CN112536798B - High-voltage transmission main tower crawling robot - Google Patents
High-voltage transmission main tower crawling robot Download PDFInfo
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- CN112536798B CN112536798B CN202011385691.3A CN202011385691A CN112536798B CN 112536798 B CN112536798 B CN 112536798B CN 202011385691 A CN202011385691 A CN 202011385691A CN 112536798 B CN112536798 B CN 112536798B
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 74
- 230000009193 crawling Effects 0.000 title claims abstract description 34
- 230000000712 assembly Effects 0.000 claims abstract description 22
- 238000000429 assembly Methods 0.000 claims abstract description 22
- 238000005056 compaction Methods 0.000 claims abstract description 16
- 238000003825 pressing Methods 0.000 claims description 56
- 230000006835 compression Effects 0.000 claims description 24
- 238000007906 compression Methods 0.000 claims description 24
- 229910000746 Structural steel Inorganic materials 0.000 claims description 21
- 238000009434 installation Methods 0.000 claims description 20
- 238000005096 rolling process Methods 0.000 claims description 3
- 230000009977 dual effect Effects 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract description 23
- 238000000034 method Methods 0.000 abstract description 13
- 238000012423 maintenance Methods 0.000 abstract description 6
- 235000000396 iron Nutrition 0.000 description 8
- 230000009194 climbing Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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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
Abstract
The invention relates to a crawling robot for a high-voltage transmission main tower, and aims to solve the problems that a safety rope, devices and tools cannot be quickly conveyed to the robot at the upper end of the high-voltage transmission main tower in the detection and maintenance operation process because the existing high-voltage transmission tower is not provided with the crawling robot. The device comprises a rack, a driving transmission assembly, a guiding transmission assembly, a control box, two guiding compaction assemblies, two driving compaction assemblies and a plurality of moving compaction assemblies; the invention belongs to the technical field of electric power, and discloses a driving transmission assembly, a guide transmission assembly and a plurality of movable compaction assemblies.
Description
Technical Field
The invention relates to a crawling robot, in particular to a high-voltage transmission main tower crawling robot, and belongs to the technical field of electric power.
Background
With the rapid development of electric power construction, particularly the maintenance of high-voltage transmission lines, manual climbing to a tower with the height of dozens of meters is needed to complete detection and maintenance operation, some devices and tools are needed to be conveyed to the upper end of the tower in the detection and maintenance operation process, operators need to consume a large amount of physical power and energy when climbing up and down the tower, and the operators can fall down to cause personal injury once carelessness is serious. At present, a high-voltage transmission main tower crawling robot is urgently needed, a safety rope can be provided for operators, and therefore high-altitude operation efficiency is improved and safety of the operators is guaranteed. And the device and the tool are carried by the crawling robot.
Disclosure of Invention
The invention aims to solve the problems that the existing high-voltage transmission tower is not provided with a crawling robot, a safety rope cannot be conveyed to the robot at the upper end of the tower quickly in the detection and maintenance operation process, and devices and tools cannot be conveyed to the robot at the upper end of the tower quickly. Further provides a crawling robot for the high-voltage transmission main tower.
The device comprises a rack, a driving transmission assembly, a guiding transmission assembly, a control box, two guiding compaction assemblies, two driving compaction assemblies and a plurality of moving compaction assemblies; the drive transmission assembly is installed in the bottom of the frame through two drives, the direction transmission assembly is installed in the frame above the drive transmission assembly through two guides, a plurality of removal pressing assemblies are installed in the frame along the vertical direction, the drive transmission assembly and the direction transmission assembly compress tightly the subassembly with a plurality of removals and press from both sides on the angle bar, the control box is installed in the frame and respectively with the drive transmission assembly, the direction compresses tightly the subassembly, the drive compresses tightly the subassembly and every removes and compresses tightly the subassembly and be connected.
The invention has the beneficial effects that:
the high-voltage transmission main tower crawling robot provided by the invention has the advantages that the whole robot is tightly pressed on an angle iron by utilizing the plurality of movable pressing components 6, the two driving wheels and the two guide wheels, the robot can rapidly move up and down along the angle iron, when each pair of pressing wheels of the robot moves to be close to a tower frame beam obstacle, the electric push rod 6-4 controls the pressing rod 6-2 to lift the pressing wheel 6-1 to avoid the beam obstacle, and when the pressing wheels pass through the beam obstacle, the pressing wheels realize pressing action and are tightly pressed on the side edge of the angle iron. When every drive wheel or leading wheel of robot remove to being close to the junction obstacle between the angle bar, drive wheel or leading wheel lift up, avoid the junction obstacle between the angle bar, drive wheel or leading wheel realize again through junction obstacle back drive wheel or leading wheel between the angle bar and compress tightly the action, compress tightly on the angle bar side, guarantee that the robot of crawling steadily upwards crawls with crawling downwards, the robot of crawling can provide for operating personnel and transport safety rope, some auxiliary operation functions of device and instrument of transporting, the efficiency of detection maintenance work is improved and operating personnel's security has been ensured. The crawling robot has the characteristics of simple overall structural design, easiness in manufacturing and processing and low manufacturing cost, and also has the characteristics of convenience in site construction and transportation, convenience in installation and debugging, automatic obstacle avoidance, stable and reliable automatic crawling and the like.
Drawings
FIG. 1 is a front view of the overall structure of the present invention;
FIG. 2 is a left side view of the overall structure of the present invention;
FIG. 3 is a top view of the drive transfer assembly portion of the present invention;
figure 4 is a top view of the moving hold-down assembly portion of the present invention.
Detailed Description
The first embodiment is as follows: the embodiment is described with reference to fig. 1 to 4, and the high-voltage transmission main tower crawling robot in the embodiment comprises a frame 1, a driving transmission assembly 2, a guiding transmission assembly 3, a control box 7, two guiding compaction assemblies 4, two driving compaction assemblies 5 and a plurality of moving compaction assemblies 6; drive transmission assembly 2 compresses tightly subassembly 5 through two drives and installs in frame 1 bottom, direction transmission assembly 3 compresses tightly subassembly 4 through two leads and installs in frame 1 of drive transmission assembly 2 top, a plurality of removal compress tightly subassembly 6 and install in frame 1 along vertical direction, drive transmission assembly 2 and direction transmission assembly 3 compress tightly subassembly 6 with a plurality of removals and press from both sides on the angle bar, control box 7 install in frame 1 and respectively with drive transmission assembly 2, direction transmission assembly 3, the direction compresses tightly subassembly 4, the drive compresses tightly subassembly 5 and every removal and compresses tightly subassembly 6 and be connected.
The control box 7 controls the driving transmission assembly 2, the guiding transmission assembly 3, the guiding compaction assembly 4, the driving compaction assembly 5 and the moving compaction assembly 6 to work.
The second embodiment is as follows: the embodiment is described with reference to fig. 1-3, and a drive transmission assembly 2 of the high-voltage transmission main tower crawling robot in the embodiment comprises a motor 2-1, a first chain wheel 2-2, a screw 2-3, a shaft sleeve 2-4, a first chain 2-5, a pseudo-duplex chain wheel 2-6, a second chain wheel 2-7, a chain wheel shaft 2-8, a second chain 2-10, a first nut 2-11, a third chain wheel 2-12, a second outer spherical surface seat bearing 2-13, a first drive wheel shaft 2-14, a first drive wheel 2-15, a first drive wheel mounting rack 2-16, a first pin shaft 2-17, a second drive wheel mounting rack 2-18, a third chain 2-19, a second nut 2-20, a fourth chain wheel 2-21, a third chain wheel 2-19, a second chain wheel 2-19, a third chain wheel 2-19, a fourth chain wheel 2-21, A second driving wheel shaft 2-22, a second driving wheel 2-23, two first external spherical surface bearing with seat 2-9, two second external spherical surface bearing with seat 2-13 and two third external spherical surface bearing with seat 2-24;
a fixed seat of a motor 2-1 is arranged on a frame 1, a first chain wheel 2-2 and a shaft sleeve 2-4 are fixedly sleeved on an output shaft of the motor 2-1, the first chain wheel 2-2 is fixedly arranged on the output shaft of the motor 2-1 through a screw 2-3, a pseudo-duplex chain wheel 2-6 and a second chain wheel 2-7 are fixedly sleeved on a chain wheel shaft 2-8, two ends of the chain wheel shaft 2-8 are respectively connected and arranged on the frame 1 through a first spherical outside bearing 2-9 in a rotating way, the first chain wheel 2-2 and the second chain wheel 2-7 are connected through a first chain 2-5 in a transmission way, a first driving wheel 2-15 is sleeved on a first driving wheel shaft 2-14, a third chain wheel 2-12 is arranged on one end of the first driving wheel shaft 2-14 through a first nut 2-11, the first driving wheel shaft 2-14 is rotatably connected and installed on the first driving wheel installation frame 2-16 through two second outer spherical surface belt seat bearings 2-13;
a second driving wheel 2-23 is sleeved on a second driving wheel shaft 2-22, a fourth chain wheel 2-21 is arranged at one end of the second driving wheel shaft 2-22 through a second nut 2-20, the second driving wheel shaft 2-22 is arranged on a second driving wheel mounting frame 2-18 through two third spherical outside surface belt seat bearings 2-24 in a rotating connection mode, a first driving wheel mounting frame 2-16 and the second driving wheel mounting frame 2-18 are arranged on the rack 1 through a first pin shaft 2-17 in a rotating connection mode, the first pin shaft 2-17 is located between the first driving wheel mounting frame 2-16 and the second driving wheel mounting frame 2-18, one chain wheel of the pseudo-duplex chain wheel 2-6 is in transmission connection with a third chain wheel 2-12 through a second chain 2-10, and the other chain wheel of the pseudo-duplex chain wheel 2-6 is in transmission connection with the fourth chain wheel 2-21 through a third chain 2-19 The central line of the output shaft of the motor 2-1, the axial line of the chain wheel shaft 2-8, the axial line of the first driving wheel shaft 2-14 and the axial line of the second driving wheel shaft 2-22 are arranged in parallel. The other methods are the same as those in the first embodiment.
The third concrete implementation mode: with reference to fig. 1 and fig. 2, the embodiment is described, and the guiding transmission assembly 3 of the high-voltage transmission main tower crawling robot in the embodiment includes a first guide wheel 3-1, a first guide wheel shaft 3-2, a first guide wheel mounting frame 3-4, a second pin shaft 3-5, a second guide wheel mounting frame 3-6, a second guide wheel 3-7, a second guide wheel shaft 3-8, two fourth outer spherical surface seated bearings 3-3 and two fifth outer spherical surface seated bearings 3-9;
the first guide wheel 3-1 is sleeved on the first guide wheel shaft 3-2, two ends of the first guide wheel shaft 3-2 are rotatably connected and installed on the first guide wheel installation frame 3-4 through two fourth outer spherical surface base bearings 3-3, the second guide wheel 3-7 is sleeved on the second guide wheel shaft 3-8, two ends of the second guide wheel shaft 3-8 are rotatably connected and installed on the second guide wheel installation frame 3-6 through two fifth outer spherical surface base bearings 3-9, the first guide wheel installation frame 3-4 and the second guide wheel installation frame 3-6 are rotatably connected and installed on the rack 1 through a second pin shaft 3-5, and the second pin shaft 3-5 is located between one guide wheel installation frame 3-4 and the second guide wheel installation frame 3-6. The other methods are the same as those in the first embodiment.
The fourth concrete implementation mode: the embodiment is described with reference to fig. 1-2, and the guiding and compressing assembly 4 of the high-voltage transmission main tower crawling robot in the embodiment comprises a first limiting member 4-3, two first electric push rods 4-1 and two first connecting plates 4-2; the shell of each first electric push rod 4-1 is hinged with the rack 1 through a mounting plate, the telescopic end of a piston of one first electric push rod 4-1 is hinged with the second guide wheel mounting rack 3-6 through a first connecting plate 4-2, the telescopic end of a piston of the other first electric push rod 4-1 is hinged with the first guide wheel mounting rack 3-4 through a first connecting plate 4-2, and the first limiting piece 4-3 is mounted on the rack 1 between the first guide wheel mounting rack 3-4 and the second guide wheel mounting rack 3-6.
In the embodiment, when the guiding and pressing assembly 4 works, the first electric push rod 4-1 pushes the second guide wheel mounting frame 3-6 to rotate around the second pin shaft 3-5 and press the first limiting part 4-3 to keep a pressing working position, meanwhile, the second guide wheel 3-7 is guaranteed to be pressed on the angle iron 8, and when the second guide wheel 3-7 moves to be close to a joint obstacle between the angle irons 8, the first electric push rod 4-1 contracts to drive the second guide wheel mounting frame 3-6 to rotate around the second pin shaft 3-5 in the reverse direction, so that the second guide wheel 3-7 is lifted up to avoid the joint obstacle between the angle irons. The other methods are the same as those of the third embodiment.
The fifth concrete implementation mode: the embodiment is described with reference to fig. 1-2, and the driving compression assembly 5 of the high-voltage transmission main tower crawling robot in the embodiment comprises a second limiting member 5-3, two second electric push rods 5-1 and two second connecting plates 5-2; the shell of each second electric push rod 5-1 is hinged with the rack 1 through a mounting plate, the piston telescopic end of one second electric push rod 5-1 is hinged with the second driving wheel mounting rack 2-18 through a second connecting plate 5-2, the piston telescopic end of the other second electric push rod 5-1 is hinged with the first driving wheel mounting rack 2-16 through a second connecting plate 5-2, and the second limiting piece 5-3 is mounted on the rack 1 between the first driving wheel mounting rack 2-16 and the second driving wheel mounting rack 2-18.
When the pressing assembly 5 is driven to work in the embodiment, the second electric push rod 5-1 pushes the first driving wheel mounting frame 2-16 to rotate around the first pin shaft 2-17 and press the second limiting piece 5-3 to keep a pressing working position, meanwhile, the first driving wheel 2-15 is guaranteed to be pressed onto the angle iron 8, when the first driving wheel 2-15 moves to be close to a joint obstacle between the angle irons 8, the second electric push rod 5-1 contracts to drive the first driving wheel mounting frame 2-16 to rotate around the first pin shaft 2-17 in the reverse direction, so that the first driving wheel 2-15 is lifted to avoid the joint obstacle between the angle irons 8, and other methods are the same as those in the second embodiment.
The sixth specific implementation mode: the embodiment is described with reference to fig. 1 and 4, and the movable compression assembly 6 of the high-voltage transmission main tower crawling robot in the embodiment comprises two compression wheels 6-1, two compression rods 6-2, two compression rod chute supports 6-3, two third electric push rods 6-4 and connecting plates 6-5 on the two compression rods; the pressing rods 6-2 are bent rod bodies, the two third electric push rods 6-4 are oppositely arranged on the rack 1 in a reverse direction, the shell of each third electric push rod 6-4 is hinged with the rack 1, the telescopic end of the piston of each third electric push rod 6-4 is hinged with one end of the pressing rod 6-2, the other end of the pressing rod 6-2 is fixedly provided with a pressing wheel 6-1, the inner side, close to the installation of the pressing wheel 6-1, of each pressing rod 6-2 is rotatably connected with a connecting plate of the rack 1 through a rotating connecting rod, the pressing wheels 6-1 on the two pressing rods 6-2 are oppositely arranged, the two pressing rod chute supporting pieces 6-3 are oppositely arranged on the rack 1, and each pressing rod 6-2 is arranged in a sliding way of the pressing rod chute supporting piece 6-3 in a sliding way.
In the embodiment, the pressing wheels 6-1 of the plurality of movable pressing assemblies 6 are arranged on the same side of the angle iron 8, the two pressing wheels 6-1 are controlled to move oppositely or reversely by the two third electric push rods 6-4, and the pressing wheels 6-1 are controlled to be extruded on the angle iron by the arrangement that the outer circular surfaces of the pressing wheels 6-1 are in rolling connection with the edge of the angle iron 8 when the pressing wheels 6-1 move oppositely.
When the robot pinch roller 6-1 moves to be close to a cross beam obstacle of the tower frame, the third electric push rod 6-4 contracts to drive the press rod 6-2 to rotate, so that the pinch roller 6-1 is lifted to avoid the cross beam obstacle, and after the pinch roller 6-1 passes through the cross beam obstacle, the third electric push rod 6-4 extends out to drive the press rod 6-2 to rotate reversely around the hinge shaft, so that the pinch roller 6-1 presses the angle iron 8. The other methods are the same as those in the first embodiment.
The seventh embodiment: the present embodiment is described with reference to fig. 1 and 2, and the number of the moving and pressing assemblies 6 of the high-voltage transmission main tower crawling robot in the present embodiment is three to six. The other methods are the same as in the first or sixth embodiments.
The specific implementation mode is eight: the embodiment is described with reference to fig. 1 and 2, and the high-voltage transmission main tower crawling robot in the embodiment has the same structure as the first driving wheels 2-15, the second driving wheels 2-23, the first guide wheels 3-1 and the second guide wheels 3-7, wherein grooves are machined in the outer circular surfaces of the first driving wheels 2-15, and the side surfaces of the grooves are in contact fit with two outer side walls of the angle iron 8. The other methods are the same as in the second or third embodiment.
The specific implementation method nine: the embodiment is described with reference to fig. 1 and fig. 2, and in the high-voltage transmission main tower crawling robot in the embodiment, two pressing wheels 6-1 of each movable pressing assembly 6 are arranged on the side surfaces of two straight plates of an angle iron 8 in a rolling manner, and the outer circular surface of each pressing wheel 6-1 is respectively pressed on the side surface of one straight plate of the angle iron 8. The other methods are the same as in the sixth embodiment.
The detailed implementation mode is ten: the embodiment is described with reference to fig. 1, fig. 2 and fig. 4, and the high voltage transmission main tower crawling robot in the embodiment further comprises a plurality of first position detection sensors 9 and a plurality of sets of second position detection sensors 10, one end of any one pressure lever 6-2 on each movable pressing assembly 6 is fixedly provided with one first position detection sensor 9, the first position detection sensor 9 is arranged close to the pressing wheel 6-1, two second position detection sensors 10 are arranged on a first driving wheel mounting rack 2-16 through a connecting rack, two second position detection sensors 10 are arranged on two sides of the first driving wheel 2-15, two second position detection sensors 10 are arranged on a second driving wheel mounting rack 2-18 through a connecting rack, two second position detection sensors 10 are arranged on two sides of the second driving wheel 2-23, the two second position detection sensors 10 are arranged on the first guide wheel mounting frame 3-4 through a connecting frame, the two second position detection sensors 10 are arranged on two sides of the first guide wheel 3-1, the two second position detection sensors 10 are arranged on the second guide wheel mounting frame 3-6 through the connecting frame, and the two second position detection sensors 10 are arranged on two sides of the second guide wheel 3-7. The plurality of first position detection sensors 9 and the plurality of sets of second position detection sensors 10 are connected to the control box 7. The other methods are the same as in the first, second, third or sixth embodiment.
Principle of operation
The high-voltage transmission main tower crawling robot utilizes the driving pressing assembly 5 and the guiding pressing assembly 4 to climb upwards and downwards along one main angle iron of a tower frame, the first driving wheels 2-15 and the second driving wheels 2-23 provide crawling power for the robot, and the first guide wheels 3-1 and the second guide wheels 3-7 ensure that the upwards and downwards crawling direction of the robot is stable and unchanged. The power and the rotating speed provided by the motor 2-1 are transmitted to the chain wheel shaft 2-8 through the first chain wheel 2-2 arranged on the motor shaft and the first chain 2-5, and then transmitted to the first driving wheel 2-15 and the second driving wheel 2-23 through the false duplex chain wheel 2-6 arranged on the chain wheel shaft 2-8 and the second chain 2-10 and the third chain 2-19 respectively, and the power and the movement required by the robot crawling are realized by utilizing the friction force of the first driving wheel 2-15 and the second driving wheel 2-23 contacted with the two side surfaces of the angle iron 8. The whole robot is tightly pressed on the angle iron 8 by the movable pressing component 6, the driving wheel and the guide wheel, the robot can only move up and down along the angle iron 8, when the pressing wheel of the movable pressing component 6 of the robot moves to be close to a cross beam obstacle of the tower frame, the first position detection sensor 9 sends out a control signal, the control box 7 controls the corresponding pair of electric push rods to contract to drive the pressing rod 6-2 to rotate, so that the pressing wheel 6-1 is lifted to avoid the cross beam obstacle, after the pressing wheel 6-1 passes through the cross beam obstacle, the first position detection sensor 9 sends out the control signal, the control box 7 controls the third electric push rod 6-4 to extend out to drive the pressing rod 6-2 to rotate reversely, so that the pressing wheel 6-1 tightly presses the angle iron 8. When each driving wheel or guide wheel of the robot moves to be close to the obstacle of the joint between the angle irons 8, the second position detection sensor 10 sends a control signal, the control box 7 controls the corresponding electric push rod to contract, the driving wheel mounting frame or the guide wheel mounting frame is driven to rotate around the corresponding pin shaft, the driving wheel or the guide wheel is lifted up, the obstacle of the joint between the angle irons is avoided, the second position detection sensor 10 sends a control signal after the driving wheel or the guide wheel passes through the obstacle of the joint between the angle irons, the control box 7 controls the electric push rod to stretch out, the driving wheel mounting frame or the guide wheel mounting frame is driven to rotate reversely around the corresponding pin shaft, the driving wheel or the guide wheel compresses the angle irons 8, and the compression position of the driving wheel or the guide wheel is limited by the limiting part. When climbing upwards or downwards, the robot guarantees that drive transmission assembly 2, direction transmission assembly 3, direction compress tightly subassembly 4, drive compress tightly subassembly 5 and removal compress tightly subassembly 6 and compress tightly operating condition, otherwise, according to accident handling, the controller sends stop signal, and the robot stops to creep and removes and lock on the angle bar.
Claims (4)
1. The utility model provides a high tension transmission main tower robot of crawling which characterized in that: the device comprises a rack (1), a driving transmission assembly (2), a guiding transmission assembly (3), a control box (7), two guiding compaction assemblies (4), two driving compaction assemblies (5) and a plurality of moving compaction assemblies (6); the drive transmission assembly (2) comprises a motor (2-1), a first chain wheel (2-2), a screw (2-3), a shaft sleeve (2-4), a first chain (2-5), a pseudo-duplex chain wheel (2-6), a second chain wheel (2-7), a chain wheel shaft (2-8), a second chain (2-10), a first nut (2-11), a third chain wheel (2-12), a second outer spherical surface belt seat bearing (2-13), a first drive wheel shaft (2-14), a first drive wheel (2-15), a first drive wheel mounting rack (2-16), a first pin shaft (2-17), a second drive wheel mounting rack (2-18), a third chain (2-19), a second nut (2-20), a fourth chain wheel (2-21), A second driving wheel shaft (2-22), a second driving wheel (2-23), two first outer spherical surface bearing with seat (2-9), two second outer spherical surface bearing with seat (2-13) and two third outer spherical surface bearing with seat (2-24); the guide transmission assembly (3) comprises a first guide wheel (3-1), a first guide wheel shaft (3-2), a first guide wheel mounting frame (3-4), a second pin shaft (3-5), a second guide wheel mounting frame (3-6), a second guide wheel (3-7), a second guide wheel shaft (3-8), two fourth outer spherical surface bearing with seats (3-3) and two fifth outer spherical surface bearing with seats (3-9); the guide pressing assembly (4) comprises a first limiting part (4-3), two first electric push rods (4-1) and two first connecting plates (4-2); the driving pressing assembly (5) comprises a second limiting piece (5-3), two second electric push rods (5-1) and two second connecting plates (5-2); the movable pressing assembly (6) comprises two pressing wheels (6-1), two pressing rods (6-2), two pressing rod sliding groove supporting pieces (6-3), two third electric push rods (6-4) and connecting plates (6-5) on the two pressing rods;
the driving transmission assembly (2) is arranged at the bottom of the frame (1) through two driving compression assemblies (5), the guiding transmission assembly (3) is arranged on the frame (1) above the driving transmission assembly (2) through two guiding compression assemblies (4), the plurality of moving compression assemblies (6) are arranged on the frame (1) along the vertical direction, the driving transmission assembly (2) and the guiding transmission assembly (3) are clamped on the angle iron together with the plurality of moving compression assemblies (6), the control box (7) is arranged on the frame (1) and is respectively connected with the driving transmission assembly (2), the guiding transmission assembly (3), the guiding compression assemblies (4), the driving compression assemblies (5) and each moving compression assembly (6),
a fixed seat of a motor (2-1) is arranged on a rack (1), a first chain wheel (2-2) and a shaft sleeve (2-4) are fixedly sleeved on an output shaft of the motor (2-1), the first chain wheel (2-2) is fixedly arranged on the output shaft of the motor (2-1) through a screw (2-3), a pseudo-duplex chain wheel (2-6) and a second chain wheel (2-7) are fixedly sleeved on a chain wheel shaft (2-8), two ends of the chain wheel shaft (2-8) are respectively connected and arranged on the rack (1) through a first spherical outside bearing (2-9) in a rotating way, the first chain wheel (2-2) and the second chain wheel (2-7) are connected through a first chain (2-5) in a transmission way, a first driving wheel (2-15) is sleeved on a first driving wheel shaft (2-14), the third chain wheel (2-12) is arranged at one end of a first driving wheel shaft (2-14) through a first nut (2-11), and the first driving wheel shaft (2-14) is rotatably connected and arranged on a first driving wheel mounting frame (2-16) through two second spherical outside surface bearing with seats (2-13);
the second driving wheel (2-23) is sleeved on the second driving wheel shaft (2-22), the fourth chain wheel (2-21) is installed at one end of the second driving wheel shaft (2-22) through a second nut (2-20), the second driving wheel shaft (2-22) is installed on the second driving wheel installation frame (2-18) through two third spherical outside surface bearing with seats (2-24) in a rotating connection mode, the first driving wheel installation frame (2-16) and the second driving wheel installation frame (2-18) are installed on the rack (1) through a first pin shaft (2-17) in a rotating connection mode, the first pin shaft (2-17) is located between the first driving wheel installation frame (2-16) and the second driving wheel installation frame (2-18), one chain wheel of the pseudo dual chain wheel (2-6) is in transmission connection with the third chain wheel (2-12) through a second chain (2-10), the other chain wheel of the pseudo-duplex chain wheel (2-6) is in transmission connection with a fourth chain wheel (2-21) through a third chain (2-19), the central line of the output shaft of the motor (2-1), the axial line of the chain wheel shaft (2-8), the axial line of the first driving wheel shaft (2-14) and the axial line of the second driving wheel shaft (2-22) are arranged in parallel,
the first guide wheel (3-1) is sleeved on the first guide wheel shaft (3-2), two ends of the first guide wheel shaft (3-2) are rotatably connected and installed on the first guide wheel installation frame (3-4) through two fourth outer spherical surface bearing blocks (3-3), the second guide wheel (3-7) is sleeved on the second guide wheel shaft (3-8), two ends of the second guide wheel shaft (3-8) are rotatably connected and installed on the second guide wheel installation frame (3-6) through two fifth outer spherical surface bearing blocks (3-9), the first guide wheel installation frame (3-4) and the second guide wheel installation frame (3-6) are rotatably connected and installed on the rack (1) through a second pin shaft (3-5), the second pin shaft (3-5) is positioned between the first guide wheel installation frame (3-4) and the second guide wheel installation frame (3-6),
the shell of each first electric push rod (4-1) is hinged with the frame (1) through a mounting plate, the piston telescopic end of one first electric push rod (4-1) is hinged with the second guide wheel mounting rack (3-6) through a first connecting plate (4-2), the piston telescopic end of the other first electric push rod (4-1) is hinged with the first guide wheel mounting rack (3-4) through a first connecting plate (4-2), the first limiting piece (4-3) is arranged on the frame (1) between the first guide wheel mounting rack (3-4) and the second guide wheel mounting rack (3-6),
the shell of each second electric push rod (5-1) is hinged with the frame (1) through a mounting plate, the piston telescopic end of one second electric push rod (5-1) is hinged with the second driving wheel mounting frame (2-18) through a second connecting plate (5-2), the piston telescopic end of the other second electric push rod (5-1) is hinged with the first driving wheel mounting frame (2-16) through a second connecting plate (5-2), a second limiting piece (5-3) is mounted on the frame (1) between the first driving wheel mounting frame (2-16) and the second driving wheel mounting frame (2-18),
the pressure lever (6-2) is a curved lever body, the two third electric push rods (6-4) are oppositely arranged on the frame (1), and the shell of each third electric push rod (6-4) is hinged with the rack (1), the telescopic end of the piston of each third electric push rod (6-4) is hinged with one end of a compression rod (6-2), the other end of the compression rod (6-2) is fixedly provided with a compression wheel (6-1), the inner side of each compression rod (6-2), which is close to the installed compression wheel (6-1), is rotatably connected with a connecting plate of the rack (1) through a rotating connecting rod, the compression wheels (6-1) on the two compression rods (6-2) are arranged oppositely, the two compression rod chute supporting pieces (6-3) are arranged oppositely on the rack (1), and each compression rod (6-2) is arranged in a chute of each compression rod chute supporting piece (6-3) in a sliding manner.
2. The high voltage transmission main tower crawling robot of claim 1, wherein: the number of the movable pressing components (6) is three to six.
3. The high voltage transmission main tower crawling robot of claim 1, wherein: the first driving wheels (2-15), the second driving wheels (2-23), the first guide wheels (3-1) and the second guide wheels (3-7) are identical in structure, grooves are formed in the outer circular surfaces of the first driving wheels (2-15), and the side surfaces of the grooves are in contact fit with the two outer side walls of the angle iron (8).
4. The high voltage transmission main tower crawling robot of claim 1, wherein: two pressing wheels (6-1) of each movable pressing assembly (6) are arranged on the side surfaces of two straight plates of the angle iron (8) in a rolling mode, and the outer circular surface of each pressing wheel (6-1) is respectively extruded on the side surface of one straight plate of the angle iron (8).
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