CN111891241B - Step-by-step auxiliary robot for power transmission iron tower - Google Patents
Step-by-step auxiliary robot for power transmission iron tower Download PDFInfo
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- CN111891241B CN111891241B CN202010754231.7A CN202010754231A CN111891241B CN 111891241 B CN111891241 B CN 111891241B CN 202010754231 A CN202010754231 A CN 202010754231A CN 111891241 B CN111891241 B CN 111891241B
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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 relates to a stepping type auxiliary robot for a power transmission tower, which comprises an upper climbing assembly and a lower climbing assembly which are arranged at intervals in the vertical direction, wherein the upper climbing assembly comprises two upper connecting pieces arranged at an included angle, an upper limiting piece is arranged on each upper connecting piece in a rotating manner, the lower climbing assembly comprises two lower connecting pieces arranged at an included angle, a lower limiting piece is arranged on each lower connecting piece in a rotating manner, the upper connecting pieces and the lower connecting pieces are selectively connected with pins of the power transmission tower through the upper limiting pieces and the lower limiting pieces respectively, a driving device is arranged between the upper climbing assembly and the lower climbing assembly, and the driving device can drive the upper climbing assembly and the lower climbing assembly to approach or separate from each other. Climbing subassembly and climbing subassembly down through setting up along vertical direction interval, upward climb the subassembly and climb down and set up between the subassembly and be used for driving the drive arrangement that both are close to each other and keep away from down, climb the subassembly in the drive arrangement drive and climb the subassembly marching type down and move along transmission tower, have simple structure, can independently climb the characteristics of climbing.
Description
Technical Field
The invention relates to the technical field of power equipment, in particular to a stepping auxiliary robot for a power transmission tower.
Background
Along with the development of daily operation and maintenance work of the power industry to the direction of intellectualization, high efficiency and mechanization, more and more mechanical equipment is put into operation and maintenance operation. The power transmission iron tower is an important device for power transmission, and in order to ensure the power transmission safety, the power equipment on the power transmission iron tower needs to be checked regularly. In actual operation, a large number of robots are put into use to replace manual tower climbing work. In the existing robot, a sliding rail is mainly installed on a truss in advance, and the up-and-down movement is realized through a pulley. This mode needs to set up corollary equipment, can't realize independently climbing. Or a driving roller is arranged on the robot, and the robot is driven to move up and down by the driving roller. The mode cannot cross protruding parts such as foot nails and the like arranged on the tower body, cannot meet the types of all types of transmission towers, and is limited in application.
Disclosure of Invention
The invention aims to provide a stepping auxiliary robot for a power transmission tower, which is simple in structure and can climb autonomously.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a pair of steel pylons marching type auxiliary robot, include along the last climbing subassembly and the lower climbing subassembly of vertical direction interval setting, it includes two last connecting pieces that are the contained angle setting to go up the climbing subassembly, it is provided with spacing piece to go up to rotate on the connecting piece, it includes two lower connecting pieces that are the contained angle setting to climb the subassembly down, it is provided with spacing piece down to rotate on the connecting piece down, go up the connecting piece with the connecting piece passes through respectively go up spacing piece with spacing piece and steel pylons's foot nail selective connection down, go up the climbing subassembly with it is provided with drive arrangement down to climb between the subassembly, drive arrangement can drive go up the climbing subassembly with it is close to or keeps away from each other to climb the subassembly down.
Further, go up the climbing subassembly with the lower climbing subassembly all still includes the mounting base, two go up connecting piece and two the connecting piece all sets up in corresponding down on the mounting base, follow the circumferencial direction of mounting base, the mounting base encircles and is equipped with a plurality ofly and is used for the installation go up the connecting piece with the installation position of connecting piece down, so that two the contained angle between the last connecting piece is adjustable, and two contained angle between the lower connecting piece is adjustable.
Furthermore, the upper connecting piece and the lower connecting piece both comprise U-shaped clamping pieces and connecting rods, the upper limiting pieces and the lower limiting pieces are respectively arranged on the corresponding U-shaped clamping pieces, two ends of each connecting rod are respectively connected with the U-shaped clamping pieces and the mounting base, and the length of each connecting rod is adjustable.
Furthermore, two upper limiting pieces or two lower limiting pieces are arranged on each U-shaped clamping piece at intervals along the vertical direction.
Furthermore, the upper connecting piece is provided with an upper driving piece, the connecting end of the upper limiting piece is pivoted with the upper connecting piece, and the upper driving piece can drive the upper limiting piece to rotate around the connecting end in the vertical direction; the lower connecting piece is provided with a lower driving piece, the connecting end of the lower limiting piece is pivoted with the lower connecting piece, and the lower driving piece can drive the lower limiting piece to rotate around the connecting end in the vertical direction.
Further, drive arrangement include with go up the casing that the climbing subassembly is connected and with climb the movable rod that the subassembly is connected down, the casing is provided with the square hole, be provided with the spur rack on two relative lateral walls in the square hole, the one end of movable rod is provided with two drive gear, two drive gear respectively with two the spur rack meshing, and two drive gear can drive the movable rod is followed the length direction in square hole removes.
Furthermore, drive arrangement still includes driving motor, driving motor with drive gear is connected, the both ends of spur rack all are provided with the stopper, the stopper with driving motor electricity is connected.
Further, the tip of square hole is provided with first safe latch fitting, the movable rod is close to one side of drive gear is provided with second safe latch fitting, first safe latch fitting can block second safe latch fitting to the outside motion of square hole.
Furthermore, two opposite side surfaces of the movable rod are provided with guide surfaces, and the two guide surfaces are respectively abutted against two corresponding side walls in the square hole.
Furthermore, drive arrangement still includes the oil storage chamber that is used for storing lubricating oil, with the spigot surface corresponds the oilhole has been seted up on the lateral wall, the oilhole with oil storage chamber intercommunication, lubricating oil can pass through the oilhole flows to on the lateral wall.
Compared with the prior art, the invention has the beneficial effects that:
according to the stepping type auxiliary robot for the power transmission tower, the upper climbing assembly and the lower climbing assembly are arranged at intervals in the vertical direction, the upper limiting piece and the lower limiting piece which are connected with the foot nails are respectively arranged on the upper climbing assembly and the lower climbing assembly, the driving device which is used for driving the upper climbing assembly and the lower climbing assembly to mutually approach and separate is arranged between the upper climbing assembly and the lower climbing assembly, and the driving device drives the upper climbing assembly and the lower climbing assembly to move along the power transmission tower in a stepping mode.
Drawings
Fig. 1 is a front view of the pylon stepping auxiliary robot of the embodiment.
Fig. 2 is a top view of the pylon walking assist robot of the embodiment.
Fig. 3 is a sectional view (longitudinal direction) of the driving device of the embodiment.
Fig. 4 is a sectional view (width direction) of the driving device of the embodiment.
In the figure:
1. an upper climbing assembly; 10. an upper connecting piece; 101. a U-shaped fastener; 102. a connecting rod; 103. a U-shaped channel; 11. an upper limiting member; 12. mounting a base; 120. mounting holes; 2. a lower climbing assembly; 20. a lower connecting piece; 21. a lower retainer; 3. a drive device; 30. a housing; 31. a movable rod; 310. a guide surface; 32. straight rack; 33. a drive gear; 34. a square hole; 35. a first safety lock; 36. a second safety lock; 4. and (5) foot nailing.
Detailed Description
In order to make the technical problems solved, the technical solutions adopted and the technical effects achieved by the present invention clearer, the technical solutions of the present invention are further described below by way of specific embodiments with reference to the accompanying drawings.
As shown in fig. 1 to 4, the walking-type auxiliary robot for the power transmission tower provided by the invention comprises an upper climbing assembly 1 and a lower climbing assembly 2 which are arranged at intervals in the vertical direction, wherein the upper climbing assembly 1 comprises two upper connecting pieces 10 arranged at an included angle, an upper limiting piece 11 is arranged on each upper connecting piece 10 in a rotating manner, the lower climbing assembly 2 comprises two lower connecting pieces 20 arranged at an included angle, a lower limiting piece 21 is arranged on each lower connecting piece 20 in a rotating manner, the upper connecting pieces 10 and the lower connecting pieces 20 are respectively and selectively connected with foot nails 4 of the power transmission tower through the upper limiting pieces 11 and the lower limiting pieces 21, a driving device 3 is arranged between the upper climbing assembly 1 and the lower climbing assembly 2, and the driving device 3 can drive the upper climbing assembly 1 and the lower climbing assembly 2 to approach or separate from each other. It can be understood that a plurality of foot nails 4 are arranged on the power transmission iron tower at intervals from the bottom to the top, the foot nails 4 are used for an operator to climb, the foot nails 4 are in a straight rod shape, and the foot nails 4 are installed on the periphery of the power transmission iron tower along the horizontal direction. In this embodiment, this transmission tower marching type auxiliary robot includes climbing subassembly 1, climb subassembly 2 and drive arrangement 3 down, it is the same with climbing subassembly 2's shape structure down to go up to climb subassembly 1, both are connected with foot nail 4 through spacing piece 11 and lower spacing piece 21 respectively, drive arrangement 3 is power device, drive arrangement 3's upper end and lower extreme are fixed with climbing subassembly 1 and climbing subassembly 2 down respectively, it can drive to climb subassembly 1 and climb subassembly 2 down and to the direction motion that is close to each other and to the direction motion of keeping away from each other, reciprocate along transmission tower in order to realize this transmission tower marching type auxiliary robot. Go up to scramble subassembly 1 and include two last connecting pieces 10 that are the contained angle setting, it is provided with spacing piece 11 to rotate on every last connecting piece 10, go up spacing piece 11 and can follow vertical direction and rotate, during the use, two go up connecting pieces 10 and be connected with two sides of steel pylons respectively, and make through the rotation of last spacing piece 11 and form a contained angle region between spacing piece 11 and the last connecting piece 10, foot nail 4 is located the below of spacing piece 11, and foot nail 4 holds in this contained angle region, so that on scramble subassembly 1 and support on foot nail 4 through last spacing piece 11, realize climbing subassembly 1 and foot nail 4 between be connected. Climbing subassembly 2 is the same with the structure and the connected mode of last climbing subassembly 1 down, and on the same way, rotation through lower retainer 21 makes and forms an contained angle region between retainer 21 and the lower connecting piece 20 down, and foot nail 4 is located the below of retainer 21 down, and foot nail 4 holds in this contained angle region to climbing subassembly 2 supports on foot nail 4 through lower retainer 21 down, realizes climbing the connection between subassembly 2 and the foot nail 4 down. The concrete climbing mode of this embodiment does: when ascending, climbing subassembly 1 is connected with foot nail 4, climbs subassembly 2 down and loosens with foot nail 4, and climbing subassembly 1 and climbing subassembly 2 are close to each other down in the drive of drive arrangement 3 drive, make and climb subassembly 2 down and rise. Climbing subassembly 2 is connected with foot nail 4 down, goes up to climb subassembly 1 and loosen with foot nail 4, climbs subassembly 1 and climbs subassembly 2 and keep away from each other down in the drive of drive arrangement 3 drive, makes and climbs subassembly 1 and rises. The auxiliary robot moves upwards in a stepping mode through the cyclic operation; when descending, go up to climb subassembly 1 and be connected with foot nail 4, climb down subassembly 2 and loosen with foot nail 4, climb subassembly 1 and climb subassembly 2 and keep away from each other down in the drive of drive arrangement 3 drive, make and climb down subassembly 2 and descend. Climbing subassembly 2 is connected with foot nail 4 down, goes up to climb subassembly 1 and loosen with foot nail 4, climbs subassembly 1 and climbs subassembly 2 each other near down in the drive of drive arrangement 3 drive, makes and climbs subassembly 1 decline. By the circulation operation, the auxiliary robot moves downwards in a stepping mode. This embodiment is through climbing subassembly 1 and climbing subassembly 2 down along vertical direction interval setting, upward climb subassembly 1 and climb respectively on the subassembly 2 and be provided with spacing 11 and lower spacing 21 on being used for being connected with foot nail 4, and climb and set up between subassembly 1 and the lower climbing subassembly 2 and be used for driving drive arrangement 3 that both are close to each other and keep away from down, climb subassembly 1 and climb 2 marching type of subassembly down and move along transmission tower in the drive arrangement 3 drive, and the device has a simple structure, can independently climb the characteristics, and be suitable for the transmission tower that the climbing has foot nail 4.
Specifically, it still includes mounting base 12 to climb subassembly 1 and climb subassembly 2 down on, and two are gone up connecting piece 10 and two connecting pieces 20 and all set up on corresponding mounting base 12 down, and along mounting base 12's circumferencial direction, mounting base 12 encircles and is equipped with a plurality of installation positions that are used for installing connecting piece 10 and connecting piece 20 down to make two contained angles of going up between the connecting piece 10 adjustable, and the contained angle between two connecting pieces 20 is adjustable down. In this embodiment, the mounting base 12 is used to support the two upper connecting members 10 or the two lower connecting members 20, and the included angle between the two upper connecting members 10 and the two lower connecting members 20 is adjustable by encircling a plurality of mounting positions, so as to adapt to different specifications of power transmission towers and improve the applicability of the power transmission towers. Each mounting position is provided with a mounting hole 120, a screw is arranged on each mounting hole 120, and the upper connecting piece 10 and the lower connecting piece 20 are respectively connected with the corresponding mounting base 12 through screws.
Specifically, each of the upper connecting member 10 and the lower connecting member 20 includes a U-shaped clamping piece 101 and a connecting rod 102, the upper limiting piece 11 and the lower limiting piece 21 are respectively disposed on the corresponding U-shaped clamping piece 101, two ends of the connecting rod 102 are respectively connected with the U-shaped clamping piece 101 and the mounting base 12, and the length of the connecting rod 102 is adjustable. In this embodiment, U-shaped fastener 101 is used for installing locating part 11 or lower locating part 21, and the one end of U-shaped fastener 101 has the opening, and the open end of U-shaped fastener 101 is towards during the U-shaped passageway 103 in U-shaped fastener 101 was extended to through the opening to the one end that iron tower was kept away from to foot nail 4, climbs subassembly 1 on or climbs subassembly 2 down and when removing along vertical direction, the one end that iron tower was kept away from to foot nail 4 can U-shaped passageway 103. Connecting rod 102 includes first connecting rod and second connecting rod, and the first end of first connecting rod and second connecting rod is connected fixedly in U-shaped fastener 101 and mounting base 12 respectively, and the second end of first connecting rod and second connecting rod all is provided with a plurality of connecting holes, and the connecting hole is used for the mounting screw, connects through using different connecting holes between first connecting rod and the second connecting rod, and then realizes adjusting connecting rod 102's length. When the device is used, the length of the connecting rods 102 can be adjusted according to the specific specification of the power transmission iron tower, and the included angle between the two connecting rods 102 on the mounting base 12 can be adjusted, so that the positions of the upper limiting piece 11 and the lower limiting piece 21 can be matched with the position of the foot nail 4 on the power transmission iron tower.
In one embodiment, two upper limiting members 11 or two lower limiting members 21 are arranged on each U-shaped clamping piece 101 at intervals along the vertical direction. It can be understood that, the interval between two adjacent foot nails 4 on the steel pylons is different, is provided with two upper limiting piece 11 or lower limiting piece 21 on the U-shaped fastener 101, climbs subassembly 1 or climbs subassembly 2 down and removes the messenger along vertical direction last, and foot nail 4 only need with any upper limiting piece 11 or lower limiting piece 21 on every U-shaped fastener 101 and connect and can realize connecting. Therefore, the structure is beneficial to improving the applicability of the auxiliary robot.
Specifically, the upper connecting piece 10 is provided with an upper driving piece, the connecting end of the upper limiting piece 11 is pivoted with the upper connecting piece 10, and the upper driving piece can drive the upper limiting piece 11 to rotate around the connecting end of the upper limiting piece 11 along the vertical direction; the lower connecting piece 20 is provided with a lower driving piece, the connecting end of the lower limiting piece 21 is pivoted with the lower connecting piece 20, and the lower driving piece can drive the lower limiting piece 21 to rotate around the connecting end of the lower limiting piece 21 along the vertical direction. In this embodiment, the upper driving member and the lower driving member are used to drive the upper limiting member 11 and the lower limiting member 21 to rotate, respectively. Taking the vertical movement of the climbing assembly 1 as an example, during the movement, the upper driving member drives the upper limiting member 11 to be located in the vertical direction, so that the foot nail 4 can freely move in the U-shaped channel 103 in the U-shaped fastener 101 in the vertical direction; when fixing, go up the drive and go up spacing piece 11 and be located horizontal direction or downward sloping to make foot nail 4 be located the below of spacing piece 11 or go up the contained angle region between spacing piece 11 and the last connecting piece 10 on or, make foot nail 4 support fixedly to climbing subassembly 1. Similarly, the lower climbing assembly 2 and the upper climbing assembly 1 are moved and fixed in the same manner, and are not described herein again.
Specifically, referring to fig. 3, the driving device 3 includes a housing 30 connected to the upper climbing assembly 1 and a movable rod 31 connected to the lower climbing assembly 2, the housing 30 is provided with a square hole 34, two opposite side walls in the square hole 34 are provided with spur racks 32, one end of the movable rod 31 away from the lower climbing assembly 2 is provided with two driving gears 33, the two driving gears 33 are respectively engaged with the two spur racks 32, and the two driving gears 33 can drive the movable rod 31 to move along the length direction of the square hole 34. In the embodiment, the rotation directions of the two driving gears 33 are opposite, and when the two driving gears 33 rotate towards the inner sides thereof, the driving gears 33 move from top to bottom along the spur racks 32, so that the upper climbing assembly 1 and the lower climbing assembly 2 are far away from each other; when the two driving gears 33 rotate towards the outside thereof, the driving gears 33 move along the spur racks 32 from bottom to top, so as to bring the upper climbing assembly 1 and the lower climbing assembly 2 close to each other.
Specifically, the driving device 3 further includes a driving motor, the driving motor is connected to the driving gear 33, both ends of the spur rack 32 are provided with stoppers, and the stoppers are electrically connected to the driving motor. It can be understood that the stoppers are arranged at the two ends of the spur rack 32, and when the driving gear 33 moves to the end, the stoppers can be triggered, the driving motor is stopped, the driving gear 33 is prevented from moving to the outside of the spur rack 32, and the safety is improved.
Specifically, the end of the square hole 34 is provided with a first safety lock 35, one side of the movable rod 31 close to the driving gear 33 is provided with a second safety lock 36, and the first safety lock 35 can block the external movement of the second safety lock 36 to the square hole 34. In this embodiment, the square hole 34 is a blind hole, the cross section of the square hole 34 is rectangular, the opening of the square hole 34 is located below the housing 30, the first safety locking piece 35 is used for blocking the opening, the avoiding hole is formed in the first safety locking piece 35, and the movable rod 31 penetrates through the avoiding hole. Second safety lock 36 sets up in the one end that movable rod 31 is close to drive gear 33, if drive gear 33 breaks away from with spur rack 32, climbs under the action of gravity subassembly 2 and can drive movable rod 31 downstream to climb down and break away from with drive arrangement 3 in the messenger. At this moment, the accessible is first safe latch fitting 35 to block second safe latch fitting 36, avoids climbing subassembly 2 down and drives the downstream of movable rod 31, further improves the security that this auxiliary robot used.
Specifically, two opposite side surfaces of the movable rod 31 are provided with guide surfaces 310, and the two guide surfaces 310 respectively abut against two corresponding side walls in the square hole 34. In this embodiment, two opposing side walls of the square hole 34 are provided with the spur rack 32, and the other two opposing side walls abut against the guide surface 310. The guide surface 310 is provided to improve the stability of the movement of the movable bar 31 along the square hole 34.
Specifically, the driving device 3 further includes an oil storage chamber for storing lubricating oil, and an oil hole is formed in the side wall corresponding to the guide surface 310, the oil hole is communicated with the storage chamber, and the lubricating oil can flow to the side wall through the oil hole. It can be understood that the oil holes are arranged to enable lubricating oil to flow between the side wall and the guide surface 310, so as to play a lubricating role, and be beneficial to reducing the friction resistance between the guide surface 310 and the side wall.
The remarkable effects of the embodiment are as follows: through climbing subassembly 1 and climbing subassembly 2 down along vertical direction interval setting, upward climb subassembly 1 and climb respectively on the subassembly 2 and be provided with spacing 11 and lower spacing 21 on being used for being connected with foot nail 4, and climb and set up between subassembly 1 and the lower climbing subassembly 2 and be used for driving drive arrangement 3 that both are close to each other or keep away from, climb subassembly 1 and climb subassembly 2 marching type along the steel pylons motion down in the drive arrangement 3 drive, and the steam generator has a simple structure, can independently climb the characteristics, and be suitable for the steel pylons that the climbing has foot nail 4.
The above description is only a preferred embodiment of the present invention, and for those skilled in the art, the present invention should not be limited by the description of the present invention, which should be interpreted as a limitation.
Claims (8)
1. A stepping auxiliary robot for a power transmission tower is characterized by comprising an upper climbing assembly and a lower climbing assembly which are arranged at intervals in the vertical direction, wherein the upper climbing assembly comprises two upper connecting pieces arranged at an included angle, an upper limiting piece is arranged on each upper connecting piece in a rotating manner, the lower climbing assembly comprises two lower connecting pieces arranged at an included angle, a lower limiting piece is arranged on each lower connecting piece in a rotating manner, the upper connecting pieces and the lower connecting pieces are selectively connected with pins of the power transmission tower through the upper limiting pieces and the lower limiting pieces respectively, a driving device is arranged between the upper climbing assembly and the lower climbing assembly, and the driving device can drive the upper climbing assembly and the lower climbing assembly to approach or separate from each other;
the driving device comprises a shell connected with the upper climbing assembly and a movable rod connected with the lower climbing assembly, the shell is provided with a square hole, two opposite side walls in the square hole are provided with straight racks, one end of the movable rod is provided with two driving gears, the two driving gears are respectively meshed with the two straight racks, and the two driving gears can drive the movable rod to move along the length direction of the square hole;
two opposite side surfaces of the movable rod are provided with guide surfaces, and the two guide surfaces are respectively abutted against two corresponding side walls in the square hole.
2. The step-by-step auxiliary robot for transmission towers according to claim 1, wherein each of the upper climbing assembly and the lower climbing assembly further comprises a mounting base, two of the upper connecting members and two of the lower connecting members are arranged on the corresponding mounting base, and a plurality of mounting positions for mounting the upper connecting members and the lower connecting members are annularly arranged on the mounting base along the circumferential direction of the mounting base, so that the included angle between the two upper connecting members is adjustable, and the included angle between the two lower connecting members is adjustable.
3. The iron tower stepping auxiliary robot as claimed in claim 2, wherein each of the upper and lower connecting members comprises a U-shaped fastener and a connecting rod, the upper and lower limiting members are respectively disposed on the corresponding U-shaped fastener, two ends of the connecting rod are respectively connected with the U-shaped fastener and the mounting base, and the length of the connecting rod is adjustable.
4. The iron tower stepping auxiliary robot as claimed in claim 3, wherein two upper limiting members or two lower limiting members are arranged on each U-shaped clamping piece at intervals along the vertical direction.
5. The walking auxiliary robot for the power transmission towers according to claim 1, wherein the upper connecting piece is provided with an upper driving piece, the connecting end of the upper limiting piece is pivoted with the upper connecting piece, and the upper driving piece can drive the upper limiting piece to rotate around the connecting end in the vertical direction; the lower connecting piece is provided with a lower driving piece, the connecting end of the lower limiting piece is pivoted with the lower connecting piece, and the lower driving piece can drive the lower limiting piece to rotate around the connecting end in the vertical direction.
6. The walking-type auxiliary robot for the transmission towers according to claim 1, wherein the driving device further comprises a driving motor, the driving motor is connected with the driving gear, two ends of the spur rack are respectively provided with a stopper, and the stoppers are electrically connected with the driving motor.
7. The walking-type auxiliary robot for steel pylons according to claim 1, wherein a first safety lock is disposed at an end of the square hole, a second safety lock is disposed at a side of the movable rod close to the driving gear, and the first safety lock can block the second safety lock from moving to the outside of the square hole.
8. The walking-type auxiliary robot for transmission towers according to claim 1, wherein the driving device further comprises an oil storage cavity for storing lubricating oil, an oil hole is formed in the side wall corresponding to the guide surface, the oil hole is communicated with the oil storage cavity, and the lubricating oil can flow to the side wall through the oil hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010754231.7A CN111891241B (en) | 2020-07-29 | 2020-07-29 | Step-by-step auxiliary robot for power transmission iron tower |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010754231.7A CN111891241B (en) | 2020-07-29 | 2020-07-29 | Step-by-step auxiliary robot for power transmission iron tower |
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| CN111891241A CN111891241A (en) | 2020-11-06 |
| CN111891241B true CN111891241B (en) | 2021-08-27 |
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| CN202010754231.7A Active CN111891241B (en) | 2020-07-29 | 2020-07-29 | Step-by-step auxiliary robot for power transmission iron tower |
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| CN116766221B (en) * | 2023-04-27 | 2024-01-05 | 金华送变电工程有限公司 | Falling-preventing safety measure robot for climbing power transmission steel pipe pole arrangement |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205391616U (en) * | 2016-03-02 | 2016-07-27 | 湖南泰吉风能机器人有限公司 | A pole -climbing mechanism that is used for bionical cat ladder machine people |
| CN109263742A (en) * | 2018-09-29 | 2019-01-25 | 山东建筑大学 | Transmission tower climbing robot clamping device and its robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203996531U (en) * | 2014-07-08 | 2014-12-10 | 南京工程学院 | A kind of electric transmission pole tower climbing robot |
| CN104129447B (en) * | 2014-07-08 | 2016-06-01 | 南京工程学院 | A kind of electric transmission pole tower climbing robot and to electric transmission pole tower routine inspection mode |
| CN205219121U (en) * | 2015-11-17 | 2016-05-11 | 深圳市博铭维智能科技有限公司 | Robot is patrolled and examined in climbing |
| JP6898840B2 (en) * | 2017-12-15 | 2021-07-07 | 住友電気工業株式会社 | Overhead line traveling device and self-propelled wire inspection device |
| CN108436964A (en) * | 2018-04-02 | 2018-08-24 | 西南交通大学 | A kind of pylon climbing robot |
| CN109572849B (en) * | 2019-01-28 | 2020-12-29 | 山东建筑大学 | Robot clamping mechanism and climbing robot for transmission tower |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205391616U (en) * | 2016-03-02 | 2016-07-27 | 湖南泰吉风能机器人有限公司 | A pole -climbing mechanism that is used for bionical cat ladder machine people |
| CN109263742A (en) * | 2018-09-29 | 2019-01-25 | 山东建筑大学 | Transmission tower climbing robot clamping device and its robot |
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