CN114833847A - Variable-caliber power transmission tower installation operation robot - Google Patents
Variable-caliber power transmission tower installation operation robot Download PDFInfo
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- CN114833847A CN114833847A CN202210593609.9A CN202210593609A CN114833847A CN 114833847 A CN114833847 A CN 114833847A CN 202210593609 A CN202210593609 A CN 202210593609A CN 114833847 A CN114833847 A CN 114833847A
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
- B25J9/1015—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using additional, e.g. microadjustment of the end effector
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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
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
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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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1646—Programme controls characterised by the control loop variable structure system, sliding mode control
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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
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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
- B25J9/1679—Programme controls characterised by the tasks executed
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H12/00—Towers; Masts or poles; Chimney stacks; Water-towers; Methods of erecting such structures
- E04H12/34—Arrangements for erecting or lowering towers, masts, poles, chimney stacks, or the like
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Architecture (AREA)
- Chemical & Material Sciences (AREA)
- Transportation (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Combustion & Propulsion (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a variable-caliber power transmission tower installation operation robot which comprises a climbing module, an upper operation module and a lower operation module, wherein the first upper operation module is connected with the second upper operation module through an upper connecting end of the climbing module, the first lower operation module is connected with the second lower operation module through a lower connecting end of the climbing module, and motion axes of the upper operation module and the lower operation module are parallel to each other. Climbing module symmetric distribution realizes synchronous motion at the both ends of work module, and the work module links firmly the climbing module together, and the equal axial of work module is flexible in order to move the outer dimension of adaptation continuously changing transmission tower simultaneously, goes up the different postures of deflecting that the work module is used for correcting hoist and mount tower material, and lower work module realizes linking firmly between hoist and mount tower material and transmission tower. The invention effectively solves the problems of obstacle surmounting and difficult synchronous installation of the existing machine on the power transmission tower in cooperation with climbing, and can realize posture correction, guiding positioning and automatic installation of the hoisting tower material.
Description
Technical Field
The invention relates to the field of power transmission tower facilities, in particular to a variable-caliber power transmission tower installation operation robot.
Background
The conventional method for assembling the power transmission tower comprises an inner suspension holding rod tower assembling mode and a crane tower assembling mode, wherein the inner suspension holding rod tower assembling mode has a series of defects of low construction efficiency, high labor consumption, high construction safety risk, terrain limitation on a construction site, high requirement on a construction environment and the like. At present, in domestic power grid transmission line tower construction work, a construction method that hoisting machinery is matched with overhead workers is generally adopted, and with the rising of salary of the overhead workers and the inevitable safety risk all the time, the craving degree of power grid construction enterprises for mechanical construction is higher and higher.
For example, patent CN112554637A discloses an electric iron tower installation device, in which a clamping sliding component slides on an iron tower frame, so as to drive a lifting platform to lift, and the iron tower component can be lifted by a lifter, thereby avoiding the problem that large-scale hoisting equipment cannot hoist, but cannot automatically install the hoisted iron tower component. Patent CN112551318A discloses a lifting platform of an electric power iron tower installation device, which can control the lifting of the lifting platform after a driving wheel rotates on an iron tower frame, and the invention avoids the danger caused by climbing the iron tower by workers, but still needs manual work to install the power transmission tower.
The existing power transmission tower mounting devices mostly operate by single climbing supporting legs, and the mounting coordination degree is not high; or the lifting platform assists the manual work to install, the automation degree is not high, and the lifting is urgently needed. Therefore, there is a great market demand for developing a robot capable of performing an automated tower-building operation.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a variable-caliber power transmission tower installation operation robot, which is characterized in that a first slide rail in an upper actuator guide rail assembly in an upper working module is connected with a first slide seat in a straightener assembly in a sliding manner; and a second sliding seat in a lower actuator guide rail assembly in the lower working module is connected with a second sliding rail in the lower guide rail assembly in a sliding manner, so that the working module can be adjusted in length according to different power transmission tower bases, and finally, the outer size of the variable-caliber tower crane robot is changed to adapt to the size of the continuously-changed power transmission tower.
The invention provides a variable-caliber power transmission tower installation operation robot which comprises a climbing module, an upper operation module and a lower operation module, wherein the first upper operation module is connected with the second upper operation module through an upper connecting end of the climbing module, the first lower operation module is connected with the second lower operation module through a lower connecting end of the climbing module, and movement axes of the upper operation module and the lower operation module are parallel to each other. The first upper working module comprises a corrector assembly, a corrector guide rail assembly, an upper actuator guide rail assembly, an upper nut positioner and an upper bolt positioner, wherein a first mounting end of a cross slide rail in the corrector assembly is connected with a first end of a first support in the corrector guide rail assembly, the upper nut positioner and the upper bolt positioner are respectively connected with first ends of a second support and a third support in the upper actuator guide rail assembly, and a sliding end of a first slide rail in the upper actuator guide rail assembly is connected with a sliding end of a first slide carriage in the corrector assembly in a sliding manner, so that the upper working module can adjust the length according to different power transmission tower bases. The straightener guide rail component comprises a first connecting rod, a first support, a first moving lead screw, a first moving motor and a first sliding seat, wherein a first mounting end of the first connecting rod is connected with an assembling end of a shell frame, a second mounting end and a third mounting end of the first connecting rod are respectively connected with the first moving lead screw and a mounting end of the first sliding seat, an input end of the first moving lead screw is connected with the first moving motor, and a sliding end of the first moving lead screw is connected with a second end of the first support. The upper actuator guide rail assembly comprises a second movement motor, a second movement screw rod, a second support, a third movement motor, a third movement screw rod, a third support, a first slide rail and a second connecting rod, wherein a first mounting end of the second connecting rod is connected with an assembling end of a shell frame, a second mounting end, a third mounting end and a fourth mounting end of the second connecting rod are respectively connected with mounting ends of the second movement screw rod, the third movement screw rod and the first slide rail, input ends of the second movement screw rod and the third movement screw rod are respectively connected with the second movement motor and the third movement motor, and sliding ends of the second movement screw rod and the third movement screw rod are respectively connected with second ends of the second support and the third support. The first lower working module comprises a lower actuator guide rail assembly, a lower bolt positioner, a bolt screwing assembly, a lower nut positioner and a lower guide rail seat assembly, wherein the first ends of a fourth support and a fifth support in the lower actuator guide rail assembly are respectively connected with the lower bolt positioner and the mounting end of the lower nut positioner, the quick-change end of the lower bolt positioner is connected with a right quick-change device in the bolt screwing assembly, and the sliding end of a second sliding seat in the lower actuator guide rail assembly is connected with the sliding end of a second sliding rail in the lower guide rail seat assembly in a sliding manner, so that the lower working module can be adjusted in length according to different power transmission tower bases.
Preferably, the climbing module, the upper working module and the lower working module are four in number, the upper working module sequentially passes through the upper connecting end of the climbing module to form an upper frame of the tower crane robot, and the lower working module sequentially passes through the lower connecting end of the climbing module to form a lower frame of the tower crane robot.
Preferably, the climbing module comprises a housing frame, a vision sensor and a climbing assembly, wherein the first mounting end, the second mounting end and the third mounting end of the housing frame are respectively connected with a housing of a climbing motor in the climbing assembly, a housing of a regulating motor and the vision sensor; the climbing assembly comprises a climbing motor, a guide rail wheel, an adjusting motor, a lead screw, a sliding block, an electric push rod, an adjusting rod and an encircling arm, wherein the climbing motor is connected with the guide rail wheel through a bevel gear set, the output end of the adjusting motor is connected with the input end of the lead screw through a belt gear set, the sliding end of the lead screw is connected with the sliding end of the sliding block, the mounting end of the sliding block is connected with the first mounting end of the encircling arm, and the output end of the electric push rod is connected with the second mounting end of the encircling arm through the adjusting rod.
Preferably, the vision sensor and the climbing assembly are symmetrically distributed on two sides of the shell frame, and the number of the vision sensor and the number of the climbing assembly are two; the number of the encircling arms is two, and the encircling arms are symmetrically distributed on two sides of the sliding block.
Preferably, the corrector component comprises a cross slide rail, a clamping jaw connecting rod, a clamping jaw and an opening and closing motor, wherein a second mounting end of the cross slide rail is connected with a first mounting end of the clamping jaw connecting rod, a second mounting end of the clamping jaw connecting rod is connected with a mounting end of the clamping jaw, and an output end of the opening and closing motor is connected with an input end of the clamping jaw.
Preferably, the lower actuator guide rail assembly includes a fourth moving motor, a fourth moving screw, a fourth support, a fifth moving motor, a fifth moving screw, a fifth support, a second slide, and a third connecting rod, a first mounting end of the third connecting rod is connected to an assembling end of the housing frame, a second mounting end, a third mounting end, and a fourth mounting end of the third connecting rod are respectively connected to mounting ends of the fourth moving screw, the fifth moving screw, and the second slide, input ends of the fourth moving screw and the fifth moving screw are respectively connected to the fourth moving motor and the fifth moving motor, and sliding ends of the fourth moving screw and the fifth moving screw are respectively connected to second ends of the fourth support and the fifth support.
Preferably, the bolt tightening assembly comprises a left quick-change device, a bolt tightening device, a right quick-change device and a U-shaped seat, wherein a mounting end of the bolt tightening device is connected with a middle mounting end of the U-shaped seat, and mounting ends of the left quick-change device and the right quick-change device are respectively connected with a left mounting end and a right mounting end of the U-shaped seat; the lower guide rail seat assembly comprises a second slide rail and a fourth connecting rod, a first mounting end of the fourth connecting rod is connected with an assembling end of the shell frame, and a first mounting end of the fourth connecting rod is connected with a mounting end of the second slide rail.
Compared with the prior art, the invention has the following advantages:
1. the climbing modules are respectively arranged at four vertex angles of the working robot, and climbing and obstacle surmounting of the working robot on the power transmission tower are realized through alternate matching and cooperative movement of the climbing components symmetrically distributed on the upper side and the lower side of the climbing modules, so that the working robot has higher bearing capacity and safety and reliability.
2. According to the invention, the working modules are matched with each other through the linear guide rail to form a sliding pair with a telescopic function, so that the working modules can be stretched in the axial direction, the overall external dimension of the working robot is changed, and the working robot is integrally adaptive to the size of the continuously-changed power transmission tower.
3. The lifting tower material guiding and positioning device is divided into a first working module and a second working module, and meanwhile, according to different deflection angles of the lifting tower material compared with a power transmission tower base, the corrector assemblies positioned on the first upper working module and the second upper working module can correct the lifting tower material according to the working positions, so that the lifting tower material guiding and positioning are carried out.
4. According to the upper working module on the upper frame and the lower working module on the lower frame, two adjacent working modules are matched with each other to complete the bolt fixing connection between the single-side hoisting tower material and the power transmission tower base, and all the working modules work cooperatively to realize the synchronous installation of the hoisting tower material.
Drawings
Fig. 1 is an overall structural view of a variable-caliber power transmission tower installation operation robot of the present invention;
fig. 2 is a structural diagram of a climbing module in the variable-caliber power transmission tower installation operation robot of the present invention;
fig. 3 is a structural view of a climbing module in the variable-caliber power transmission tower installation work robot of the present invention;
fig. 4 is a structural view of a first upper working module in the variable-caliber transmission tower mounting operation robot of the present invention;
fig. 5 is a block diagram of a corrector assembly in the variable-caliber transmission tower installation work robot of the present invention;
fig. 6 is a block diagram of the straightener rail assembly in the variable caliber transmission tower installation work robot of the present invention;
fig. 7 is a block diagram of an upper actuator rail assembly in a variable aperture transmission tower mounting operation robot in accordance with the present invention;
fig. 8 is a structural view of a first lower working module in the variable-caliber transmission tower installation working robot of the present invention;
fig. 9 is a structural view of a lower actuator rail assembly in the variable-caliber transmission tower mounting operation robot according to the present invention;
fig. 10 is a structural view of a bolt tightening assembly in the variable-caliber power transmission tower installation work robot of the present invention;
fig. 11 is a structural view of a middle and lower rail housing assembly in the variable-diameter transmission tower mounting operation robot of the present invention;
fig. 12 is a schematic view of a variable-diameter transmission tower mounted operation robot of the present invention climbing on a transmission tower.
The main reference numbers:
climbing module 1, housing frame 11, vision sensor 12, climbing assembly 13, climbing motor 131, rail wheel 132, adjustment motor 133, lead screw 134, slider 135, electric push rod 136, adjustment rod 137, encircling arm 138, first upper working module 2, orthosis assembly 21, cross slide 211, jaw connecting rod 212, jaw 213, opening and closing motor 214, orthosis guide rail assembly 22, first connecting rod 221, first support 222, first movement lead screw 223, first movement motor 224, first slide 225, upper actuator guide rail assembly 23, second movement motor 231, second movement lead screw 232, second support 233, third movement motor 234, third movement lead screw 235, third support 236, first slide 237, second connecting rod 238, upper nut positioner 24, upper bolt positioner 25, first lower working module 3, lower guide rail actuator assembly 31, fourth movement motor 311, a fourth moving screw 312, a fourth support 313, a fifth moving motor 314, a fifth moving screw 315, a fifth support 316, a second slide 317, a third connecting rod 318, a lower bolt positioner 32, a bolt tightening assembly 33, a left quick-change device 331, a bolt tightening device 332, a right quick-change device 333, a U-shaped seat 334, a lower nut positioner 34, a lower rail seat assembly 35, a second slide rail 351, a fourth connecting rod 352, a second lower working module 4, a second upper working module 5, a power transmission tower base 6 and a hoisting tower 7.
Detailed Description
The technical contents, structural features, attained objects and effects of the present invention are explained in detail below with reference to the accompanying drawings.
Variable-caliber power transmission tower installation operation robot, as shown in figure 1, comprises a climbing module 1, an upper working module and a lower working module, wherein a first upper working module 2 is connected with a second upper working module 4 through an upper connecting end of the climbing module 1, a first lower working module 3 is connected with a second lower working module 5 through a lower connecting end of the climbing module 1, and movement axes of the upper working module and the lower working module are parallel to each other.
Specifically, as shown in fig. 1, the number of the climbing modules 1, the number of the upper working modules and the number of the lower working modules are four, the upper working modules sequentially pass through the upper connecting ends of the climbing modules to form an upper frame of the tower crane robot, and the lower working modules sequentially pass through the lower connecting ends of the climbing modules to form a lower frame of the tower crane robot.
The climbing module 1, as shown in fig. 2 and 3, includes a housing frame 11, a vision sensor 12, and a climbing assembly 13, wherein a first mounting end, a second mounting end, and a third mounting end of the housing frame 11 are respectively connected to a housing of a climbing motor 131, a housing of a regulating motor 133, and the vision sensor 12 in the climbing assembly 13.
The climbing assembly 13, as shown in fig. 3, includes a climbing motor 131, a rail wheel 132, an adjusting motor 133, a lead screw 134, a slider 135, an electric push rod 136, an adjusting rod 137, and an encircling arm 138, where the encircling arm 138 encircles the tower angle iron, the climbing motor 131 drives the climbing rail wheel 132 to move through a gear, and the climbing rail wheel 132 directly contacts with the tower angle iron.
Preferably, the vision sensors 12 and the climbing assemblies 13 are symmetrically distributed on two sides of the shell frame 11, and the number of the vision sensors 12 and the climbing assemblies 13 is two; the number of the encircling arms 138 is two, and the encircling arms 138 are symmetrically distributed on two sides of the sliding block 135. Specifically, the embracing arm 138 is composed of a roller, a plurality of connecting rods and a plurality of sliders, a connecting rod mechanism of the embracing arm 138 has two degrees of freedom, and due to the limitation of the U-shaped groove of the guide rail wheel 132, the embracing arm 138 cannot be directly opened under the condition of contacting with tower angle iron and must be firstly extended to separate from the tower, so that the regulating motor 133 controls the extending of the embracing arm 138 to separate from the tower angle iron, and the electric push rod 136 controls the embracing arm 138 to be opened to avoid collision with an upper obstacle.
The first upper operating module 2, as shown in fig. 4 to 7, includes an aligner assembly 21, an aligner rail assembly 22, an upper actuator rail assembly 23, an upper nut positioner 24, and an upper bolt positioner 25, where the upper actuator rail assembly 23 has two screws distributed in parallel and driven by two motors independently. The first mounting end of the cross slide rail 211 in the corrector assembly 21 is connected to the first end of the first support 222 in the corrector rail assembly 22, the upper nut positioner 24 and the upper bolt positioner 25 are connected to the first ends of the second support 233 and the third support 236 in the upper actuator rail assembly 23, respectively, and the sliding end of the first slide rail 237 in the upper actuator rail assembly 23 is slidably connected to the sliding end of the first slide 225 in the corrector assembly 22, thereby enabling the upper operating module to be adjusted in length for different power transmission tower bases.
Specifically, the mounting axis of the tower straightener 21 is perpendicular to the movement axis of the straightener fixed rail 22, the mounting axis of the upper nut positioner 24 is perpendicular to the movement axis of the second movement screw 232 in the upper actuator fixed rail 23, and the mounting axis of the upper bolt positioner 25 is perpendicular to the movement axis of the third movement screw 235 in the upper actuator fixed rail 23.
The corrector assembly 21, as shown in fig. 5, includes a cross slide rail 211, a jaw connecting rod 212, two jaws 213 and an opening and closing motor 214, the two jaws 213 are symmetrically located at the second mounting end of the jaw connecting rod 212, and the opening and closing motor 214 is located at the outer side of the jaws 213. The second mounting end of the cross slide rail 211 is connected with the first mounting end of the clamping jaw connecting rod 212, the second mounting end of the clamping jaw connecting rod 212 is connected with the mounting end of the clamping jaw 213, and the output end of the opening and closing motor 214 is connected with the input end of the clamping jaw 213.
The corrector rail assembly 22, as shown in fig. 6, includes a first connecting rod 221, a first support 222, a first moving screw 223, a first moving motor 224 and a first slide 225, a first mounting end of the first connecting rod 221 is connected with an assembling end of the housing frame 11, a second mounting end and a third mounting end of the first connecting rod 221 are respectively connected with mounting ends of the first moving screw 223 and the first slide 225, an input end of the first moving screw 223 is connected with the first moving motor 224, and a sliding end of the first moving screw 223 is connected with a second end of the first support 222.
As shown in fig. 7, the upper actuator guide rail assembly 23 includes a second movement motor 231, a second movement screw 232, a second support 233, a third movement motor 234, a third movement screw 235, a third support 236, a first slide 237 and a second connection rod 238, wherein a first mounting end of the second connection rod 238 is connected to the assembling end of the housing frame 11, a second mounting end, a third mounting end and a fourth mounting end of the second connection rod 238 are respectively connected to the mounting ends of the second movement screw 232, the third movement screw 235 and the first slide 237, input ends of the second movement screw 232 and the third movement screw 235 are respectively connected to the second movement motor 231 and the third movement motor 234, and sliding ends of the second movement screw 232 and the third movement screw 235 are respectively connected to second ends of the second support 233 and the third support 236.
Specifically, the first motion motor 224 drives the first motion screw 223 to rotate, so that the first support 222 moves axially, and the first slide seat 225 and the first slide rail 237 are matched to enable the first upper working module 2 to extend and retract axially, so that the integral aperture change is completed. The second moving motor 231 rotates the second moving screw 232 to axially move the second support 233, and the third moving motor 234 rotates the third moving screw 235 to axially move the third support 236.
The first lower operating module 3, as shown in fig. 8 to 11, includes a lower actuator rail assembly 31, a lower bolt positioner 32, a bolt tightening assembly 33, a lower nut positioner 34, and a lower rail seat assembly 35, where the lower actuator rail assembly 31 has two screws distributed in parallel and is driven by two motors independently. The first ends of the fourth seat 313 and the fifth seat 316 in the lower actuator guide rail assembly 31 are respectively connected with the mounting ends of the lower bolt positioner 32 and the lower nut positioner 34, the quick-change end of the lower bolt positioner 32 is connected with the right quick-change device 333 in the bolt tightening assembly 33, the left quick-change device 331 in the bolt tightening assembly 33 is empty, the bolt tightening assembly 33 is moved to the vicinity of the upper bolt positioner 25 along with the lower bolt positioner 32 after completing the bolt tightening on one side of the lower bolt positioner 32, the left quick-change device 331 is connected with the upper bolt positioner 25, then the right quick-change device 333 is disconnected with the lower bolt positioner 32, the right quick-change device 333 in the bolt tightening assembly 33 is empty, the transfer of the bolt tightening assembly 33 is realized, the bolt tightening assembly 33 moves along with the upper bolt positioner 25 to realize the tightening of the bolt on one side of the upper bolt positioner 25, thereby effecting alternating movement of the bolt tightening assembly 33 between the upper bolt locator 25 and the lower bolt locator 32. The sliding end of second carriage 317 in lower actuator rail assembly 31 is slidably coupled to the sliding end of second rail 351 in lower rail mount assembly 35 to enable the lower operating module to be adjusted in length for different transmission tower bases.
Specifically, the mounting axis of the lower nut positioner 34 is perpendicular to the movement axis of the fifth movement screw 315 in the lower actuator rail assembly 31, and the mounting axis of the lower bolt positioner 32 is perpendicular to the movement axis of the fourth movement screw 312 in the lower actuator fixed rail assembly 31.
As shown in fig. 9, the lower actuator guide rail assembly 31 includes a fourth moving motor 311, a fourth moving screw 312, a fourth support 313, a fifth moving motor 314, a fifth moving screw 315, a fifth support 316, a second slide 317, and a third connecting rod 318, wherein a first mounting end of the third connecting rod 318 is connected to an assembling end of the housing frame 11, a second mounting end, a third mounting end, and a fourth mounting end of the third connecting rod 318 are connected to mounting ends of the fourth moving screw 312, the fifth moving screw 315, and the second slide 317, input ends of the fourth moving screw 312 and the fifth moving screw 315 are connected to the fourth moving motor 311 and the fifth moving motor 314, and sliding ends of the fourth moving screw 312 and the fifth moving screw 315 are connected to second ends of the fourth support 313 and the fifth support 316, respectively.
The bolt tightening assembly 33, as shown in fig. 10, includes a left quick-change device 331, a bolt tightener 332, a right quick-change device 333 and a U-shaped seat 334, wherein a mounting end of the bolt tightener 332 is connected with a middle mounting end of the U-shaped seat 334, and mounting ends of the left quick-change device 331 and the right quick-change device 333 are respectively connected with a left mounting end and a right mounting end of the U-shaped seat 334.
The lower rail mount assembly 35, as shown in fig. 11, includes a second slide rail 351 and a fourth connecting rod 352, a first mounting end of the fourth connecting rod 352 is connected to the assembling end of the housing frame 11, and a first mounting end of the fourth connecting rod 352 is connected to the mounting end of the second slide rail 351.
Preferably, the fourth motion motor 311 drives the fourth motion screw 312 to rotate, so that the fourth support 313 moves axially, the fifth motion motor 314 drives the fifth motion screw 315 to rotate, so that the fifth support 316 moves axially, and the second sliding base 317 and the second sliding rail 351 are matched to enable the first lower working module 3 to extend and retract axially, so as to complete the integral aperture change.
The following describes a variable-diameter transmission tower installation operation robot according to the present invention with reference to the following embodiments:
the specific working steps of the robot for mounting the power transmission tower are as follows:
as shown in fig. 12, initially, the whole power transmission tower installation operation robot is installed on the power transmission tower base 6, wherein the climbing motors 131 in the climbing assemblies 13 in the climbing modules 1 distributed at four corners of the power transmission tower installation operation robot drive the guide rail wheels 132 to rotate to provide upward power for the whole machine, and the visual sensor 12 acquires obstacle information on the power transmission tower base 6.
When the robot for installing the power transmission tower encounters an obstacle to be crossed, the adjusting motor 133 in the climbing assembly 13 positioned above drives the screw rod 134 to rotate through belt transmission, the screw rod 134 rotates to drive the sliding seat 135 to move, the sliding seat 135 is connected with the encircling arm 138 through a hinge, meanwhile, the electric push rod 136 pushes the adjusting rod 137 to move, the adjusting rod 137 is connected with the upper and lower encircling arms 138 through a hinge, the encircling arms 138 are separated from the angle iron on the power transmission tower base 6 through the cooperative motion of the sliding base 135 and the adjusting rod 137, and the rear guide rail wheel 132 moves to drive the power transmission tower installation operation robot to move upwards to realize that the ascending component 13 strides across the obstacle, the ascending component 13 at the upper end of the climbing module 1 strides across the obstacle and then the encircling arm 138 clamps and embraces the angle iron on the power transmission tower base 6 again, and the ascending components 13 at the upper end and the lower end of the climbing module 1 are separated from the angle iron on the power transmission tower base 6 alternately to realize that the power transmission tower installation operation robot strides across the obstacle integrally.
When the transmission tower is required to move on the transmission tower after the operation robot installed on the transmission tower passes through an obstacle, the ever-changing overall dimension of the transmission tower is adapted through the axial expansion and contraction of the components through the guide rail moving pairs among the straightener guide rail component 22, the upper actuator guide rail component 23, the lower actuator guide rail component 31 and the lower guide rail component 35.
After the power transmission tower installation operation robot runs to a power transmission tower designated position, due to the fact that a certain angle deviation exists between a hoisting tower material 7 and a power transmission tower base 6, if a related sensor detects that the deflection angle of the hoisting tower material 7 and a first upper working module 2 is smaller, the first upper working module 2 and a corrector component 21 on the upper working module on the corresponding side start to work, a clamping jaw 213 is connected with a cross-shaped sliding rail 211 through a clamping jaw connecting rod 212, the cross-shaped sliding rail 211 moves forwards and backwards to drive the clamping jaw 213 to move to a proper position, an opening and closing motor 214 controls the clamping jaw 213 to open and close on two sides of the hoisting tower material 7 and clamp the hoisting tower material 7, the position of the hoisting tower material 7 is righted to be flush with the power transmission tower base 6 through the transverse movement of the corrector component 21 on a corrector guide rail component 22, and guiding and positioning are achieved; if the related sensors detect that the deflection angle between the hoisting tower material 7 and the second upper working module 5 is smaller, the second upper working module 5 and the straightener component 21 on the upper working module on the corresponding side start to work, the clamping jaw 213 is connected with the cross sliding rail 211 through the clamping jaw connecting rod 212, the cross sliding rail 211 moves back and forth to drive the clamping jaw 213 to move to a proper position, the opening and closing motor 214 controls the clamping jaw 213 to open and close at two sides of the hoisting tower material 7 and clamp the hoisting tower material 7, the position of the hoisting tower material 7 is righted to be flush with the power transmission tower base 6 through the transverse movement of the straightener component 21 on the straightener guide rail component 22, and guiding and positioning are realized.
After the hoisting tower material 7 is flush with the power transmission tower base 6, the hoisting tower material 7 is lowered to a proper position, the upper climbing assemblies 13 of the four climbing modules 1 clamp the hoisting tower material 7 together, and the bolt mounting hole positions on the hoisting tower material 7 and the power transmission tower base 6 are aligned.
And the upper working module positioned on the upper frame of the power transmission tower installation working robot and the lower working module positioned on the lower frame work simultaneously to finish the fixed connection between the hoisting tower material 7 and the power transmission tower base 6.
The lower bolt positioner 32 moves transversely on the lower actuator guide rail assembly 31, the upper nut positioner 24 moves transversely on the upper actuator guide rail assembly 23, the bolt tightening assembly 33 is assembled on the lower bolt positioner 32 through the right quick-change device 333, the lower bolt positioner 32 and the upper nut positioner 24 move to the bolt mounting hole position through matching, and the bolt tightener 332 in the bolt tightening assembly 33 works to realize bolt fixing connection between the single-side hoisting tower material 7 and the power transmission tower base 6.
After completing the unilateral connection between the hoisting tower material 7 and the power transmission tower base 6, the lower bolt positioner 32 transports the bolt tightening assembly 33 to the upper bolt positioner 25, the bolt tightening assembly 33 is connected with the upper bolt positioner 25 through the left quick-change device 331, meanwhile, the bolt tightening assembly 33 is disconnected from the lower bolt positioner 32 through the right quick-change device 333 to achieve delivery of the bolt tightening assembly 33, then, the upper bolt positioner 25 and the lower nut positioner 34 are matched and moved to the position in the bolt mounting hole on the other side between the hoisting tower material 7 and the power transmission tower base 6, and the bolt tightener 332 in the bolt tightening assembly 33 works to complete the bolt fixing connection on the other side between the hoisting tower material 7 and the power transmission tower base 6.
And after the first-layer tower material of the power transmission tower is installed, the power transmission tower installation operation robot continues to climb to finish the installation of the next-level tower material.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.
Claims (7)
1. A variable-caliber power transmission tower installation operation robot comprises a climbing module, an upper working module and a lower working module, wherein the first upper working module is connected with the second upper working module through an upper connecting end of the climbing module, the first lower working module is connected with the second lower working module through a lower connecting end of the climbing module, movement axes of the upper working module and the lower working module are parallel to each other,
the first upper working module comprises a corrector assembly, a corrector guide rail assembly, an upper actuator guide rail assembly, an upper nut positioner and an upper bolt positioner, wherein a first mounting end of a cross slide rail in the corrector assembly is connected with a first end of a first support in the corrector guide rail assembly, the upper nut positioner and the upper bolt positioner are respectively connected with first ends of a second support and a third support in the upper actuator guide rail assembly, and a sliding end of a first slide rail in the upper actuator guide rail assembly is slidably connected with a sliding end of a first slide carriage in the corrector assembly, so that the upper working module can be adjusted in length according to different power transmission tower bases;
the straightener guide rail assembly comprises a first connecting rod, a first support, a first moving lead screw, a first moving motor and a first sliding seat, wherein a first mounting end of the first connecting rod is connected with an assembling end of a shell frame, a second mounting end and a third mounting end of the first connecting rod are respectively connected with a mounting end of the first moving lead screw and a mounting end of the first sliding seat, an input end of the first moving lead screw is connected with the first moving motor, and a sliding end of the first moving lead screw is connected with a second end of the first support;
the upper actuator guide rail assembly comprises a second movement motor, a second movement screw rod, a second support, a third movement motor, a third movement screw rod, a third support, a first slide rail and a second connecting rod, wherein a first mounting end of the second connecting rod is connected with an assembling end of a shell frame, a second mounting end, a third mounting end and a fourth mounting end of the second connecting rod are respectively connected with mounting ends of the second movement screw rod, the third movement screw rod and the first slide rail, input ends of the second movement screw rod and the third movement screw rod are respectively connected with the second movement motor and the third movement motor, and sliding ends of the second movement screw rod and the third movement screw rod are respectively connected with second ends of the second support and the third support;
the first lower working module comprises a lower actuator guide rail assembly, a lower bolt positioner, a bolt screwing assembly, a lower nut positioner and a lower guide rail seat assembly, wherein the first ends of a fourth support and a fifth support in the lower actuator guide rail assembly are respectively connected with the lower bolt positioner and the mounting end of the lower nut positioner, the quick-change end of the lower bolt positioner is connected with a right quick-change device in the bolt screwing assembly, and the sliding end of a second sliding seat in the lower actuator guide rail assembly is connected with the sliding end of a second sliding rail in the lower guide rail seat assembly in a sliding manner, so that the lower working module can be adjusted in length according to different power transmission tower bases.
2. The variable-caliber power transmission tower installation operation robot according to claim 1, wherein the number of the climbing modules, the number of the upper working modules and the number of the lower working modules are four, the upper working modules sequentially pass through upper connecting ends of the climbing modules to form an upper frame of the tower crane robot, and the lower working modules sequentially pass through lower connecting ends of the climbing modules to form a lower frame of the tower crane robot.
3. The variable-caliber power transmission tower mounting operation robot according to claim 1, wherein the climbing module comprises a housing frame, a vision sensor and a climbing assembly, and the first mounting end, the second mounting end and the third mounting end of the housing frame are respectively connected with a housing of the climbing motor, a housing of the adjustment motor and the vision sensor in the climbing assembly; the climbing assembly comprises a climbing motor, a guide rail wheel, an adjusting motor, a lead screw, a sliding block, an electric push rod, an adjusting rod and an encircling arm, wherein the climbing motor is connected with the guide rail wheel through a bevel gear set, the output end of the adjusting motor is connected with the input end of the lead screw through a belt gear set, the sliding end of the lead screw is connected with the sliding end of the sliding block, the mounting end of the sliding block is connected with the first mounting end of the encircling arm, and the output end of the electric push rod is connected with the second mounting end of the encircling arm through the adjusting rod.
4. The variable-caliber transmission tower mounting operation robot according to claim 1 or 3, wherein the vision sensor and the climbing assembly are symmetrically distributed on both sides of the casing frame, and the number of the vision sensor and the climbing assembly is two; the number of the encircling arms is two, and the encircling arms are symmetrically distributed on two sides of the sliding block.
5. The variable-caliber power transmission tower mounting operation robot according to claim 1, wherein the corrector assembly comprises a cross slide, a jaw connecting rod, a jaw, and an opening and closing motor, wherein a second mounting end of the cross slide is connected with a first mounting end of the jaw connecting rod, a second mounting end of the jaw connecting rod is connected with a mounting end of the jaw, and an output end of the opening and closing motor is connected with an input end of the jaw.
6. The variable aperture transmission tower installation work robot of claim 1 wherein said lower actuator rail assembly, which comprises a fourth motion motor, a fourth motion screw rod, a fourth support, a fifth motion motor, a fifth motion screw rod, a fifth support, a second sliding seat and a third connecting rod, the first mounting end of the third connecting rod is connected with the assembling end of the shell frame, the second mounting end, the third mounting end and the fourth mounting end of the third connecting rod are respectively connected with the fourth moving screw rod, the fifth moving screw rod and the mounting end of the second sliding seat, the input ends of the fourth motion screw rod and the fifth motion screw rod are respectively connected with the fourth motion motor and the fifth motion motor, and the sliding ends of the fourth motion screw rod and the fifth motion screw rod are respectively connected with the second ends of the fourth support and the fifth support.
7. The variable-caliber power transmission tower mounting operation robot according to claim 1, wherein the bolt tightening assembly comprises a left quick-change device, a bolt tightener, a right quick-change device and a clevis, a mounting end of the bolt tightener is connected with a middle mounting end of the clevis, and mounting ends of the left quick-change device and the right quick-change device are respectively connected with a left mounting end and a right mounting end of the clevis; the lower guide rail seat assembly comprises a second slide rail and a fourth connecting rod, a first mounting end of the fourth connecting rod is connected with an assembling end of the shell frame, and a first mounting end of the fourth connecting rod is connected with a mounting end of the second slide rail.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210593609.9A CN114833847A (en) | 2022-05-27 | 2022-05-27 | Variable-caliber power transmission tower installation operation robot |
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| CN202210593609.9A CN114833847A (en) | 2022-05-27 | 2022-05-27 | Variable-caliber power transmission tower installation operation robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116176724A (en) * | 2023-04-24 | 2023-05-30 | 江苏万防风电科技有限公司 | Pull arm type climbing robot for outer wall operation of large wind power tower |
| CN117842227A (en) * | 2024-03-08 | 2024-04-09 | 西安热工研究院有限公司 | Water-cooled wall climbing operation robot |
| CN117927428A (en) * | 2024-03-21 | 2024-04-26 | 山西禄泽重工科技有限公司 | Offshore wind driven generator mounting structure |
-
2022
- 2022-05-27 CN CN202210593609.9A patent/CN114833847A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116176724A (en) * | 2023-04-24 | 2023-05-30 | 江苏万防风电科技有限公司 | Pull arm type climbing robot for outer wall operation of large wind power tower |
| CN116176724B (en) * | 2023-04-24 | 2023-08-25 | 江苏万防风电科技有限公司 | Pull arm type climbing robot for outer wall operation of large wind power tower |
| CN117842227A (en) * | 2024-03-08 | 2024-04-09 | 西安热工研究院有限公司 | Water-cooled wall climbing operation robot |
| CN117927428A (en) * | 2024-03-21 | 2024-04-26 | 山西禄泽重工科技有限公司 | Offshore wind driven generator mounting structure |
| CN117927428B (en) * | 2024-03-21 | 2024-05-28 | 山西禄泽重工科技有限公司 | Offshore wind driven generator mounting structure |
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