adsorbs walking mechanism | |
| CN108127645B (en) | Manipulator and working method thereof | |
| CN213304193U (en) | Battery core film coating device | |
| CN210732474U (en) | Power transmission and transformation installation and maintenance robot | |
| CN208706791U (en) | A kind of lithium battery mould group is with packing case automatic packaging device | |
| CN209793729U (en) | Combined lifting manipulator | |
| CN210307565U (en) | Be applied to not hard up bolt tightening device of wire jumper connection palm of power circuit | |
| CN209816629U (en) | Marking device for building engineering | |
| CN209200515U (en) | A kind of electronic installation tool of parallel groove clamp | |
| CN215828218U (en) | Simple hoisting device for installation of steel structure bridge | |
| CN219095093U (en) | Electrified overhaul and maintenance tool for power equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20211124 Address after: 314500 Tongxiang, Jiaxing, Zhejiang, Wutong Street East Road (East) 55, Tongxiang chamber of Commerce Building 1 unit 1702, 1703 room -D-405 Patentee after: Jiaxing Ruyun Construction Technology Co.,Ltd. Address before: 430074 Hubei Province, Wuhan city Hongshan District Luoyu Road No. 1037 Patentee before: Liu Renqiong |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220905 Address after: No. 375, Zhongshan South Street, Luocheng Town, Huian County, Quanzhou City, Fujian Province, 362199 Patentee after: Huian power supply company of State Grid Fujian Electric Power Co.,Ltd. Address before: 314500 Tongxiang, Jiaxing, Zhejiang, Wutong Street East Road (East) 55, Tongxiang chamber of Commerce Building 1 unit 1702, 1703 room -D-405 Patentee before: Jiaxing Ruyun Construction Technology Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210525 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |