CN111605640A - Tower climbing robot - Google Patents

Tower climbing robot Download PDF

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Publication number
CN111605640A
CN111605640A CN202010640879.1A CN202010640879A CN111605640A CN 111605640 A CN111605640 A CN 111605640A CN 202010640879 A CN202010640879 A CN 202010640879A CN 111605640 A CN111605640 A CN 111605640A
Authority
CN
China
Prior art keywords
sliding
tower
base
fixed frame
groove
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.)
Pending
Application number
CN202010640879.1A
Other languages
Chinese (zh)
Inventor
陈在新
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
State Grid Sichuan Electric Power Co Ltd
Original Assignee
State Grid Sichuan Electric Power Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by State Grid Sichuan Electric Power Co Ltd filed Critical State Grid Sichuan Electric Power Co Ltd
Priority to CN202010640879.1A priority Critical patent/CN111605640A/en
Publication of CN111605640A publication Critical patent/CN111605640A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles 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
    • B62D57/024Vehicles 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
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02GINSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/02Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables

Abstract

The invention relates to a tower climbing robot which comprises a base, wherein crawler row wheels are arranged on two sides of the base, a guide wheel is arranged at one end of the base, and a telescopic mechanism for controlling the guide wheel to stretch along the traveling direction of the crawler row wheels is arranged on the base; the base is further provided with a locking mechanism for locking the tower, the locking mechanism comprises a fixed frame, the upper ends of the sliding columns are arranged on the fixed frame in a sliding mode, and a plurality of sliding wheels are arranged on the sliding wheels; a steering mechanism for adjusting the angle of the sliding wheel is arranged at one end of the side wall of the fixed frame, which is close to the guide wheel; when the guide wheels contact with the tower, the two sliding columns slide to the side wall of the fixing frame, and the sliding wheels on the two sliding columns rotate and lock the tower with the side wall of the fixing frame. The tower climbing robot can transport maintenance parts to high-altitude maintenance personnel from a designated point, realizes dual purposes of land walking and high-altitude climbing of the tower climbing robot, does not need extra personnel to control the tower, and improves the applicability of the tower climbing robot.

Description

Tower climbing robot
Technical Field
The invention relates to the technical field of high-voltage transmission maintenance, in particular to a tower climbing robot.
Background
With the rapid development of economy, the industry is driven to have a great demand for power resources, and power transportation depends on the effective operation of a high-voltage transportation circuit. The high-voltage transmission wire plays the roles of electric energy source transmission, electric energy dispatching and the like in the operation of an electric power system, and also plays the role of connecting a generator and related power transformation facilities. At present, high tension transmission line's maintenance work is the mode of manual work mostly, owing to face the complexity of overhauing the problem, and the maintainer often need carry a large amount of supplementary repair tools and check out test set and ensure that the trouble obtains solving, and this has strengthened the complexity that the maintainer scrambleed the shaft tower greatly, has still improved maintainer's work burden to a certain extent when increasing maintainer's work load. To the trouble problem of maintainer carrying equipment in the present stage, the countermeasure of main adoption utilizes some climbing robots, arranges in step when artifical climbing operation that climbing robot carries the transport, reaches the burden problem that reduces the maintainer. But because high altitude construction's complexity, the maintainer is under the condition that can't confirm high altitude trouble, and climbing robot carries instrument in large quantity, and weight is high, in order to guarantee climbing robot's suitability, need arrange extra personnel and control climbing robot under the shaft tower, realizes the purpose to high altitude maintainer directional transmission maintenance equipment, consequently need can give the robot of high altitude maintainer directional transport maintenance apparatus at present stage.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a tower climbing robot, which is used for solving the problem that the existing climbing robot needs to arrange personnel to operate and control under a tower.
The invention provides a tower climbing robot which comprises a base, wherein a carrying box for placing parts is arranged on the base, crawler row wheels are arranged on two sides of the base, a guide wheel is arranged at one end of the base, and a telescopic mechanism for controlling the guide wheel to stretch along the traveling direction of the crawler row wheels is arranged on the base; the base is also provided with a locking mechanism for locking the tower, the locking mechanism comprises a fixed frame, sliding columns are arranged on two sides of the fixed frame, the upper ends of the sliding columns are arranged on the fixed frame in a sliding mode, and a plurality of sliding wheels are vertically arranged on the sliding wheels; the lower end of the sliding column is also provided with a transmission mechanism which drives the sliding column to slide along the fixed frame by using a telescopic mechanism, and one end of the side wall of the fixed frame, which is close to the guide wheel, is provided with a steering mechanism for adjusting the angle of the sliding wheel; when the guide wheels contact with the tower, the two sliding columns slide to the side wall of the fixing frame, and the sliding wheels on the two sliding columns rotate and lock the tower with the side wall of the fixing frame.
Compared with the prior art, the invention has the following beneficial effects: according to the invention, the telescopic guide wheels are arranged on the base, so that when the robot walks on the flat ground, the guide wheels are used for guiding the direction, and the crawler belt wheels are used as driving force to guide the tower climbing robot to move from a departure place to a tower. When climbing robot walk to shaft tower department telescopic machanism with the leading wheel shrink to with the position of mount edge looks parallel and level, the slip post of mount both sides removes towards the shaft tower simultaneously and the space that a plurality of movable pulleys on the slip post and lateral wall formed is in the shaft tower locking wherein, the leading wheel promotes shaft tower climbing robot and moves on the shaft tower this moment, transports maintenance part to maintainer's maintenance height, the maintenance operation of the maintainer of being convenient for. The tower climbing robot can transport maintenance parts to high-altitude maintenance personnel from a designated point, realizes dual purposes of land walking and high-altitude climbing of the tower climbing robot, does not need extra personnel to control the tower, and improves the applicability of the tower climbing robot.
Drawings
FIG. 1 is a schematic structural diagram of a tower climbing robot according to the present invention;
FIG. 2 is a schematic cross-sectional view of the telescopic structure of the present invention;
FIG. 3 is a schematic cross-sectional view of the slider and the transmission gear of the present invention;
FIG. 4 is a schematic cross-sectional view of the cutting blade and the transmission gear of the present invention;
FIG. 5 is a schematic view of the sliding column of the present invention;
FIG. 6 is a schematic view of the structure of the guide wheel according to the present invention;
FIG. 7 is a schematic view of the slider structure of the present invention;
fig. 8 is a schematic diagram of the engagement of the sliding wheels and the tower according to the invention.
Reference numerals: 1. a base; 2. a carrying box; 3. a crawler belt wheel; 4. a guide wheel; 5. a fixed mount; 6. a sliding post; 7. a sliding wheel; 8. a connecting rod; 9. a tension spring; 10. a transmission gear; 11. cutting; 12. a first rack; 13. a slider; 14. a second rack; 15. a first push button; 16. a second push button; 17. and a third rack.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the functions of the invention clearer and easier to understand, the invention is further explained by combining the drawings and the detailed implementation mode:
the embodiment of the invention provides a tower climbing robot, which comprises a base 1, wherein a carrying box 2 for placing parts is arranged on the base 1, crawler belt rollers 3 are arranged on two sides of the base 1, a guide wheel 4 is arranged at one end of the base 1, and a telescopic mechanism for controlling the guide wheel 4 to stretch along the traveling direction of the crawler belt rollers 3 is arranged on the base 1; the base 1 is further provided with a locking mechanism for locking the tower, the locking mechanism comprises a fixed frame 5, sliding columns 6 are arranged on two sides of the fixed frame 5, the upper ends of the sliding columns 6 are arranged on the fixed frame 5 in a sliding mode, and a plurality of sliding wheels 7 are vertically arranged on the sliding columns 6; the lower end of the sliding column 6 is also provided with a transmission mechanism which drives the sliding column 6 to slide along the fixed frame 5 by using a telescopic mechanism, and one end of the side wall of the fixed frame 5, which is close to the guide wheel 4, is provided with a steering mechanism for adjusting the angle of the sliding wheel 7; when the guide wheels 4 contact with the tower, the two sliding columns 6 slide to the side walls of the fixed frame 5, and the plurality of sliding wheels 7 on the two sliding columns 6 are turned to lock the tower with the side walls of the fixed frame 5. The size of the object carrying box 2 can be adjusted according to the power supply and the maintenance requirements of the climbing robot, so that the actual loading requirements are met; carry 2 insides of thing box simultaneously and can arrange according to the maintenance instrument, will overhaul the instrument and fix and put in order, the constructor of being convenient for takes the use. The climbing robot can also increase video real-time transmission equipment and the like on the base 1 according to actual requirements on the prototype, so that the working personnel can know actual working conditions, complex terrain paths and the like conveniently. An independent power supply is arranged at the position of the guide wheel 4 to provide power, so that the problem that the power at the position of the guide wheel 4 is disconnected due to the influence of the telescopic process of the telescopic mechanism on the wiring between the guide wheel 4 and the power supply in the base 1 is solved; and meanwhile, a remote control system is also arranged on the climbing robot, the remote control system mainly regulates and controls the angle between the guide wheel 4 and the base 1, and the climbing robot is controlled in direction by adjusting the guide wheel 4. The sliding columns 6 are arranged on the fixed frame 5 in a sliding mode, so that a driving force is applied to the sliding columns 6 in the process that the transmission mechanism drives the sliding columns 6, the sliding wheels 7 on the sliding columns 6 have the rotating power to wind the back of a tower when moving to the side wall of the fixed frame 5, and the sliding wheels 7 on the two sliding columns 6 and the side wall of the fixed frame 5 surround and lock the tower. In the process of climbing on the ground and high altitude by using the tower robot, the guide wheel 4 not only needs to be capable of controlling the traveling direction of the track roller 3, but also needs to be capable of providing climbing power after the climbing robot contacts the tower; therefore, the telescopic mechanisms are arranged at the guide wheels 4 and the base 1, when the guide wheels 4 are required to control the walking direction, the guide wheels 4 are positioned at the front end of the overall climbing robot, and the guide wheels 4 can control the walking direction of the overall climbing robot through steering; when needing leading wheel 4 to provide climbing power, can be with the shaft tower locking in order to guarantee that movable pulley 7 on the sliding column 6 and 5 lateral walls of mount form the space, leading wheel 4 stretches out and draws back to the same vertical plane department with 5 lateral walls of mount through telescopic machanism, make 5 lateral walls of mount and shaft tower counterbalance, movable pulley 7 butt respectively on the sliding column 6 of 5 both sides of mount is on the shaft tower lateral wall, leading wheel 4 is located the relative one side of 7 laminating in shaft tower department of movable pulley, leading wheel 4 upwards scrambles along the shaft tower, movable pulley 7 upwards scrambles along with it under 4 promotion of leading wheel.
According to another embodiment of the present invention, as shown in fig. 2 and 6, preferably, a connecting rod 8 for connecting the guide wheel 4 with the base 1 is arranged on the guide wheel 4, a groove is formed at one end of the base 1 close to the guide wheel 4, the direction of a notch of the groove is consistent with the sliding direction of the sliding column 6, the telescopic mechanism is embedded in the groove, the telescopic mechanism includes a first telescopic spring 9, one end of the first telescopic spring 9 is connected with the inner wall of the groove, and the other end of the first telescopic spring 9 is connected with the connecting rod 8; and one end of the connecting rod 8, which is connected with the first telescopic spring 9, extends into the groove. At the flexible in-process that utilizes telescopic machanism to realize leading wheel 4, through set up connecting rod 8 on leading wheel 4, inlay connecting rod 8 and establish inside stretching into the recess, the slip of 8 bottoms of connecting rod is inlayed and is established on base 1, is guaranteeing to increase the gliding stability of connecting rod 8 in the recess under the flexible condition of recess of connecting rod 8. The setting of first expanding spring 9 makes when leading wheel 4 and shaft tower are hugged closely, and the compression of first expanding spring 9 can make leading wheel 4 oppress on the shaft tower, increases the frictional force on leading wheel 4 and shaft tower surface, is convenient for climb the robot and climb on the shaft tower.
According to another embodiment of the present invention, as shown in fig. 3, 4, 5, and 7, preferably, a cavity is formed in the base 1, the cavity is located above the groove, the transmission mechanism includes a plurality of transmission gears 10 arranged in parallel in the cavity, the plurality of transmission gears 10 are engaged with each other, a first sliding groove is formed at a lower end of the cavity, the first sliding groove is arranged along a telescopic direction of the connecting rod 8, an inserting bar 11 matched with the first sliding groove is arranged at an upper end of the connecting rod 8, the inserting bar 11 is slidably engaged with the first sliding groove, and a first rack 12 engaged with the transmission gears 10 is arranged at an upper end of the inserting bar 11; the upper end of the sliding block 13 is provided with a concave bayonet, the lower end of the sliding column 6 is connected with a first push button 15, and the first push button 15 is clamped in the concave bayonet. When the connecting rod 8 is used for stretching in the groove to drive the sliding column 6 to slide, a cavity is formed above the groove, a plurality of transmission gears 10 which are meshed with each other are arranged in the cavity, a first sliding groove is formed in the lower end of the cavity, the upper end of the connecting rod 8 is clamped into the first sliding groove through an inserting strip 11, and the upper end of the inserting strip 11 is meshed with the transmission gears 10; the upper end of the transmission gear 10 is also provided with a sliding block 13, the sliding block 13 is meshed with the transmission gear 10, and the sliding column 6 is clamped on the sliding block 13 through a first push button 15. When the connecting rod 8 moves towards the inside of the groove, the inserting bar 11 on the connecting rod 8 drives the transmission gear 10 to rotate, and the transmission gear 10 drives the sliding block 13 to move towards the direction of the guide wheel 4, so that the sliding column 6 moves towards the direction of the guide wheel 4.
According to another embodiment of the present invention, as shown in fig. 8, preferably, the fixed frame 5 is provided with a second sliding groove, the steering mechanism includes a second push button 16 disposed at the upper end of the sliding column 6, and the second push button 16 is slidably disposed in the second sliding groove; one end of the second sliding groove, which is close to the guide wheel 4, is provided with a third rack 17, the third rack 17 is attached to the side wall of the second sliding groove, which is close to the guide wheel 4, and the second pushing button 16 is provided with gear teeth meshed with the third rack 17. When the steering mechanism is used for driving the sliding wheel 7 on the sliding column 6 to lock the tower, the third rack 17 is arranged in the second sliding groove on the fixed frame 5, when the sliding column 6 slides to a position close to one end of the guide wheel 4, the second pushing button 16 on the sliding column 6 is meshed with the third rack 17 and drives the sliding column 6 to rotate, and the sliding wheel 7 on the sliding column 6 rotates towards the center direction of the guide wheel 4 and is abutted against the tower.
According to another embodiment of the invention, preferably, a notch is vertically formed on the side wall of the position where the fixing frame 5 is connected with the tower. In order to enable the side wall of the fixing frame 5 to be better attached to the tower, a notch is vertically formed in the position, opposite to the tower, of the fixing frame 5, when the climbing robot moves to the position of the tower, the notch is attached to the position of the tower, and the sliding wheels 7 on the sliding columns 6 are convenient to fix the tower.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.

Claims (5)

1. A tower climbing robot comprises a base (1), wherein a carrying box (2) for placing parts is arranged on the base (1), and crawler belt rollers (3) are arranged on two sides of the base (1), and is characterized in that a guide wheel (4) is arranged at one end of the base (1), and a telescopic mechanism for controlling the guide wheel (4) to stretch along the traveling direction of the crawler belt rollers (3) is arranged on the base (1); the base (1) is also provided with a locking mechanism for locking the tower, the locking mechanism comprises a fixed frame (5), two sides of the fixed frame (5) are provided with sliding columns (6), the upper ends of the sliding columns (6) are arranged on the fixed frame (5) in a sliding mode, and a plurality of sliding wheels (7) are vertically arranged on the sliding columns (6); the lower end of the sliding column (6) is also provided with a transmission mechanism which drives the sliding column (6) to slide along the fixed frame (5) by using a telescopic mechanism, and one end of the side wall of the fixed frame (5), which is close to the guide wheel (4), is provided with a steering mechanism for adjusting the angle of the sliding wheel (7); when the guide wheels (4) are contacted with the tower, the two sliding columns (6) slide to the side walls of the fixed frame (5), and the sliding wheels (7) on the two sliding columns (6) are turned to lock the tower with the side walls of the fixed frame (5).
2. The pole tower climbing robot as claimed in claim 1, wherein the guide wheel (4) is provided with a connecting rod (8) for connecting the guide wheel (4) with the base (1), one end of the base (1) close to the guide wheel (4) is provided with a groove, the direction of a groove opening of the groove is consistent with the sliding direction of the sliding column (6), the telescopic mechanism is embedded in the groove and comprises a telescopic spring (9), one end of the telescopic spring (9) is connected with the inner wall of the groove, and the other end of the telescopic spring (9) is connected with the connecting rod (8); and one end of the connecting rod (8) connected with the telescopic spring (9) extends into the groove.
3. The pole tower climbing robot as claimed in claim 2, wherein a cavity is formed in the base (1), the cavity is located above the groove, the transmission mechanism comprises a plurality of transmission gears (10) which are arranged in the cavity in parallel, the transmission gears (10) are meshed with each other, a first sliding groove is formed in the lower end of the cavity and is arranged along the telescopic direction of the connecting rod (8), an inserting strip (11) matched with the first sliding groove is arranged at the upper end of the connecting rod (8), the inserting strip (11) is slidably clamped in the first sliding groove, and a first rack (12) meshed with the transmission gears (10) is arranged at the upper end of the inserting strip (11); the transmission gear (10) top still is equipped with a sliding block (13), and sliding block (13) lower extreme is equipped with second rack (14) with transmission gear (10) looks meshing, and open on sliding block (13) has the spill bayonet socket, sliding column (6) lower extreme is connected with first promotion button (15), first promotion button (15) joint is in the spill bayonet socket.
4. The pole tower climbing robot as claimed in claim 1, wherein the fixed frame (5) is provided with a second sliding groove, the steering mechanism comprises a second pushing button (16) arranged at the upper end of the sliding column (6), and the second pushing button (16) is slidably arranged in the second sliding groove; one end of the second sliding groove, which is close to the guide wheel (4), is provided with a third rack (17), the third rack (17) is attached to the side wall of the second sliding groove, which is close to the guide wheel (4), and the second pushing button (16) is provided with gear teeth meshed with the third rack (17).
5. The tower climbing robot as claimed in claim 1, wherein a notch is vertically formed in a side wall of the fixed frame (5) where the fixed frame is connected with the tower.
CN202010640879.1A 2020-07-06 2020-07-06 Tower climbing robot Pending CN111605640A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010640879.1A CN111605640A (en) 2020-07-06 2020-07-06 Tower climbing robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010640879.1A CN111605640A (en) 2020-07-06 2020-07-06 Tower climbing robot

Publications (1)

Publication Number Publication Date
CN111605640A true CN111605640A (en) 2020-09-01

Family

ID=72197381

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010640879.1A Pending CN111605640A (en) 2020-07-06 2020-07-06 Tower climbing robot

Country Status (1)

Country Link
CN (1) CN111605640A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112276877A (en) * 2020-09-27 2021-01-29 国网四川省电力公司南充供电公司 Climbing robot maintenance platform

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112276877A (en) * 2020-09-27 2021-01-29 国网四川省电力公司南充供电公司 Climbing robot maintenance platform

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