CN112661074B - A pole-climbing robot with a liftable working platform - Google Patents
A pole-climbing robot with a liftable working platformInfo
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- CN112661074B CN112661074B CN202011517090.3A CN202011517090A CN112661074B CN 112661074 B CN112661074 B CN 112661074B CN 202011517090 A CN202011517090 A CN 202011517090A CN 112661074 B CN112661074 B CN 112661074B
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- climbing
- pole
- working platform
- hub motors
- platform
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Abstract
The invention belongs to the field of automatic climbing machinery, and particularly relates to a pole climbing robot with a liftable working platform, which comprises a climbing mechanism, a lifting platform and a controller, wherein the climbing mechanism comprises a climbing frame and at least 4 hub motors, the hub motors are symmetrically arranged at two sides of the bottom of the climbing frame in two groups, the two groups of hub motors are connected through telescopic rods, the lifting platform is positioned below the climbing mechanism and comprises two groups of symmetrically arranged working platforms and horizontally movable pedals, the working platforms are detachably and fixedly connected, the pedals penetrate through the bottom of the working platforms, winding mechanisms are fixed at the lower parts of the inner sides of the working platforms, the winding mechanisms are connected with the two sides of the climbing frame through ropes, and the controller is electrically connected with the hub motors, the telescopic rods and the winding mechanisms. The invention can realize the automatic lifting of the manned working platform, the climbing mechanism and the lifting platform are operated in two parts, and the field installation is flexible and convenient, safe and reliable.
Description
Technical Field
The invention belongs to the field of automatic climbing machinery, and particularly relates to a pole-climbing robot with a liftable working platform.
Background
To meet the consumer's need for power supply reliability, live operation of power distribution networks is becoming increasingly common. At present, when an electric worker in charge of maintenance works in a live working mode, the electric worker uses tools such as climbers to climb a line pole tower by himself or uses an insulating ladder or a live working vehicle to work, but the electric worker has certain defects.
(1) When climbing by oneself or using insulating ladder, generally only guarantee 1 people's operation on the shaft tower, be suitable for when 2 people or many people are cooperated with the operation when needs.
(2) The live working vehicle can work cooperatively by a plurality of persons, but the equipment is huge, the line of the distribution network is generally complex, and large-scale equipment cannot be installed in a plurality of tower surrounding spaces.
Therefore, a mechanism which is portable and easy to use, can bear a single person or multiple persons and can automatically climb the distribution line pole tower is needed, and the work difficulty of constructors can be greatly reduced.
Disclosure of Invention
The invention aims to provide a pole-climbing robot with a liftable working platform, which can bear a single person or multiple persons and can automatically climb a distribution line pole tower, and constructors can control a mechanism to lift and fall so as to realize live working, so that the problems in the background technology are solved.
The invention provides a specific technical scheme as follows:
A pole-climbing robot with a liftable working platform, comprising:
the climbing mechanism comprises a climbing frame and at least 4 hub motors, wherein the hub motors are symmetrically arranged on two sides of the bottom of the climbing frame in two groups, and the two groups of hub motors are connected through telescopic rods;
The lifting platform is positioned below the climbing mechanism and comprises two groups of symmetrically arranged working platforms and horizontally movable pedals, the working platforms are detachably and fixedly connected, the pedals penetrate through the bottoms of the working platforms, winding mechanisms are fixed at the lower parts of the inner sides of the working platforms, and the winding mechanisms are connected with the two sides of the climbing frame through ropes;
The controller is electrically connected with the hub motor, the telescopic rod and the winding mechanism, and controls the two groups of hub motors to reversely rotate for climbing and controls the winding mechanism to wind and unwind the rope so as to lift the working platform.
Further, the climbing frame comprises a frame seat and two groups of wheel shaft supports which are rotationally connected, a motor shaft of the wheel hub motor is rotationally fixed on the wheel shaft supports, the frame seat is respectively fixed on the outer sides of the end parts of the wheel shaft supports and is parallel to the motor shaft of the wheel hub motor, and the rope is fixed in the middle of the frame seat.
Further, 3 hub motors are fixed on the single wheel axle support, the diameters of the hub motors at the two ends are the same, and the diameters of the hub motors are larger than those of the middle part.
Further, a limiting block is fixed at one end of the pedal extending out of the working platform, and the limiting block is connected with the outer side of the working platform through a tension spring.
Further, the work platform comprises a vertically installed fence plate and two limiting clamping plates horizontally arranged at the bottom of the fence plate, and the pedal moves horizontally and reversely between the two limiting clamping plates.
Furthermore, semi-circular gaps are formed in the side, close to each other, of the pedal, and the diameter of each semi-circular gap is larger than the maximum outer diameter of the telegraph pole.
Further, the winding mechanism is a winch or an electric winch or a roller motor.
Further, the wheel hub motor further comprises a limit sensor, wherein the limit sensor is installed on one side of the telescopic rod and used for detecting the wheelbase of the two groups of wheel hub motors.
Further, the electric fence panel comprises a manual control panel, a remote controller and a motor driver, wherein the manual control panel is fixed on the fence panel, the remote controller is in wireless communication with the controller, and the manual control panel and the motor driver are electrically connected with the controller.
Compared with the prior art, the invention has the following beneficial effects:
1. The invention discloses a pole-climbing robot with a liftable working platform, which is characterized in that when a rod piece is climbed, the rotating direction of a hub motor rotates in opposite directions, the length of a telescopic rod can be automatically adjusted along with the radial change condition of a rod-shaped object in the climbing process, the situation that the travelling wheel of the hub motor is tightly attached to the rod shape all the time is ensured, sufficient friction force is provided for the whole device, opposite side wheel sets of a climbing mechanism form an encircling shape and are attached to the surface of a wire rod, positive pressure is realized, the friction force is utilized to rise, and after the mechanism is locked and positioned by utilizing the locking function of the climbing mechanism, the working platform is lifted to a working position by a lifting mechanism.
2. According to the climbing robot with the liftable working platform, the mounting part of the climbing mechanism is the outer side of the hub motor shaft, a load can generate a certain component force to act on the surface of the wire rod through the hub motor shaft, the friction force is increased, the reliability of the climbing robot is further improved, and the climbing wheel motors can be better attached to the surface of the wire rod by using different diameters.
3. According to the pole-climbing robot with the liftable working platform, the winding mechanism is matched with the rope to achieve lifting and stopping of the lifting platform, the climbing mechanism is used for climbing to the designated height before the step, the telescopic rod tightening function is used for achieving positioning of the pole-climbing robot, then the working platform is lifted, the structural stability of the climbing robot can be greatly improved, and safety accidents caused by shaking of the working platform in the climbing or descending movement process of the robot are avoided.
Drawings
For ease of illustration, the invention is described in detail by the following specific examples and figures.
FIG. 1 is a schematic diagram of the overall structure of a pole-climbing robot with a liftable working platform;
FIG. 2 is a schematic diagram of the overall structure of the pole-climbing robot with a liftable working platform in the bottom direction;
FIG. 3 is a top view of the overall structure of the climbing robot with the liftable working platform in the open state;
FIG. 4 is a schematic view of another embodiment of a climbing mechanism of a climbing robot with a liftable work platform of the present invention;
FIG. 5 is a schematic diagram of the working principle of the climbing robot controller with the liftable working platform;
The reference numerals are as follows:
10. climbing mechanism, 11, climbing frame, 111, wheel axle bracket, 112, bracket seat, 12, wheel hub motor, 13, telescopic rod, 14, winding mechanism, 15, rope, 20, lifting platform, 21, working platform, 211, fence plate, 212, limit clamping plate, 22, pedal, 23, limit block, 24, tension spring, 30, controller, 31 and limit sensor.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It will be understood that when an element is referred to as being "mounted," "connected," or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. It is to be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have the orientation specific to the specification, be constructed and operated in the specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature.
The invention will be described in further detail below with reference to examples given in the accompanying drawings:
Referring to fig. 1-4, a pole-climbing robot with a liftable work platform includes a climbing mechanism 10, a lifting platform 20, and a controller 30.
The climbing mechanism 10 comprises a climbing frame 11 and at least 4 hub motors 12, wherein the hub motors 12 are symmetrically arranged on two sides of the bottom of the climbing frame 11 in two groups, and the two groups of hub motors 12 are connected through a telescopic rod 13. In this embodiment, the telescopic rod 13 may be a hydraulic rod, or may be an electric screw rod to realize telescopic operation. When the telescopic rod 13 is contracted, the hub motors 12 on two sides are driven to approach. The telescopic rod 13 extends or contracts according to the change of the action direction and the rod diameter, and the climbing mechanism 10 has a tightening function, so that the telescopic rod can be in close contact with the rod surface, and reliable climbing can be realized.
The lifting platform 20 comprises two groups of symmetrically arranged working platforms 21 and horizontally movable pedals 22, the lifting platform 20 is located below the climbing mechanism 10, the working platforms 21 are fixedly connected in a detachable mode, winding mechanisms 14 are fixed to the lower portions of the inner sides of the working platforms 21, and the winding mechanisms 14 are connected with two sides of the climbing frame 11 through ropes 15.
The controller 30 is electrically connected with the hub motor 12, the telescopic rod 13 and the winding mechanism 14, and the controller 30 controls the two sets of hub motors 12 to reversely rotate for climbing and controls the winding mechanism 14 to wind and unwind the rope so as to lift the working platform 21.
In some embodiments of the present invention, as shown in fig. 1-2, the climbing frame 11 includes a frame base 112 and two sets of wheel axle brackets 111 rotatably connected, the motor shaft of the wheel axle motor 12 is rotatably fixed on the wheel axle brackets 111, the frame base 112 is respectively fixed outside the end portions of the wheel axle brackets 111, and is disposed parallel to the motor shaft of the wheel axle motor 12, and the rope 15 is fixed in the middle of the frame base 112.
In this embodiment, the number of the hub motors 12 is 4, the hub motors are symmetrically arranged on two sides of a telegraph pole, the axle supports 111 are "I" -shaped supports formed by welding 4 rods, the ends of the two "I" -shaped supports are connected through rotating connectors such as bolts or pins, the middle support rod of the "I" -shaped support is used as a support rod of the hub motor 12 and is coaxially connected with the motor shaft of the hub motor 12, the support seats 112 are 2 independent bearing rods, and are respectively arranged on the outer end parts of the "I" -shaped supports and are used as mounting parts of the lifting platform 20, and a load can generate a certain component force to act on the surface of the telegraph pole through the motor shaft of the hub motor 12, so that the friction force is increased, and the reliability of the electric power is further improved.
In other embodiments of the present invention, as shown in fig. 4, 3 hub motors 12 are fixed to the axle bracket 111 of a single group, and the diameters of the hub motors 12 at both ends are the same and larger than the diameter of the hub motor 12 at the middle. During climbing, the plurality of in-wheel motors 12 use different diameters to better conform to the pole surface.
In this embodiment, a limiting block 23 is fixed at one end of the pedal 22 extending out of the working platform 21, and the limiting block 23 is connected with the outer side of the working platform 21 through a tension spring 24. Because the pedal 22 can freely move in the horizontal direction, the potential safety hazard caused by overlarge gaps at the position of the pedal 22 close to the telegraph pole is avoided as far as possible in safety consideration, and the tension spring 24 is arranged outside, so that the pedal 22 can always retract inwards under the action of the tension force of the tension spring 24 to be close to the outside of the telegraph pole as far as possible in the lifting process of the climbing mechanism 10.
In some embodiments of the present invention, the work platform 21 includes a vertically mounted fence plate 211 and two stop clamps 212 horizontally disposed at the bottom of the fence plate 211, and the step 22 moves horizontally in opposite directions between the two stop clamps 212. By providing the stop cleat 212 to ensure the load bearing capacity of the pedal 22, a temporary stepping area is provided to the operator as well as a fixed location for installation of the winding mechanism 14.
In some embodiments of the present invention, the facing sides of the pedals 22 are each provided with a semicircular notch having a diameter greater than the maximum outer diameter of the pole. By providing the notches, the pedals 22 on both sides of the telegraph pole can be close to each other as much as possible, and meanwhile, the pedals 22 can be ensured not to interfere with the telegraph pole to obstruct the lifting of the lifting platform 20.
In some embodiments of the invention, the winding mechanism 14 is a winch or an electric winch or a drum motor. The controller 30 controls the winding mechanism 14 to wind and unwind the rope to lift and lower the working platform 21. Taking an electric winch as an example, the electric winch is fixed on the working platform 21, the upper end of the steel wire rope 15 is fixed on the mounting part of the climbing mechanism 10, and the controller 30 controls the winch to rotate so as to tighten the steel wire rope 15, and the working platform 21 ascends. Stopping when the device is lifted to the working position. When the winch is reversed, the working platform 21 descends until it reaches the ground.
In this embodiment, a winch may be used to simultaneously retract and retract the wire ropes 15 on both sides to achieve synchronous lifting on both sides, or two winches may be used to respectively lift the working platforms 21 on the same side, and the working platforms 21 on both sides may work independently.
In some embodiments of the present invention, the wheel hub motor further comprises a limit sensor 31, wherein the limit sensor 31 is installed on one side of the telescopic rod 13 and is used for detecting the wheelbase of two groups of wheel hub motors 12.
In some embodiments of the present invention, a manual control board is secured to the fence plate 211, a remote control in wireless communication with the controller 30, and a motor driver in electrical communication with the controller 30.
The controller 30 mainly comprises a PLC, and the PLC automatically works according to the received command of the control panel button or the remote controller and the workflow, so that the automatic lifting of the working platform is realized.
The climbing mechanism 10 has an ultrasonic distance detector at the top and, when approaching the line at the top of the pole, can detect the distance of the climbing mechanism from the pole top. After the distance is close enough to meet the safety distance, the PLC automatically stops the climbing mechanism to ascend. The PLC can also control a proximity sensor between the climbing mechanism 10 and the lifting platform 20 for detecting the relative position, so as to control the work of the winding mechanism 14, and realize the safety limit protection of the whole mechanism.
The specific working principle of the invention is as follows:
First, the climbing mechanism 10 is connected as a unit and the in-wheel motor 12 of the climbing mechanism 10 is activated to climb up the pole when the climbing mechanism 10 is raised to the top of the pole or a designated height. The controller 30 automatically controls the telescopic rod 13 to be locked, so that the positioning and fixing of the climbing mechanism 10 are realized.
Then the lifting platform 20 is combined into a whole, and the rope 15 is fixed on two sides of the climbing frame 11 of the climbing mechanism 10 in advance, so that the winding mechanism 14 is only controlled to be started, the working platform 21 is lifted to the working position and then stopped, and the on-site constructor can work.
After the work is finished, the winding mechanism 14 is controlled to rotate reversely, so that the rope 15 is unreeled, and the working platform 21 can be placed on the ground from the working position. And the telescopic rod 13 is controlled to stretch adaptively to unlock the climbing mechanism 10, and meanwhile, the hub motor 12 automatically rolls downwards along the outer surface of the telegraph pole under the action of gravity until the climbing mechanism 10 descends to the ground.
In the invention, the power supply is a common storage battery and can be arranged in the climbing rack or the working platform, and the specific structure diagram is not shown. The invention has simple structure, simple and convenient operation, practicability and reliability, can be applied to climbing with various rod pieces, and is not limited to telegraph poles.
While the basic principles, main features and advantages of the present invention have been shown and described, it will be understood by those skilled in the art that the present invention is not limited by the foregoing embodiments, which are described in the foregoing description merely illustrate the principles of the invention, and various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined in the appended claims and their equivalents.
Claims (7)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011517090.3A CN112661074B (en) | 2020-12-21 | 2020-12-21 | A pole-climbing robot with a liftable working platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011517090.3A CN112661074B (en) | 2020-12-21 | 2020-12-21 | A pole-climbing robot with a liftable working platform |
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| Publication Number | Publication Date |
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| CN112661074A CN112661074A (en) | 2021-04-16 |
| CN112661074B true CN112661074B (en) | 2025-09-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011517090.3A Active CN112661074B (en) | 2020-12-21 | 2020-12-21 | A pole-climbing robot with a liftable working platform |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113879418B (en) * | 2021-10-15 | 2024-05-24 | 国网江苏省电力有限公司东海县供电分公司 | Cross-locking pole climbing robot |
| CN114803964B (en) * | 2022-05-17 | 2024-03-19 | 中国南方电网有限责任公司超高压输电公司南宁局 | Lifting device for high-altitude operation |
| CN115416777B (en) * | 2022-07-31 | 2023-08-01 | 贵州电网有限责任公司 | Climbing structure applied to columnar rod body |
| CN115450410B (en) * | 2022-07-31 | 2024-06-04 | 贵州电网有限责任公司 | Lifting device for be used for columnar rod body |
| CN115788070B (en) * | 2022-11-17 | 2024-10-01 | 长江精工钢结构(集团)股份有限公司 | Steel mesh frame integral lifting installation method and device using prestress inhaul cable |
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| CN1473754A (en) * | 2002-08-05 | 2004-02-11 | 建 温 | Romote control pole climbing device |
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| US711251A (en) * | 1902-05-10 | 1902-10-14 | Charles E Knop | Rope-climbing device. |
| CN106698276A (en) * | 2016-12-31 | 2017-05-24 | 李建设 | Elevator for distribution line cement wire pole and construction operation method of elevator |
| CN109353973A (en) * | 2018-11-29 | 2019-02-19 | 张坤杰 | A stable lifting device for power maintenance |
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