CN114387699A - Iron tower inspection robot and working method thereof - Google Patents
Iron tower inspection robot and working method thereof Download PDFInfo
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- CN114387699A CN114387699A CN202210063178.5A CN202210063178A CN114387699A CN 114387699 A CN114387699 A CN 114387699A CN 202210063178 A CN202210063178 A CN 202210063178A CN 114387699 A CN114387699 A CN 114387699A
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- robot body
- robot
- iron tower
- cable
- inspection
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 title claims abstract description 110
- 229910052742 iron Inorganic materials 0.000 title claims abstract description 55
- 238000007689 inspection Methods 0.000 title claims abstract description 46
- 238000000034 method Methods 0.000 title claims abstract description 12
- 244000309464 bull Species 0.000 claims description 12
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 238000005096 rolling process Methods 0.000 claims description 2
- 241000251468 Actinopterygii Species 0.000 abstract 1
- 238000007789 sealing Methods 0.000 description 22
- 230000001681 protective effect Effects 0.000 description 14
- 230000004888 barrier function Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000002337 anti-port Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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- A—HUMAN NECESSITIES
- A45—HAND OR TRAVELLING ARTICLES
- A45C—PURSES; LUGGAGE; HAND CARRIED BAGS
- A45C11/00—Receptacles for purposes not provided for in groups A45C1/00-A45C9/00
- A45C11/38—Camera cases, e.g. of ever-ready type
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- A—HUMAN NECESSITIES
- A45—HAND OR TRAVELLING ARTICLES
- A45C—PURSES; LUGGAGE; HAND CARRIED BAGS
- A45C13/00—Details; Accessories
- A45C13/10—Arrangement of fasteners
- A45C13/1038—Arrangement of fasteners of flexible ties
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
- F16F15/06—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs
- F16F15/067—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs using only wound springs
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/51—Housings
Abstract
The invention relates to the technical field of iron tower inspection robots, in particular to an iron tower inspection robot and a working method thereof, wherein the iron tower inspection robot comprises a robot body, a walking mechanism connected with a cable to be inspected is installed on the robot body, an inspection mechanism for inspecting the cable is installed on the robot body, a carrying mechanism convenient for carrying the whole structure is installed on the robot body, a hanging mechanism convenient for placing the whole mechanism is installed on the robot body, the carrying mechanism is connected with the hanging mechanism, and a clamping mechanism for clamping the carrying mechanism is installed on the robot body; install on the robot and patrol the mechanism, when patrolling the cable, realize the robot walking on the cable through running gear, patrol the mechanism before patrolling and be in the protection state, the protection component can protect the subassembly of making a video recording, avoids fish tail subassembly of making a video recording when taking, guarantees the definition of patrolling.
Description
Technical Field
The invention relates to the technical field of iron tower inspection robots, in particular to an iron tower inspection robot and a working method thereof.
Background
Iron tower cable inspection robot is based on OCR and image recognition ability, can simulate professional manual operation, click with each scene of the full flow of fund transaction at the multistage page of total station, discernment, the operation is patrolled and examined to inspection etc., can realize that APP page is automatic to patrol and examine the control, when checking high tension cable on the iron tower will patrol and examine the robot and install the robot on the cable through actuating mechanism with the robot walking on the cable, the cable condition transmission who will shoot through the camera in the walking gives subaerial display screen.
However, when the existing iron tower cable inspection robot is mounted on a cable, an electrician needs to lift the inspection robot on an iron tower by using a rope, a camera of the inspection robot is mounted on the outer side of a box body and is exposed outside, the box body is not provided with a mechanism for protecting the camera, and the electrician can easily collide with the iron tower when lifting the inspection robot by using the rope, so that an outer cover of the camera is scratched, and the inspection definition of the camera is influenced; the shoulder-back mechanism is not arranged on the inspection robot, so that the inspection robot is difficult to lift through a rope, and the carrying of the inspection robot is not facilitated; and need debug the robot before patrolling and examining the robot and installing on the cable, it hangs the mechanism temporarily not to set up on the robot to patrol and examine, and the placing of inconvenient robot.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an iron tower inspection robot and a working method thereof.
The technical scheme adopted by the invention for solving the technical problems is as follows: an iron tower inspection robot comprises a robot body, wherein a travelling mechanism connected with a cable to be inspected is mounted on the robot body, an inspection mechanism for inspecting the cable is mounted on the robot body, a carrying mechanism convenient for carrying in an integral structure is mounted on the robot body, a hanging mechanism convenient for placing the integral mechanism is mounted on the robot body, the carrying mechanism is connected with the hanging mechanism, and a clamping mechanism for clamping the carrying mechanism is mounted on the robot body;
specifically, tour mechanism includes the spacing groove, the spacing groove has been seted up to the side of robot, the side-mounting of robot has the camera, it has the lag that is located the camera outside to slide on the robot, the centre gripping has first spring between lag and the robot, rotate through the pivot on the lag and be connected with the sealed lid to the camera protection, sliding connection has the limiting plate on the sealed lid, centre gripping has the second spring between limiting plate and the sealed lid.
Specifically, the thickness of the limiting plate is smaller than the minimum inner diameter of the limiting groove, and the cross section of the limiting groove is of a T-shaped structure.
The walking mechanism comprises a top plate, a top plate is fixedly connected to the robot body, two fixing rods are rotatably connected to the top plate relatively, a motor is mounted on each fixing rod, a limiting wheel which rolls with a cable is rotatably connected to each fixing rod, the limiting wheels are connected with the motor through a coupler, and a hydraulic cylinder is mounted on each fixing rod.
Specifically, carry the mechanism and include the pull rod, sliding connection has the pull rod on the robot, be fixed with the braces on the pull rod, the one end and the robot body of braces are connected, fixedly connected with spacing collar on the pull rod, the centre gripping has the third spring between spacing collar and the robot body.
Specifically, the carrying mechanism further comprises a storage groove, and the bottom of the robot body is provided with the storage groove for storing the straps.
Specifically, hang the mechanism and include the bull stick, it is connected with the bull stick to rotate on the robot, sliding connection has the swinging arms on the bull stick, rotate between the one end of pull rod and the bull stick and be connected, the inside sliding connection of robot has the couple, rotate between swinging arms and the couple and be connected, the groove of hanging has been seted up on the couple.
Specifically, the tip edges and corners of couple is the slope setting, and is located the couple of swinging arms one end is "L" shape structure.
Specifically, the clamping mechanism comprises an inner shaft, the robot body is rotatably connected with the inner shaft located at the accommodating groove, the inner shaft is fixedly connected with a clamping plate, and a torsion spring is clamped between the inner shaft and the robot body.
Specifically, the clamping mechanism further comprises a handle, the handle is fixed at the bottom of the clamping plate, and the sum of the length of the handle and the thickness of the clamping plate is smaller than the depth of the accommodating groove.
A working method of an iron tower inspection robot comprises the following steps:
s1: firstly, checking that the patrol mechanism is in a protection state on patrol components, and carrying the robot body onto an iron tower through the carrying mechanism;
s2: then debugging the robot body before the robot body is installed on a cable, pulling the carrying mechanism to push the hanging mechanism out of the robot body during debugging, and hanging the robot body on an iron tower through the hanging mechanism for debugging;
s3: and finally, after the robot body is debugged and finished, the clamping mechanism is right the carrying mechanism is clamped and loosened, the hanging mechanism is contracted inside the robot body after the carrying mechanism is loosened, the walking mechanism is right the robot body is installed on a cable, the walking is realized, and the inspection mechanism is used for inspecting the cable.
The invention has the beneficial effects that:
(1) according to the iron tower inspection robot and the working method thereof, the inspection mechanism is arranged on the robot body, the robot body can walk on a cable through the walking mechanism when the cable is inspected, the inspection mechanism is in a protection state before the inspection, the protection assembly can protect the camera assembly, the camera assembly is prevented from being scratched when the cable is taken, and the inspection definition is ensured; namely: when the robot body needs to be carried, the protective cover is ensured to be in a closed state, the protective cover protects the camera, the collision and friction between the camera and an iron tower when the robot body is carried are avoided, the influence on the definition of the scratch of the camera is caused, the inspection of a cable is facilitated, when the sealing cover collides with the iron tower, the protective cover can move towards the inner direction of the robot body, the first spring contracts to buffer and prevent the sealing cover from smashing the camera, the protective cover is extruded towards the inner direction of the robot body during inspection, the first spring further contracts to expose all the cameras, the inspection of the cable is realized, the limiting plate on the sealing cover slides to contract, the sealing cover is rotated to enable the sealing cover to be abutted against the side wall of the robot body, at the moment, the limiting plate is loosened, and the limiting plate is reset by the second spring, on the limiting plate block arrived the spacing groove this moment, realized spacing to the lag, realized the tour of camera to the cable.
(2) According to the iron tower inspection robot and the working method thereof, the carrying mechanism is mounted on the robot body, when the robot body is taken out of the iron tower, the robot body can be carried on the back of an electrician through the carrying mechanism, the carrying mechanism is convenient to carry, the lifting of a rope at the top of the iron tower is not needed, the operation is simple, the carrying mechanism can be pulled when the robot body is required to be debugged, the hanging mechanism is extended out of the robot body, the robot body can be hung on the iron tower through the hanging mechanism, the placement is facilitated, and the debugging of the robot body is facilitated; namely: electrician can stimulate the braces of robot bottom before climbing the iron tower, realized that the braces is whole to expand, and the pull rod slides on the robot, the third spring shrink, electrician can carry the robot back on the shoulder through the braces so, do benefit to carrying of robot, reduce and the iron tower between the friction, and when the pull rod is gliding, the bull stick has been driven and has rotated, the bull stick rotates the back, the swinging arms antiport has been driven, have and rotate between swinging arms and the bull stick to be connected, when the bull stick rotates, realized releasing the couple of robot inside, be connected with the iron tower through hanging the groove on the couple, realized hanging to the robot, do benefit to the debugging of robot, the pull rod is reset by the third spring after loosening the braces, the couple shrinks the inside of robot so, reduce the space and occupy.
(3) According to the iron tower inspection robot and the working method thereof, the clamping mechanism is arranged on the robot body, and the carrying mechanism can be clamped through the clamping mechanism when the robot body is inspected, so that the carrying mechanism is prevented from being loose, and the robot body is beneficial to obstacle crossing; namely: after hanging spacing wheel on the cable, can stimulate the handle, realized that splint deviate from the bottom direction removal of robot, the torsional spring opens this moment, produce the clearance between splint and the robot, place this clearance with the braces inside, loosen behind the handle, realized the torsional spring and reset, splint remove to the bottom direction of robot so, realized the centre gripping of splint with the braces, the braces contracts the inside of accomodating the groove, realized accomodating the braces, do benefit to obstacle crossing of robot.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic overall structure diagram of a preferred embodiment of an iron tower inspection robot and a working method thereof according to the present invention;
FIG. 2 is an enlarged view of the part A shown in FIG. 1;
FIG. 3 is an enlarged view of the structure of the portion B shown in FIG. 1;
fig. 4 is a schematic view of a connection structure of the robot body, the protective cover, the sealing cover, the camera and the first spring according to the present invention;
FIG. 5 is an enlarged view of the structure of the portion C shown in FIG. 4;
FIG. 6 is a schematic view of the connection structure of the robot body, the shoulder strap and the storage slot according to the present invention;
FIG. 7 is an enlarged view of the structure of the portion D shown in FIG. 6;
FIG. 8 is an enlarged view of the structure of the section E shown in FIG. 6;
fig. 9 is an enlarged view of the structure of the portion F shown in fig. 7.
In the figure: 1. a robot body; 2. a traveling mechanism; 201. a top plate; 202. fixing the rod; 203. a hydraulic cylinder; 204. a motor; 205. a limiting wheel; 3. a patrol mechanism; 301. a limiting groove; 302. a protective sleeve; 303. a rotating shaft; 304. a sealing cover; 305. a limiting plate; 306. a camera; 307. a first spring; 308. a second spring; 4. a carrying mechanism; 401. a harness; 402. a receiving groove; 403. a pull rod; 404. a limiting ring; 405. a third spring; 5. a suspension mechanism; 501. hooking; 502. hanging a groove; 503. A rotating rod; 504. a swing lever; 6. a clamping mechanism; 601. a splint; 602. an inner shaft; 603. a torsion spring; 604. and (4) a handle.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1-9, the iron tower inspection robot provided by the invention comprises a robot body 1, wherein a traveling mechanism 2 connected with a cable to be inspected is mounted on the robot body 1, an inspection mechanism 3 for inspecting the cable is mounted on the robot body 1, a carrying mechanism 4 convenient for carrying in an integral structure is mounted on the robot body 1, a hanging mechanism 5 convenient for placing the integral mechanism is mounted on the robot body 1, the carrying mechanism 4 is connected with the hanging mechanism 5, and a clamping mechanism 6 for clamping the carrying mechanism 4 is mounted on the robot body 1;
specifically, the inspection mechanism 3 comprises a limiting groove 301, the limiting groove 301 is formed in the side surface of the robot body 1, a camera 306 is installed on the side surface of the robot body 1, a protective sleeve 302 located on the outer side of the camera 306 slides on the robot body 1, a first spring 307 is clamped between the protective sleeve 302 and the robot body 1, a sealing cover 304 for protecting the camera 306 is rotatably connected to the protective sleeve 302 through a rotating shaft 303, a limiting plate 305 is connected to the sealing cover 304 in a sliding manner, a second spring 308 is clamped between the limiting plate 305 and the sealing cover 304, the thickness of the limiting plate 305 is smaller than the minimum inner diameter of the limiting groove 301, and the cross section of the limiting groove 301 is in a T-shaped structure; when the robot body 1 needs to be carried, the sealing cover 304 is ensured to be in a closed state to the protecting cover 302, the protecting cover 302 protects the camera 306, so that collision and friction between the camera 306 and an iron tower during carrying of the robot body 1 are avoided, the scratch of the camera 306 influences the definition, the cable inspection is facilitated, when the sealing cover 304 collides with the iron tower, the protecting cover 302 can move towards the inner direction of the robot body 1, the first spring 307 contracts and can buffer, the sealing cover 304 is prevented from smashing the camera 306, the protecting cover 302 is extruded towards the inner direction of the robot body 1 during inspection, the first spring 307 contracts to expose all the cameras 306, and the cable inspection is realized, the limiting plate 305 on the sealing cover 304 is slid and contracted, the sealing cover 304 is rotated to enable the sealing cover 304 to be abutted against the side wall of the robot body 1, at this time, the limiting plate 305 is loosened, the second spring 308 resets the limiting plate 305, at this time, the limiting plate 305 is clamped on the limiting groove 301, the protective sleeve 302 is limited, and the camera 306 patrols the cable.
Specifically, the walking mechanism 2 comprises a top plate 201, the top plate 201 is fixedly connected to the robot body 1, two fixing rods 202 are relatively rotatably connected to the top plate 201, motors 204 are respectively installed on the two fixing rods 202, limiting wheels 205 rolling with cables are respectively rotatably connected to the two fixing rods 202, the limiting wheels 205 are connected with the motors 204 through couplings, and hydraulic cylinders 203 are respectively installed on the two fixing rods 202; when patrolling and examining the cable needs, will braces 401 passes through the splint 601 centre gripping is right robot body 1 debugs, and the debugging is accomplished the back with two spacing round 205 takes on the cable, will motor 204 starts the back, has realized motor 204 will spacing round 205 drives, and is further, has realized spacing round 205 walks on the cable, has realized patrolling and examining the cable, pneumatic cylinder 203 has realized right spacing round 205 avoids the derail, when meetting the barrier, will one by one pneumatic cylinder 203 withdraws from, realizes surmounting the barrier.
Specifically, the carrying mechanism 4 includes a pull rod 403, the robot body 1 is slidably connected with the pull rod 403, the pull rod 403 is fixed with a strap 401, one end of the strap 401 is connected with the robot body 1, the pull rod 403 is fixedly connected with a limiting ring 404, a third spring 405 is clamped between the limiting ring 404 and the robot body 1, the carrying mechanism 4 further includes a storage groove 402, the bottom of the robot body 1 is provided with the storage groove 402 for storing the strap 401, the hanging mechanism 5 includes a rotating rod 503, the robot body 1 is rotatably connected with the rotating rod 503, the rotating rod 503 is slidably connected with a swinging rod 504, one end of the pull rod is rotatably connected with the rotating rod 503, the interior of the robot body 1 is slidably connected with a hook 501, the swinging rod 403 is rotatably connected with the hook 501, the hook 501 is provided with a hanging groove 502, the edge of the end of the hook 501 is arranged obliquely, and the hook 501 at one end of the swing rod 504 is in an L-shaped structure; the electrician can pull the braces 401 at the bottom of the robot body 1 before climbing the iron tower, so that the braces 401 are completely unfolded, the pull rod 403 slides on the robot body 1, the third spring 405 is contracted, the electrician can carry the robot body 1 on the shoulder through the braces 401, the robot body 1 is convenient to carry, friction between the robot body 1 and the iron tower is reduced, the rotating rod 503 is driven to rotate when the pull rod 403 slides, the rotating rod 503 drives the swinging rod 504 to move in the reverse direction after rotating, the swinging rod 504 is connected with the rotating rod 503 in a rotating manner, when the rotating rod 503 rotates, the hook 501 in the robot body 1 is pushed out, the hook 502 on the hook 501 is connected with the iron tower, and the robot body 1 is hung, the debugging of the robot body 1 is facilitated, after the braces 401 are loosened, the pull rod 403 is reset by the third spring 405, and then the hook 501 is retracted into the robot body 1, so that the space occupation is reduced.
Specifically, the clamping mechanism 6 includes an inner shaft 602, the inner shaft 602 located at the receiving groove 402 is rotatably connected to the robot body 1, a clamping plate 601 is fixedly connected to the inner shaft 602, a torsion spring 603 is clamped between the inner shaft 602 and the robot body 1, the clamping mechanism 6 further includes a pull handle 604, a pull handle 604 is fixed to the bottom of the clamping plate 601, and the sum of the length of the pull handle 604 and the thickness of the clamping plate 601 is smaller than the depth of the receiving groove 402; after the limiting wheel 205 is hung on a cable, the handle 604 can be pulled, so that the clamp plate 601 moves away from the bottom direction of the robot body 1, at the moment, the torsion spring 603 is opened, a gap is formed between the clamp plate 601 and the robot body 1, the shoulder belt 401 is placed in the gap, after the handle 604 is loosened, the torsion spring 603 is reset, then the clamp plate 601 moves towards the bottom direction of the robot body 1, the clamp plate 601 clamps the shoulder belt 401, the shoulder belt 401 is retracted into the accommodating groove 402, the shoulder belt 401 is accommodated, and obstacle crossing of the robot body 1 is facilitated.
A working method of an iron tower inspection robot comprises the following steps:
s1: firstly, checking that the patrol mechanism 3 protects patrol components, and carrying the robot body 1 on an iron tower through the carrying mechanism 4;
s2: then debugging the robot body 1 before the robot body 1 is installed on a cable, pulling the carrying mechanism 4 to push the hanging mechanism 5 out of the robot body 1 during debugging, and hanging the robot body 1 on an iron tower through the hanging mechanism 5 for debugging;
s3: finally, it is right after the debugging of robot body 1 is accomplished, through fixture 6 is right carry mechanism 4 and carry out the centre gripping, loosen carry mechanism 4 back hang 5 shrink of mechanism and arrive the inside of robot body 1, through running gear 2 is right on the cable is installed to robot body 1, realize the walking, through tour mechanism 3 patrols and examines to the cable.
When the invention is used, firstly, before an electrician climbs the iron tower, the braces 401 at the bottom of the robot body 1 can be pulled, so that the braces 401 are completely unfolded, the pull rod 403 slides on the robot body 1, the third spring 405 is contracted, then the electrician can carry the robot body 1 on the shoulder through the braces 401, the carrying of the robot body 1 is facilitated, the friction between the robot body 1 and the iron tower is reduced, the rotating rod 503 is driven to rotate when the pull rod 403 slides, the swinging rod 504 is driven to move reversely after the rotating rod 503 rotates, the swinging rod 504 and the rotating rod 503 are connected in a rotating manner, when the rotating rod 503 rotates, the hook 501 in the robot body 1 is pushed out, the iron tower is connected through the hanging groove 502 on the hook 501, the suspension of the robot body 1 is realized, the debugging of the robot body 1 is facilitated, the pull rod 403 is reset by the third spring 405 after the braces 401 are loosened, then the hook 501 is retracted into the robot body 1, reducing the space occupation; then, when the cable needs to be patrolled and examined, the braces 401 are clamped through the clamping plates 601, the robot body 1 is debugged, two limiting wheels 205 are lapped on the cable after debugging is completed, the motor 204 is started to drive the limiting wheels 205, further, the limiting wheels 205 walk on the cable, cable inspection is achieved, the limiting wheels 205 are limited by the hydraulic cylinder 203, derailment is avoided, and when an obstacle is met, the hydraulic cylinder 203 is withdrawn one by one, and obstacle crossing is achieved; after the limiting wheel 205 is hung on a cable, the handle 604 can be pulled, the clamp plate 601 is moved away from the bottom direction of the robot body 1, at the moment, the torsion spring 603 is opened, a gap is generated between the clamp plate 601 and the robot body 1, the strap 401 is placed in the gap, after the handle 604 is loosened, the torsion spring 603 is reset, then the clamp plate 601 is moved towards the bottom direction of the robot body 1, the clamp plate 601 clamps the strap 401, the strap 401 is contracted into the accommodating groove 402, the accommodating of the strap 401 is realized, and the obstacle crossing of the robot body 1 is facilitated; finally, when the robot body 1 needs to be carried, the sealing cover 304 is ensured to be in a closed state to the protective cover 302, the protective cover 302 protects the camera 306, the collision and friction between the camera 306 and an iron tower when the robot body 1 is carried are avoided, the scratch of the camera 306 is avoided, the definition of a cable is favorably influenced, when the sealing cover 304 collides with the iron tower, the protective cover 302 can move towards the inner direction of the robot body 1, the first spring 307 contracts and can buffer, the sealing cover 304 is prevented from smashing the camera 306, the protective cover 302 is extruded towards the inner direction of the robot body 1 when the cable is patrolled, the first spring 307 further contracts, the camera 306 is completely exposed, the cable is patrolled, a limiting plate on the sealing cover 304 slides and contracts, the sealing cover 305 is rotated, the sealing cover 304 is enabled to be abutted against the side wall of the robot body 1, at this moment, loosen limiting plate 305, realized that second spring 308 resets limiting plate 305, limiting plate 305 block has realized spacing to lag 302 this moment on limiting groove 301, has realized that camera 306 patrols the cable.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. The iron tower inspection robot is characterized by comprising a robot body (1), wherein a traveling mechanism (2) connected with a cable needing to be inspected is mounted on the robot body (1), an inspection mechanism (3) for inspecting the cable is mounted on the robot body (1), a carrying mechanism (4) convenient for carrying the whole structure is mounted on the robot body (1), a hanging mechanism (5) convenient for placing the whole mechanism is mounted on the robot body (1), the carrying mechanism (4) is connected with the hanging mechanism (5), and a clamping mechanism (6) for clamping the carrying mechanism (4) is mounted on the robot body (1);
tour mechanism (3) including spacing groove (301), spacing groove (301) have been seted up to the side of robot body (1), camera (306) are installed to the side of robot body (1), it has lag (302) that are located the camera (306) outside to slide on robot body (1), first spring (307) are held to the clamp between lag (302) and robot body (1), it is connected with sealed lid (304) to camera (306) protection to rotate through pivot (303) on lag (302), sliding connection has limiting plate (305) on sealed lid (304), second spring (308) are held to the clamp between limiting plate (305) and sealed lid (304).
2. The iron tower patrol robot according to claim 1, wherein: the thickness of the limiting plate (305) is smaller than the minimum inner diameter of the limiting groove (301), and the cross section of the limiting groove (301) is of a T-shaped structure.
3. The iron tower patrol robot according to claim 1, wherein: running gear (2) include roof (201), fixedly connected with roof (201) on robot body (1), relative swivelling joint has two dead levers (202), two on roof (201) all install motor (204), two on dead lever (202) all swivel connection has spacing round (205) rolling with the cable on dead lever (202), through the coupling joint, two between spacing round (205) and motor (204) all install pneumatic cylinder (203) on dead lever (202).
4. The iron tower patrol robot according to claim 1, wherein: carry mechanism (4) and include pull rod (403), sliding connection has pull rod (403) on robot body (1), be fixed with braces (401) on pull rod (403), the one end and the robot body (1) of braces (401) are connected, fixedly connected with spacing collar (404) on pull rod (403), third spring (405) are held to the centre gripping between spacing collar (404) and robot body (1).
5. The iron tower patrol robot according to claim 4, wherein: the carrying mechanism (4) further comprises a storage groove (402), and the bottom of the robot body (1) is provided with the storage groove (402) for storing the strap (401).
6. The iron tower patrol robot according to claim 4, wherein: hang mechanism (5) including bull stick (503), it is connected with bull stick (503) to rotate on robot body (1), sliding connection has swinging arms (504) on bull stick (503), rotate between the one end of pull rod (403) and bull stick (503) and be connected, the inside sliding connection of robot body (1) has couple (501), rotate between swinging arms (504) and couple (501) and be connected, hanging groove (502) have been seted up on couple (501).
7. The iron tower patrol robot according to claim 6, wherein: the end edge of the hook (501) is obliquely arranged, and the hook (501) at one end of the swinging rod (504) is in an L-shaped structure.
8. The iron tower patrol robot according to claim 5, wherein: the clamping mechanism (6) comprises an inner shaft (602), the inner shaft (602) located at the accommodating groove (402) is connected to the robot body (1) in a rotating mode, a clamping plate (601) is fixedly connected to the inner shaft (602), and a torsion spring (603) is clamped between the inner shaft (602) and the robot body (1).
9. The iron tower patrol robot according to claim 8, wherein: the clamping mechanism (6) further comprises a handle (604), the bottom of the clamping plate (601) is fixedly provided with the handle (604), and the sum of the length of the handle (604) and the thickness of the clamping plate (601) is smaller than the depth of the accommodating groove (402).
10. The working method of the iron tower patrol robot according to any one of claims 1-9, characterized by comprising the following steps:
s1: firstly, the inspection mechanism (3) is checked to be in a protection state on an inspection assembly, and the robot body (1) is carried on an iron tower through the carrying mechanism (4);
s2: then debugging the robot body (1) before the robot body (1) is installed on a cable, pulling the carrying mechanism (4) to push the hanging mechanism (5) out of the robot body (1) during debugging, and hanging the robot body (1) on an iron tower through the hanging mechanism (5) for debugging;
s3: finally, it is right after robot body (1) debugging is accomplished, through fixture (6) are right carry mechanism (4) and carry out the centre gripping, loosen carry mechanism (4) back hang mechanism (5) and contract to the inside of robot body (1), through running gear (2) are right on the cable is installed to robot body (1), realize the walking, through tour mechanism (3) and patrol and examine the cable.
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| CN202210063178.5A CN114387699A (en) | 2022-01-20 | 2022-01-20 | Iron tower inspection robot and working method thereof |
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| CN202210063178.5A CN114387699A (en) | 2022-01-20 | 2022-01-20 | Iron tower inspection robot and working method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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