CN115158505A - Climbing robot for climbing lightning arrester tower - Google Patents
Climbing robot for climbing lightning arrester tower Download PDFInfo
- Publication number
- CN115158505A CN115158505A CN202210728635.8A CN202210728635A CN115158505A CN 115158505 A CN115158505 A CN 115158505A CN 202210728635 A CN202210728635 A CN 202210728635A CN 115158505 A CN115158505 A CN 115158505A
- Authority
- CN
- China
- Prior art keywords
- climbing
- motor
- wheel
- driving
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000009194 climbing Effects 0.000 title claims abstract description 88
- 230000005540 biological transmission Effects 0.000 claims description 18
- 230000004888 barrier function Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 208000025274 Lightning injury Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The climbing robot is used for climbing the lightning arrester tower and comprises an upper driving module, a lower driving module and a connecting arm, wherein the connecting arm is used for controlling the upper driving module and the lower driving module to move along the radial direction of the lightning arrester tower, the upper driving module is provided with a first climbing assembly and a steering assembly, the lower driving module is provided with a second climbing assembly, the first climbing assembly and the second climbing assembly respectively comprise a first clamp and a first clamping motor, the end part of the first clamp is provided with a longitudinal wheel set used for climbing the lightning arrester tower, the steering assembly comprises a second clamp and a second clamping motor, the end part of the second clamp is provided with a transverse wheel set used for moving along the circumferential direction of the lightning arrester tower, and the first climbing assembly, the second climbing assembly and the steering assembly are respectively provided with a pressure sensor.
Description
[ technical field ] A method for producing a semiconductor device
The invention discloses a climbing robot for climbing an arrester tower, and belongs to the technical field of climbing robots.
[ background of the invention ]
The transformer substation is used as an important node of a power grid, plays an important role in guaranteeing the power utilization requirement of the whole society, and has a great safety and stability operation relation. With the continuous increase of the scale of the transformer substation, the voltage grade is continuously improved, and the height of the transformer framework serving as an important component on a transmission belt of a power system of the transformer substation is also continuously improved. In order to avoid the lightning stroke phenomenon, a high-rise independent lightning rod is often built in a transformer substation in engineering application, or the lightning rod is installed on a transformer substation framework, so that the lightning is led into the ground to protect the safety of equipment. The common lightning rod structure is usually thin and long, belongs to a typical high-rise structure, and therefore overhaul personnel and conventional overhaul appliances cannot reach the common lightning rod structure, the common lightning rod structure is generally in a failed overhaul state after being put into operation, the corrosion and water accumulation conditions are more, accidents such as inclination and fracture can occur when the common lightning rod structure meets the extreme weather condition, and the hidden danger of influencing the safety influence of a power grid exists.
At present, operation and maintenance units at home and abroad mainly adopt a power failure mode to overcome the defects of corrosion, thinning, aging or falling, water accumulation and the like of lightning rods at the present stage, and need a large crane or an overhead working truck for assistance, so that the operation and maintenance unit is limited by the influence of a space structure of a transformer substation, is difficult to implement under most conditions, and has a large operation safety risk.
[ summary of the invention ]
The technical problem to be solved by the invention is to provide a climbing robot for climbing an arrester tower, wherein the climbing robot can complete climbing of the arrester tower.
The technical scheme adopted by the invention is as follows:
the utility model provides a climbing robot for climbing arrester tower, climbing robot is used for climbing the arrester tower, includes drive module, lower drive module and linking arm, the linking arm is used for control go up drive module and drive module edge down arrester tower radial movement, it is equipped with first climbing subassembly and turns to the subassembly to go up drive module, drive module is equipped with the second and scrambles the subassembly down, first climbing subassembly and second scramble the subassembly and all include first anchor clamps and first centre gripping motor, first anchor clamps tip is equipped with and is used for climbing the vertical wheelset of arrester tower, vertical wheelset includes first connecting seat, vertical motor and vertical gyro wheel, first connecting seat with first anchor clamps are connected, vertical gyro wheel rotates to be installed on the first connecting seat, vertical motor control vertical gyro wheel rotates, vertical gyro wheel surface is equipped with V type recess, it includes second anchor clamps and second centre gripping motor to turn to the subassembly, second anchor clamps tip is equipped with and is used for following the horizontal wheelset that the arrester tower removed, horizontal wheelset includes second connecting seat, horizontal motor and horizontal gyro wheel, second gyro wheel rotate the subassembly and horizontal rotation pressure sensor on the second motor rotates the pressure sensor assembly.
The beneficial effects of the invention are as follows:
the lightning arrester climbing device comprises a first climbing assembly and a second climbing assembly, wherein the first climbing assembly and the second climbing assembly respectively comprise a first clamp and a first clamping motor, a longitudinal wheel group used for climbing the lightning arrester tower is arranged at the end part of the first clamp, the first clamping motor controls the first clamp to clamp the lightning arrester tower, and then the longitudinal wheel group drives the lightning arrester climbing device to climb along the axial direction of the lightning arrester tower.
In addition, the upper driving module is provided with a steering assembly, the steering assembly comprises a second clamp and a second clamping motor, a transverse wheel set is arranged at the end part of the steering assembly, when the lightning arrester climbing device encounters an obstacle in the climbing process, the transverse wheel set is started to enable the transverse wheel set to move along the circumferential direction of the lightning arrester tower, so that the lightning arrester climbing device can rotate on the lightning arrester tower, and the obstacle on the lightning arrester tower can be avoided by rotating along the circumferential direction of the lightning arrester tower.
When an obstacle which cannot be avoided is encountered in the climbing process, the connecting arm controls the upper driving module to be separated from the lightning arrester tower, the second climbing component of the lower driving module climbs, after the upper driving module crosses the obstacle, the connecting arm controls the upper driving module to hold the electric pole tightly, then the connecting arm controls the lower driving module to be separated from the lightning arrester tower, the upper driving module climbs until the lower driving module crosses the obstacle, and the upper driving module and the lower driving module are controlled by the connecting arm, so that the upper driving module and the lower driving module can cross the obstacle, the climbing of the invention is prevented from being influenced by the obstacle, and the application range of the invention is expanded.
Preferably, the first clamp comprises a fixed seat and two clamping arms, the fixed seat is connected with the connecting arm, the two clamping arms are respectively connected with two ends of the fixed seat in a rotating mode, a transmission part used for controlling the opening and closing of the clamping arms is arranged on the fixed seat, the transmission part is in transmission connection with the first clamping motor, and the second clamp is the same as the first clamp in structure.
Preferably, the transmission part comprises a screw and a movable plate, a first gear is arranged at the end of the screw, the first gear is in transmission connection with the output end of the first clamping motor, the screw is in threaded connection with the movable plate, connecting rods are hinged to two ends of the movable plate, and the connecting rods are rotationally connected with the clamping arms.
As preferred, go up the drive module with be equipped with the connecting plate between the linking arm, first climbing subassembly is installed with the subassembly that turns to on the connecting plate, it is equipped with two second anchor clamps to turn to the subassembly, first anchor clamps are in between two second anchor clamps, the screw rod tip of second anchor clamps is equipped with first drive wheel, the cover is equipped with first drive belt on the first drive wheel.
Preferably, the longitudinal roller comprises a longitudinal driving wheel and a longitudinal driven wheel, the longitudinal driving wheel is in transmission connection with the longitudinal motor, the longitudinal driving wheel and the longitudinal driven wheel are respectively provided with a second driving wheel, and a second transmission belt is sleeved between the two second driving wheels.
Preferably, a rotating shaft is arranged between the transverse roller and the second connecting seat, the transverse roller comprises a transverse driving wheel and a transverse driven wheel, an output shaft of the transverse motor is connected with the rotating shaft of the transverse driving wheel, third driving wheels are arranged on the transverse driving wheel and the transverse driven wheel, and a third driving belt is sleeved between the two third driving wheels.
Preferably, the connecting arm comprises an upper supporting arm and a lower supporting arm, the upper supporting arm is rotatably connected with the lower supporting arm, an upper connector connected with the upper driving module is arranged at the end part of the upper supporting arm, and a lower connector connected with the lower driving module is arranged at the end part of the lower supporting arm.
Preferably, a driving gear and a driving motor are arranged at the joint of the upper support arm and the lower support arm, the upper support arm is provided with an upper rotating motor for controlling the rotation of the upper connector, and the lower support arm is provided with a lower rotating motor for controlling the rotation of the lower connector.
Other features and advantages of the present invention will be disclosed in more detail in the following detailed description of the invention and the accompanying drawings.
[ description of the drawings ]
The invention is further described below with reference to the accompanying drawings:
fig. 1 is a schematic structural view of an embodiment of the present invention mounted on a lightning arrester tower;
FIG. 2 is a schematic structural diagram of an embodiment of the present invention;
FIG. 3 is a schematic structural view of a second climbing assembly in an embodiment of the present disclosure;
FIG. 4 is a schematic structural diagram of a first fixture according to an embodiment of the present invention;
FIG. 5 is a schematic structural view of a longitudinal wheel assembly in accordance with an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of an upper driving module according to an embodiment of the present invention;
FIG. 7 is a schematic structural view of a steering assembly in an embodiment of the present invention;
fig. 8 is an exploded view of a connecting arm in an embodiment of the present invention.
Reference numerals: 1 connecting arm, 11 upper supporting arm, 12 lower supporting arm, 13 driving gear, 131 driving motor, 14 upper connector, 141 upper rotating motor, 15 lower connector, 151 lower rotating motor, 2 first climbing assembly, 3 second climbing assembly, 31 first clamp, 311 fixed seat, 312 moving plate, 313 clamping arm, 314 connecting rod, 315 screw rod, 316 first gear, 32 first clamping motor, 33 longitudinal wheel set, 331 first connecting seat, 332 longitudinal motor, 333 longitudinal driving wheel, 334 longitudinal driven wheel, 335 second driving wheel, 336 second driving belt, 4 steering assembly, 41 second clamp, 42 transverse wheel set, 421 second connecting seat, 422 transverse motor, 423 transverse driving wheel, 424 transverse driven wheel, 425 third driving wheel, 426 third driving belt, 427 rotating shaft, 43 second clamping motor, 44 connecting plate, 45 first driving wheel, 46 first driving belt, 5 lightning arrester tower.
[ detailed description ] embodiments
The technical solutions of the embodiments of the present invention are explained and illustrated below with reference to the drawings of the embodiments of the present invention, but the following embodiments are only preferred embodiments of the present invention, and not all embodiments. Other embodiments obtained by persons skilled in the art without making creative efforts based on the embodiments in the implementation belong to the protection scope of the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless explicitly defined otherwise.
In the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected 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.
Example 1:
as shown in fig. 1 to 8, this embodiment demonstrates a climbing robot for climbing arrester tower 5, the climbing robot is used for the climbing arrester tower 5, the climbing robot includes drive module, lower drive module and linking arm 1, 1 both ends of linking arm are connected respectively go up drive module and lower drive module.
In this embodiment the upper driving module is provided with a first climbing component 2 and a steering component 4, the lower driving module is provided with a second climbing component 3, in this embodiment the first climbing component 2 and the second climbing component 3 both include a first clamp 31 and a first clamping motor 32, the first clamp 31 includes a fixed seat 311 and two clamping arms 313, the fixed seat 311 is connected to the connecting arm 1, the two clamping arms 313 are respectively connected to the two ends of the fixed seat 311 in a rotating manner, the fixed seat 311 is provided with a transmission part for controlling the opening and closing of the clamping arms 313, the transmission part includes a screw 315 and a moving plate 312, the end of the screw 315 is provided with a first gear 316, the first gear 316 is connected to the output end of the first clamping motor 32 in a transmitting manner, the screw 315 is connected to the moving plate 312 in a threaded manner, the two ends of the moving plate 312 are respectively hinged to a connecting rod 314, the connecting rod 314 is connected to the clamping arms 313 in a rotating manner, the first clamping motor 32 is driven to rotate after being started, the screw 315 rotates, the first gear 316, the screw 315 rotates, the moving plate 312 moves along the length direction of the moving plate 315, the connecting rod 312 drives the clamping arms 314 to drive the clamping arm 313 to rotate around the clamping components 3, and the clamping arm 31, and the clamping components can make the clamping tower 5 separate from the clamping tower.
In addition, in order to provide the present embodiment with a strong climbing capability, the first climbing assembly 2 and the second climbing assembly 3 are provided with a longitudinal wheel set 33, the longitudinal wheel set 33 comprises two sets of longitudinal rollers, the two sets of longitudinal rollers are respectively installed at the ends of the two clamping arms 313 of the first clamp 31, a first connecting seat 331 is arranged between the longitudinal rollers and the clamping arms 313, one set of the longitudinal rollers is provided with a longitudinal motor 332, the set of the longitudinal rollers comprises a longitudinal driving wheel 333 and a longitudinal driven wheel 334, the longitudinal motor 332 is fixed on the first connecting seat 331, the longitudinal driving wheel 333 is in transmission connection with the longitudinal motor 332, the longitudinal driving wheel 333 and the longitudinal driven wheel 334 are both provided with a second driving wheel 335, a second driving belt 336 is sleeved between the two second driving wheels 335, the other set of longitudinal rollers comprises two longitudinal driven wheels 334, in this embodiment, the longitudinal driving wheel 333 and the longitudinal driven wheels 334 are both rotatably connected with the first connecting seat 331 through a rotating shaft, the rotating shaft is horizontally arranged, and the surfaces of the longitudinal driving wheel 333 and the longitudinal driven wheel 334 are both provided with V-shaped grooves, which can better keep close contact with the lightning arrester tower 5, so as to increase the contact area between the embodiment and the lightning arrester tower 5, thereby enhancing the adhesion capability of the embodiment and reducing the falling possibility of the embodiment, the embodiment has smaller overall volume, can climb in a narrow space of a transformer substation, meets the requirement of finishing the climbing of the lightning arrester tower 5 under the condition of no power failure or power failure, thereby overhaul the operation to arrester tower 5, avoid using large-scale equipment of lifting by crane, improve the power supply reliability, guarantee the reliability of arrester tower 5 in thunderstorm weather.
In order to provide the present embodiment with obstacle avoidance capability, the upper driving module in the present embodiment is provided with a steering assembly 4, the steering assembly 4 includes a second clamp 41 and a second clamping motor 43, wherein the structure of the second clamp 41 is the same as that of the first clamp 31, a transverse wheel set 42 is provided at an end of the second clamp 41, the transverse wheel set 42 includes two sets of transverse rollers, the two sets of transverse rollers are respectively mounted at ends of two clamping arms 313 of the second clamp 41, a second connecting seat 421 is provided between the transverse rollers and the clamping arms 313, the transverse rollers are rotatably connected with the second connecting seat 421 through a rotating shaft 427, the rotating shaft 427 is vertically arranged, one set of transverse rollers is provided with a transverse motor 422, the set of transverse rollers includes a transverse driving wheel 423 and a transverse driven wheel 424, an output shaft of the transverse motor 422 is connected with a driving wheel 427 of the transverse driving wheel 423, the transverse driving wheel 423 and the transverse driven wheel 424 are both provided with a third driving wheel 425, a third driving wheel 426 is sleeved between the two third driving wheels 425, and the other set of transverse rollers is two transverse driven wheels 424.
When this embodiment meets the barrier in the climbing process, transverse motor 422 starts, transverse motor 422 drives transverse driving wheel 423 rotates, makes transverse driving wheel 423 follow the circumferential direction of arrester tower 5 moves, simultaneously transverse driving wheel 423 rotates the time through third drive belt 426 drive transversely from the driving wheel 424 rotation, and another group's transverse roller is as the auxiliary wheel, makes this embodiment realize rotating on arrester tower 5, can avoid through following arrester tower 5 circumferential direction obstacle on the arrester tower 5, and this embodiment has extremely strong obstacle-avoiding ability, is applicable to more operation environment, has improved the application scope of this embodiment.
In this embodiment, go up the drive module with be equipped with connecting plate 44 between the linking arm 1, first climbing subassembly 2 is installed with turning to subassembly 4 on connecting plate 44, it is equipped with two second anchor clamps 41 to turn to subassembly 4, first anchor clamps 31 are in between two second anchor clamps 41, the screw 315 tip of second anchor clamps 41 is equipped with first drive wheel 45, the cover is equipped with first drive belt 46 on the first drive wheel 45, second centre gripping motor 43 is connected with the screw 315 transmission of one of them second anchor clamps 41, works as second centre gripping motor 43 starts the back, with the screw 315 that second centre gripping motor 43 is connected begins to rotate, simultaneously the first drive wheel 45 of screw 315 tip rotates thereupon, through first drive belt 46 drive the first drive wheel 45 of another screw 315 tip to make another screw 315 take place to rotate, just second centre gripping motor 43 can control two second anchor clamps 41 simultaneously and open and shut.
In this embodiment, the connecting arm 1 includes an upper arm 11 and a lower arm 12, a driving gear 13 and a driving motor 131 are disposed at a connection between the upper arm 11 and the lower arm 12, wherein the upper arm 11 is rotatably connected to the lower arm 12, the driving gear 13 is fixedly connected to the lower arm 12, the driving motor 131 is mounted inside the upper arm 11, when the driving motor 131 is started, the driving motor 131 controls the driving gear 13 to rotate, so as to realize rotation between the lower arm 12 and the upper arm 11, an upper connector 14 connected to the upper driving module is disposed at an end of the upper arm 11, an upper rotating motor 141 for controlling rotation of the upper connector 14 is disposed on the upper arm 11, a lower connector 15 connected to the lower driving module is disposed at an end of the lower arm 12, a lower rotating motor 151 for controlling rotation of the lower connector 15 is disposed on the lower arm 12, in the embodiment, when an obstacle which cannot be avoided completely is encountered in the climbing process, the driving motor 131 and the upper rotating motor 141 are started to control the upper driving module to move along the radial direction of the lightning arrester tower 5, so that the upper driving module is separated from the lightning arrester tower 5, the second climbing component 3 of the lower driving module climbs, so that the whole embodiment rises along the lightning arrester tower 5, after the upper driving module crosses the obstacle, the driving motor 131 and the upper rotating motor 141 are started to control the upper driving module to hold the pole tightly, then the driving motor 131 and the lower rotating motor 151 are started to control the lower driving module to be separated from the lightning arrester tower 5, the first climbing component 2 in the upper driving module climbs, so that the embodiment continues to rise along the lightning arrester tower 5, until the barrier is crossed to lower drive module, through linking arm 1 is to last drive module and lower drive module's control, makes this embodiment can cross the barrier, avoids influencing the climbing of this embodiment because of the barrier, has improved the application scope of this embodiment.
When the clamping device is used, the opening of the upper driving module and the opening of the lower driving module face the lightning arrester tower 5, the lightning arrester tower 5 is placed inside the opening of the upper driving module and the opening of the lower driving module, at this time, the first clamping motor 32 and the second clamping motor 43 are started simultaneously, so that the first climbing component 2, the second climbing component 3 and the steering component 4 are gradually folded to clamp the lightning arrester tower 5, in this embodiment, pressure sensors are arranged on the first climbing component 2, the second climbing component 3 and the steering component 4, preset values are arranged in the pressure sensors, when the first clamp 31, the second clamp 41 and the lightning arrester tower 5 are clamped, the pressure sensors receive signals, when the pressure values detected by the pressure sensors reach the preset values, the first clamping motor 32 or the second clamping motor 43 stops working, and the clamping operation is completed in this embodiment.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that the present invention may be practiced without limitation to such specific embodiments. Any modifications which do not depart from the functional and structural principles of the present invention are intended to be included within the scope of the claims.
Claims (8)
1. The utility model provides a climbing robot for climbing arrester tower, the climbing robot is used for the climbing the arrester tower, its characterized in that: including last drive module, drive module and linking arm down, the linking arm is used for control go up drive module and drive module edge down arrester tower radial movement, it is equipped with first climbing subassembly and turns to the subassembly to go up drive module, drive module is equipped with the second and scrambles the subassembly down, first climbing subassembly and second scramble the subassembly and all include first anchor clamps and first centre gripping motor, first anchor clamps tip is equipped with and is used for the climbing the vertical wheelset of arrester tower, vertical wheelset includes first connecting seat, vertical motor and vertical gyro wheel, first connecting seat with first anchor clamps are connected, vertical gyro wheel rotates to be installed on the first connecting seat, vertical motor control vertical gyro wheel rotates, vertical gyro wheel surface is equipped with V type recess, turn to the subassembly and include second anchor clamps and second centre gripping motor, second anchor clamps tip is equipped with and is used for following the horizontal wheelset of arrester tower circumferential movement, horizontal wheelset includes second connecting seat, horizontal motor and horizontal gyro wheel, the second connecting seat with the second anchor clamps are connected, horizontal gyro wheel rotates to be installed on the second connecting seat the horizontal gyro wheel control subassembly, the second motor control pressure sensor is all scrambled.
2. A climbing robot for climbing lightning arrester towers according to claim 1, characterized in that: the first clamp comprises a fixed seat and two clamping arms, the fixed seat is connected with the connecting arm, the two clamping arms are respectively connected with the two ends of the fixed seat in a rotating mode, a transmission part used for controlling the opening and closing of the clamping arms is arranged on the fixed seat, the transmission part is in transmission connection with the first clamping motor, and the second clamp is the same as the first clamp in structure.
3. A climbing robot for climbing lightning arrester towers according to claim 2, characterized in that: the driving medium includes screw rod and movable plate, the tip of screw rod is equipped with first gear, first gear with the output transmission of first centre gripping motor is connected, the screw rod with movable plate threaded connection, the movable plate both ends all articulate there is the connecting rod, the connecting rod with the arm lock rotates to be connected.
4. A climbing robot for climbing lightning arrester towers according to claim 3, characterized in that: go up the drive module with be equipped with the connecting plate between the linking arm, first climbing subassembly is installed with turning to the subassembly on the connecting plate, it is equipped with two second anchor clamps to turn to the subassembly, first anchor clamps are in between two second anchor clamps, the screw rod tip of second anchor clamps is equipped with first drive wheel, the cover is equipped with first drive belt on the first drive wheel.
5. A climbing robot for climbing lightning arrester towers according to claim 1, characterized in that: the longitudinal roller comprises a longitudinal driving wheel and a longitudinal driven wheel, the longitudinal driving wheel is in transmission connection with the longitudinal motor, the longitudinal driving wheel and the longitudinal driven wheel are respectively provided with a second driving wheel, and a second transmission belt is sleeved between the two second driving wheels.
6. A climbing robot for climbing lightning arrester towers according to claim 1, characterized in that: a rotating shaft is arranged between the transverse roller and the second connecting seat, the transverse roller comprises a transverse driving wheel and a transverse driven wheel, an output shaft of the transverse motor is connected with the rotating shaft of the transverse driving wheel, third driving wheels are arranged on the transverse driving wheel and the transverse driven wheel, and a third driving belt is sleeved between the two third driving wheels.
7. A climbing robot according to claim 1, characterized in that: the connecting arm comprises an upper supporting arm and a lower supporting arm, the upper supporting arm and the lower supporting arm are connected in a rotating mode, an upper connector connected with the upper driving module is arranged at the end of the upper supporting arm, and a lower connector connected with the lower driving module is arranged at the end of the lower supporting arm.
8. A climbing robot for climbing lightning arrester towers according to claim 7, characterized in that: go up the support arm and be equipped with drive gear and driving motor with the junction of lower support arm, it is equipped with and is used for control to go up connector pivoted and rotate the motor, the support arm is equipped with down and is used for control connector pivoted lower rotating motor down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210728635.8A CN115158505A (en) | 2022-06-24 | 2022-06-24 | Climbing robot for climbing lightning arrester tower |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210728635.8A CN115158505A (en) | 2022-06-24 | 2022-06-24 | Climbing robot for climbing lightning arrester tower |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115158505A true CN115158505A (en) | 2022-10-11 |
Family
ID=83487684
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210728635.8A Pending CN115158505A (en) | 2022-06-24 | 2022-06-24 | Climbing robot for climbing lightning arrester tower |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115158505A (en) |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101898357A (en) * | 2010-07-02 | 2010-12-01 | 华南理工大学 | Modularized bionic wall climbing robot |
| CN102923206A (en) * | 2012-11-02 | 2013-02-13 | 上海电机学院 | Climbing robot and climbing mode thereof |
| CN205345108U (en) * | 2016-01-21 | 2016-06-29 | 长春理工大学 | Multi -functional pole -climbing robot based on double claw fixture |
| CN106112993A (en) * | 2016-08-22 | 2016-11-16 | 常州信息职业技术学院 | A kind of alternative expression climbing level robot |
| CN106711854A (en) * | 2017-02-07 | 2017-05-24 | 国网浙江新昌县供电公司 | Pole-climbing robot with transmission line insulator cleaning function |
| CN106741266A (en) * | 2015-11-20 | 2017-05-31 | 华南理工大学 | A kind of screw mandrel promotion type climbing level robot |
| CN107380291A (en) * | 2017-07-12 | 2017-11-24 | 北京理工大学 | Mode of doing more physical exercises pipeline outer wall climbing detection robot |
| CN108748188A (en) * | 2018-06-15 | 2018-11-06 | 嘉兴学院 | A kind of complicated rod-shaped multi-freedom robot system of climbing |
| CN110877646A (en) * | 2019-08-02 | 2020-03-13 | 国网安徽省电力有限公司淮南供电公司 | Holding rod mechanism for manned pole-climbing operation platform |
| CN111845987A (en) * | 2020-06-09 | 2020-10-30 | 南方电网科学研究院有限责任公司 | Pole-climbing operation robot and operation control method thereof |
| CN113119162A (en) * | 2021-04-03 | 2021-07-16 | 浙江数斯智能机器人科技有限公司 | Pole-climbing robot |
| CN113928439A (en) * | 2021-11-25 | 2022-01-14 | 国网四川省电力公司南充供电公司 | Climbing device with obstacle crossing function |
| CN114234018A (en) * | 2021-12-20 | 2022-03-25 | 河北大唐国际王滩发电有限责任公司 | Disconnect-type pipeline inspection robot |
| CN114475841A (en) * | 2022-01-24 | 2022-05-13 | 浙江闪龙信息技术有限公司 | Robot suitable for climbing electric pole |
| CN218198576U (en) * | 2022-06-24 | 2023-01-03 | 永康市光明送变电工程有限公司 | Climbing robot for transformer substation lightning arrester tower |
-
2022
- 2022-06-24 CN CN202210728635.8A patent/CN115158505A/en active Pending
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101898357A (en) * | 2010-07-02 | 2010-12-01 | 华南理工大学 | Modularized bionic wall climbing robot |
| CN102923206A (en) * | 2012-11-02 | 2013-02-13 | 上海电机学院 | Climbing robot and climbing mode thereof |
| CN106741266A (en) * | 2015-11-20 | 2017-05-31 | 华南理工大学 | A kind of screw mandrel promotion type climbing level robot |
| CN205345108U (en) * | 2016-01-21 | 2016-06-29 | 长春理工大学 | Multi -functional pole -climbing robot based on double claw fixture |
| CN106112993A (en) * | 2016-08-22 | 2016-11-16 | 常州信息职业技术学院 | A kind of alternative expression climbing level robot |
| CN106711854A (en) * | 2017-02-07 | 2017-05-24 | 国网浙江新昌县供电公司 | Pole-climbing robot with transmission line insulator cleaning function |
| CN107380291A (en) * | 2017-07-12 | 2017-11-24 | 北京理工大学 | Mode of doing more physical exercises pipeline outer wall climbing detection robot |
| CN108748188A (en) * | 2018-06-15 | 2018-11-06 | 嘉兴学院 | A kind of complicated rod-shaped multi-freedom robot system of climbing |
| CN110877646A (en) * | 2019-08-02 | 2020-03-13 | 国网安徽省电力有限公司淮南供电公司 | Holding rod mechanism for manned pole-climbing operation platform |
| CN111845987A (en) * | 2020-06-09 | 2020-10-30 | 南方电网科学研究院有限责任公司 | Pole-climbing operation robot and operation control method thereof |
| CN113119162A (en) * | 2021-04-03 | 2021-07-16 | 浙江数斯智能机器人科技有限公司 | Pole-climbing robot |
| CN113928439A (en) * | 2021-11-25 | 2022-01-14 | 国网四川省电力公司南充供电公司 | Climbing device with obstacle crossing function |
| CN114234018A (en) * | 2021-12-20 | 2022-03-25 | 河北大唐国际王滩发电有限责任公司 | Disconnect-type pipeline inspection robot |
| CN114475841A (en) * | 2022-01-24 | 2022-05-13 | 浙江闪龙信息技术有限公司 | Robot suitable for climbing electric pole |
| CN218198576U (en) * | 2022-06-24 | 2023-01-03 | 永康市光明送变电工程有限公司 | Climbing robot for transformer substation lightning arrester tower |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN218198576U (en) | Climbing robot for transformer substation lightning arrester tower | |
| CN109607301A (en) | Smart grid inspection device carrying platform | |
| CN111441909B (en) | Wind power generation device capable of avoiding damage of strong wind | |
| CN108556948B (en) | Safe and reliable intelligent security robot suitable for severe weather | |
| CN107689599A (en) | Snakelike wound form inspection robot mechanical structure and its obstacle-detouring method | |
| CN213541702U (en) | Intelligent security monitoring system based on Internet of things | |
| CN109050700A (en) | A kind of lift stair climbing robot | |
| CN115158505A (en) | Climbing robot for climbing lightning arrester tower | |
| CN115180038B (en) | Mode for climbing lightning rod by robot | |
| CN217753931U (en) | Climbing robot with obstacle crossing capability | |
| CN209455827U (en) | Smart grid inspection device carrying platform | |
| CN210639761U (en) | Flow guide device for intelligent traffic | |
| CN210155223U (en) | Electric power monitoring equipment with protection device | |
| CN116298671A (en) | Power grid line monitoring device and monitoring method | |
| CN212340282U (en) | Bridge real-time monitoring equipment | |
| CN112710350A (en) | Monitoring device for water conservancy construction management and using method thereof | |
| CN203433920U (en) | Rotation pollution device for composite insulator | |
| CN212727237U (en) | Intelligent inspection robot adjusting mechanism for wind power transformer substation | |
| CN215978705U (en) | Intelligent lightning protection distribution line pole tower for communication | |
| CN105904472B (en) | Control method and device for quickly attaching mechanical arm to solar cell panel | |
| CN217382350U (en) | Intelligent integrated multifunctional inspection equipment | |
| CN218830228U (en) | Video monitoring integrated equipment for electric power system | |
| CN217770008U (en) | Flow guiding device | |
| CN217637526U (en) | Hydraulic engineering liquid level monitoring device | |
| CN217427096U (en) | Antenna attitude wireless control equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |