CN113800413A - High-altitude operation robot - Google Patents

Abstract

The invention belongs to the technical field of electric power maintenance and setting, and discloses a high-altitude operation robot. This high altitude operation robot can carry the heavy object through being provided with hoist and mount subassembly in the main part, and when the top of the tower personnel need the instrument, this high altitude operation robot can upwards lift by crane the required instrument of transportation from the tower pole bottom through hoist and mount subassembly, and when the top of the tower personnel health goes wrong and needs the rescue, this high altitude operation robot passes through hoist and mount subassembly and carries required rescue personnel to the tower bottom from the top of the tower. The high-altitude operation robot climbs on the transmission tower through the plurality of mechanical arm assemblies, can complete conventional work such as electricity testing, ground wire hanging and the like, greatly improves the work safety, and saves labor cost and time; and moreover, the required tools, rescue and other work can be lifted through the hoisting assembly, and the practicability of the high-altitude operation robot is improved.

Description

High-altitude operation robot

Technical Field

The invention relates to the technical field of electric power maintenance equipment, in particular to a high-altitude operation robot.

Background

With the development of the current society, the working trend of the power industry is rapidly developing towards intellectualization, high efficiency and mechanization.

In the operation and maintenance work of the existing power transmission line, the existing devices such as unmanned aerial vehicles, laser guns and manned helicopters can replace manual tower climbing to perform partial defect eliminating work, but more than half of defect eliminating work still needs manual tower climbing. Before the defect eliminating work is carried out, the work of power failure, electricity testing and ground wire hanging is firstly carried out, and the work has potential safety hazards.

In order to solve the problems, a robot system based on high-voltage power distribution line electricity testing and grounding line operation is provided for overhauling and maintaining the power transmission line. The robot system comprises a main body and a control moving mechanism, and the control moving mechanism can complete the functions of electricity testing and ground wire hanging on a power transmission line. However, when the transmission tower needs to transport articles or rescue, the robot system does not have a conveying function.

Disclosure of Invention

The invention aims to provide a high-altitude operation robot which can convey heavy objects between the ground and the high altitude.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a high altitude work robot can scramble transmission tower, and can test the electricity and articulate the ground wire to transmission line, includes:

a main body;

a lifting assembly disposed on the body configured to transport a weight between the ground and the high altitude.

Preferably, the hoisting assembly comprises a driving assembly and a rope, the driving assembly is fixedly arranged on the main body, one end of the rope is fixedly connected to the output end of the driving assembly, and the other end of the rope can be connected with the heavy object.

Preferably, the hoisting assembly further comprises a pulley, the pulley is arranged on the main body and provided with a sliding groove, and the rope clamp is arranged in the sliding groove.

Preferably, the method further comprises the following steps:

a plurality of robot arm assemblies disposed on the main body;

the electricity testing component is arranged on the main body and can touch a lead to test electricity;

a ground wire assembly disposed on the body and capable of connecting the ground wire with the lead.

Preferably, the mechanical arm assembly comprises a first telescopic rod and a clamping jaw, one end of the first telescopic rod is connected with the main body, and the other end of the first telescopic rod is connected with the clamping jaw.

Preferably, the clamping jaw comprises a first bearing clamp, a second bearing clamp and a first hinge, one end of the first bearing clamp is fixedly connected with the first telescopic rod, and the other end of the first bearing clamp is hinged to the second bearing clamp through the first hinge.

Preferably, the electricity testing assembly comprises an electricity testing pen and a second telescopic rod, one end of the second telescopic rod is connected with the main body, and the other end of the second telescopic rod is connected with the electricity testing pen.

Preferably, the ground wire assembly comprises a connector lug, a third telescopic rod and a rotating assembly, the rotating assembly is arranged on the main body, one end of the third telescopic rod is connected with the rotating assembly, and the other end of the third telescopic rod is connected with the connector lug.

Preferably, the microphone is further included, and the microphone is disposed on the main body.

Preferably, the panoramic camera is further included, and the panoramic camera is arranged on the main body.

The invention has the beneficial effects that:

according to the high-altitude operation robot provided by the invention, the hoisting assembly is arranged on the main body, so that a heavy object can be conveyed, when a person on the tower top needs a tool, the high-altitude operation robot can hoist the tool from the bottom of the tower pole upwards through the hoisting assembly to convey the tool, and when the physical condition of the person on the tower top is in a problem and needs to be rescued, the high-altitude operation robot conveys the person needing to be rescued from the tower top to the tower bottom through the hoisting assembly. The high-altitude operation robot can climb on a tower pole, can complete conventional work such as electricity testing and ground wire hanging on a power transmission line, greatly improves the work safety, and saves labor cost and time; and moreover, the required tools, rescue and other work can be lifted through the hoisting assembly, and the practicability of the high-altitude operation robot is improved.

Drawings

Fig. 1 is a schematic overall structure diagram of a high-altitude operation robot according to an embodiment of the invention.

In the figure:

1-a body;

2-hoisting the assembly; 21-a drive assembly; 22-a rope; 23-a pulley;

3-a robot arm assembly; 31-a first telescopic rod; 32-a jaw; 321-a first force-bearing clamp; 322-a second force-bearing clamp; 323-a first hinge;

4-an electroscopic component; 41-test pencil; 411-pen holder; 412-a probe; 42-a second telescoping rod;

5-a ground wire assembly; 51-a connector lug; 52-a third telescopic rod; 53-a rotating assembly;

6-a microphone;

7-panoramic camera.

Detailed Description

Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar parts throughout or parts having the same or similar functions. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning a fixed connection, a removable connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection via an intermediary, a connection between two elements, or an interaction between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description of the present invention, unless otherwise expressly specified or limited, the first feature "on" or "under" the second feature may include the first feature and the second feature being in direct contact, or may include the first feature and the second feature being in contact not directly but with another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.

A robot is an automated machine, except that it has some intelligent capabilities similar to human or biological, such as perception capability, planning capability, action capability, and coordination capability, and is an automated machine with a high degree of flexibility.

As people's understanding of the intelligent nature of robotics has deepened, robotics has begun to continually infiltrate into various areas of human activity. In the electric power industry at the present stage, the robot replaces the manual work to carry out the work such as the electricity test of the transmission line and the hanging of the ground wire, so that a large amount of manpower and material resources are saved, the personal safety is effectively ensured, and the working efficiency is improved.

Example one

As shown in fig. 1, the invention provides an overhead working robot, a plurality of mechanical arm assemblies 3 are arranged on a main body 1, the mechanical arm assemblies 3 enable the overhead working robot to climb on a transmission tower, and the overhead working robot can test electricity of a transmission line and hang a ground wire, so that a large amount of manpower and material resources are saved, and the working efficiency is improved. The main body 1 is also provided with a hoisting component 2, and heavy objects can be conveyed between the ground and the high altitude through the hoisting component 2.

According to the high-altitude operation robot provided by the invention, the hoisting component 2 is arranged on the main body 1, so that a heavy object can be conveyed, when a person at the top of the tower needs a tool, the high-altitude operation robot can hoist the tool from the bottom of the tower pole upwards through the hoisting component 2 to convey the required tool, and when the physical condition of the person at the top of the tower is in a problem and needs to be rescued, the high-altitude operation robot conveys the required rescued person from the top of the tower to the bottom of the tower through the hoisting component 2. The high-altitude operation robot climbs on the tower pole through the mechanical arm assemblies 3, can complete conventional work of electricity testing, ground wire hanging and the like on the power transmission line, greatly improves the work safety, and saves labor cost and time; and can also promote work such as required instrument and rescue through hoist and mount subassembly 2, improve this high altitude construction robot's practicality.

In this embodiment, arm assembly 3 is provided with eight, and eight arm assembly 3 concerted action have improved this high altitude construction robot's gripping ability greatly, and the fastness reinforcing, and the climbing speed promotes greatly.

Optionally, the mechanical arm assembly 3 comprises a first telescopic rod 31 and a clamping jaw 32, one end of the first telescopic rod 31 is connected with the main body 1, the other end of the first telescopic rod is connected with the clamping jaw 32, the first telescopic rod 31 can be extended and shortened, the clamping jaw 32 is driven by the first telescopic rod 31 to be extended and contracted, the clamping jaw 32 can hook a foot nail or a tower material, and the high-altitude operation robot is made to climb to ascend or descend. In the present embodiment, the first telescopic rod 31 is a hydraulic telescopic rod, and a hydraulic device is provided in the main body 1 and connected to the hydraulic telescopic rod. It can be understood that the hydraulic telescopic rod has compact structure, small occupied space and relatively large bearing capacity.

More specifically, the clamping jaw 32 includes a first force-bearing clamp 321, a second force-bearing clamp 322, and a first hinge 323, wherein one end of the first force-bearing clamp 321 is fixedly connected to the first telescopic rod 31, and the other end is hinged to the second force-bearing clamp 322 through the first hinge 323. Optionally, the first messenger clip 321 and the second messenger clip 322 are both semi-circular structures. The first bearing clamp 321 and the second bearing clamp 322 can be opened and closed by using the first hinge 323 as a fulcrum. It can be understood that the first small motor is arranged in the clamping jaw 32 and can drive the second force-bearing clamp 322 to open and close. When the clamping jaw is opened, the clamping jaw 32 is moved through the first telescopic rod 31, and when the inner circle side of the first bearing clamp 321 or the second bearing clamp 322 touches the foot nails or the tower materials, the first bearing clamp 321 and the second bearing clamp 322 are mutually closed to form a closed circle to hook the foot nails or the tower materials, so that supporting force is provided for integral movement. In the present embodiment, the first hinge 323 is a planar hinge. Optionally, the material of the first and second carrier clips 321, 322 can be selected to be high-strength steel or carbon steel.

Preferably, a sensor is arranged on the inner wall of the clamping jaw 32, and when the foot nail or the tower material touches the sensor, the first force-bearing clamp 321 and the second force-bearing clamp 322 are closed to form a closed circle to hook the foot nail or the tower material. In this embodiment, the sensor is the piezoelectric sensor, and when foot nail or tower material touched the piezoelectric sensor and reached certain pressure value, this clamping jaw 32 was closed, prevented that the mistake from touching or the insecure foot nail of hook or tower material, caused this high altitude construction robot misoperation to appear.

Alternatively, the sensor may be disposed on an inner wall of the second messenger 322, enabling use in a more compact environment.

Further, the one end that first telescopic link 31 is connected with main part 1 is provided with the second hinge, and first telescopic link 31 is articulated through second hinge and main part 1, makes this arm component 3 can the multiplanar motion, makes it improve its flexibility when the climbing rises or descends, and eight arm components 3 mobility efficiency are higher.

In this embodiment, the second hinge is a universal hinge, and a second small motor is built in the universal hinge, so that the first telescopic rod 31 connected to the universal hinge can perform multi-plane motion.

In particular, with continued reference to fig. 1, the overhead working robot further comprises an electroscopic component 4 and a grounding wire component 5. The electricity testing component 4 is arranged on the main body 1 and can touch the conducting wire to complete electricity testing work; the grounding wire assembly 5 is arranged on the main body 1 and can connect a grounding wire with a conducting wire so as to complete the work of hanging the grounding wire.

More specifically, test electric subassembly 4 includes test pencil 41 and second telescopic link 42, and the one end and the main part 1 of second telescopic link 42 are connected, and the other end is connected with test pencil 41, through second telescopic link 42 extension so that test pencil 41 touches the wire with test electricity, second telescopic link 42 shrink is in order to withdraw test pencil 41. In this embodiment, the second telescopic rod 42 is a hydraulic telescopic rod, and the structure principle is the same as that of the first telescopic rod 31.

Further, this test pencil 41 has penholder 411 and probe 412, and penholder 411 is connected with second telescopic link 42, and probe 412 sets up in the tip that the penholder deviates from second telescopic link 42. The second telescopic rod 42 is extended to make the probe touch the conducting wire to obtain an electricity testing result.

More specifically, the grounding wire assembly 5 includes a connector lug 51, a third telescopic rod 52 and a rotating assembly 53, wherein the rotating assembly 53 is disposed on the main body 1, one end of the third telescopic rod 52 is connected with the rotating assembly 53, and the other end is connected with the connector lug 51. Through connecting the ground wire on the connector lug 51, the third telescopic link 52 extends in order to support against the wire, and rotating assembly 53 drives third telescopic link 52 and rotates, and then drives connector lug 51 and rotates, makes the ground wire be connected with the wire. In the present embodiment, the third telescopic rod 52 is a hydraulic telescopic rod, and the principle thereof is the same as that of the first telescopic rod 31.

Optionally, the rotating assembly 53 includes a rotating rod and a third small motor, the third telescopic rod 52 is rotatably connected to the rotating rod, and the third small motor drives the third telescopic rod 52 to rotate, so as to drive the connector lug 51 to rotate.

In this embodiment, the end of the rotating component 53 connected to the main body 1 is provided with a third hinge, and the third hinge can realize multi-plane movement of the grounding head. The third hinge is a universal hinge, and is the same as the second hinge.

Preferably, in order to make the high-altitude operation robot have higher practicability, the electricity testing component 4 is also provided with a rotating component 53 and a third hinge, so that the electricity testing position and the hanging ground wire position have interchangeability to adapt to electricity testing and ground wire operation in different directions.

Specifically, the high-altitude operation robot is provided with a microphone 6, the microphone 6 is provided on the main body 1, and real-time communication can be realized through the microphone 6.

Specifically, this high altitude construction robot still includes panorama camera 7, and panorama camera 7 sets up on main part 1, realizes visual operation through this panorama camera 7.

More specifically, this high altitude construction robot still includes transmission device, and transmission device sets up in main part 1, and panoramic camera 7 and microphone 6 set up on transmission device, are provided with battery and real-time transmission module in the transmission device, and this transmission device and panoramic camera 7 and microphone 6 synergism are in order to realize the visual and real-time communication of high altitude construction.

The electricity testing process comprises the following steps: firstly, after the high-altitude operation robot reaches a designated position, the clamping jaws 32 of the eight mechanical arm assemblies 3 are all closed and locked, and the overall device is firmer due to the hyperstatic structure with at least seven redundant constraints. Then, the panoramic camera 7 determines the position of the lead, the electroscope pen 41 is aligned to the lead through the rotation of the universal hinge, and the second telescopic rod 42 is extended to enable the probe to touch the lead, so as to obtain an electroscope result. Finally, the test pencil 41 is retracted in the reverse order of action.

The process of hanging the ground wire is as follows: firstly, after the high-altitude operation robot reaches a designated position, the clamping jaws 32 of the eight mechanical arm assemblies 3 are all closed and locked, and the overall device is firmer due to the hyperstatic structure with at least seven redundant constraints. Then, the panoramic camera 7 determines the position of the lead, the electroscope pen 41 is aligned to the lead through the rotation of the universal hinge, the third telescopic rod 52 extends to connect the ground wire with the lead, and the third small motor drives the connector lug 51 to rotate to a fastening position, so that the work of hanging the ground wire is completed.

Specifically, hoist and mount subassembly 2 includes drive assembly 21 and rope 22, and drive assembly 21 is fixed to be set up on main part 1, and the one end fixed connection of rope 22 is on the output of drive assembly 21, and the heavy object can be connected to the other end. The rope 22 is carried by the drive assembly 21 to raise or lower the weight. Optionally, the one end that the heavy object was connected to the rope is provided with the couple, can effectively hook the heavy object through this couple, and it is more convenient to operate.

In an alternative embodiment, the driving assembly 21 includes a driving motor and a drum, and the drum is driven by the driving motor to rotate so that the end of the rope 22 connected with the weight can be lifted or lowered.

Further, hoist and mount subassembly 2 still includes pulley 23, and pulley 23 sets up on main part 1, and sets up with main part 1 interval, increases rope 22 and this high-altitude operation robot's spacing distance to increase the height upper limit of promoting. Optionally, a sliding groove is formed in the pulley 23, and the rope 22 is clamped in the sliding groove, so that the rope 22 is effectively prevented from being separated from the pulley 23.

Example two

The high-altitude operation robot provided by the embodiment has basically the same structure as the first embodiment, and for convenience, only the difference from the first embodiment will be described.

The difference lies in that: the first telescopic rod 31, the second telescopic rod 42 and the third telescopic rod 52 adopt electric push rods. The electric push rod is an electric drive device which converts the rotary motion of the motor into the linear reciprocating motion of the push rod, can realize the reciprocating motion of the push rod only by connecting the electric push rod into a power supply under the condition of not arranging any other auxiliary structure, and has flexible and reliable control and higher precision.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (10)

1. The utility model provides a high altitude work robot can scramble transmission tower, and can test the electricity and articulate the ground wire to transmission line, a serial communication port, includes:

a main body (1);

a hoisting assembly (2), the hoisting assembly (2) being arranged on the body (1) and configured to transport heavy objects between the ground and the high altitude.

2. High altitude work robot according to claim 1, characterized in that the hoisting assembly (2) comprises a driving assembly (21) and a rope (22), the driving assembly (21) is fixedly arranged on the main body (1), one end of the rope (22) is fixedly connected to the output end of the driving assembly (21), and the other end can be connected with the weight.

3. High altitude operation robot according to claim 2 characterized in that the hoist assembly (2) further comprises a pulley (23), the pulley (23) is arranged on the main body (1), and a sliding groove is arranged on the pulley (23), the rope (22) is clamped in the sliding groove.

4. The high altitude work robot according to claim 1, characterized by further comprising:

a plurality of robot arm assemblies (3), the plurality of robot arm assemblies (3) being disposed on the main body (1);

the electricity testing component (4) is arranged on the main body (1), and the electricity testing component (4) can touch a lead to test electricity;

a ground wire assembly (5), the ground wire assembly (5) being disposed on the body (1) and capable of connecting the ground wire with the lead wire.

5. The overhead working robot according to claim 4, characterized in that the robot arm assembly (3) comprises a first telescopic rod (31) and a clamping jaw (32), the first telescopic rod (31) being connected to the body (1) at one end and to the clamping jaw (32) at the other end.

6. The overhead working robot as claimed in claim 5, wherein the clamping jaw (32) comprises a first force-bearing clamp (321), a second force-bearing clamp (322) and a first hinge (323), one end of the first force-bearing clamp (321) is fixedly connected with the first telescopic rod (31), and the other end of the first force-bearing clamp is hinged with the second force-bearing clamp (322) through the first hinge (323).

7. High altitude work robot according to claim 4, characterized in that the electroscope subassembly (4) comprises an electroscope pen (41) and a second telescopic rod (42), one end of the second telescopic rod (42) being connected with the main body (1) and the other end being connected with the electroscope pen (41).

8. The overhead working robot according to claim 4, wherein the ground wire assembly (5) comprises a connector lug (51), a third telescopic rod (52) and a rotating assembly (53), the rotating assembly (53) is arranged on the main body (1), one end of the third telescopic rod (52) is connected with the rotating assembly (53), and the other end of the third telescopic rod is connected with the connector lug (51).

9. High altitude work robot according to claim 1, characterized in that it further comprises a microphone (6), said microphone (6) being arranged on said body (1).

10. High altitude work robot according to claim 9, characterized by further comprising a panoramic camera (7), said panoramic camera (7) being arranged on said body (1).

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