CN116176722A - Automatic climbing robot for unmanned butt joint of single-column steel pipe pole - Google Patents

Abstract

The invention discloses an automatic climbing robot for unmanned auxiliary butt joint of a single-column steel pipe pole, which is characterized in that an upper module and a lower module are connected through a telescopic structure, one end of the telescopic structure is connected with a motor in an inner cavity of the upper module, a plurality of through holes are symmetrically and equidistantly formed in the outer sides of the upper module and the lower module, clamping units are movably connected to the outer sides of each through hole, and the clamping units respectively positioned in the outer sides of the upper module and the lower module move identically and synchronously.

Description

Automatic climbing robot for unmanned butt joint of single-column steel pipe pole

Technical Field

The invention relates to installation of an electric power tower, in particular to an automatic climbing robot for unmanned auxiliary butt joint of a single-column steel pipe pole.

Background

The existing installation process of single-column steel pipe tower installation overhead working capacity mostly adopts crane to hoist in sections for assembly, and coordination and matching between installation personnel and a crane are needed in the operation process, but the mode is easy to cause high construction safety risk, high-altitude labor intensity is high, and according to incomplete statistics, more than ten accidents related to the steel pipe tower are caused each year, so that more than 10 people die, more people are injured, and great economic loss is caused, and the common problem in industry at present is solved for the defects of insufficient overhead working protection measures and potential safety hazards of workers existing in the steel pipe tower installation process.

The Chinese patent document with publication number of CN114735099A discloses a inchworm-like climbing robot, the inchworm-like climbing robot is characterized in that a clamping part is used for holding a wall surface to be climbed by inchworm-like lifting gait, the telescopic part realizes the whole expansion of the robot by curling/stretching of an elastic coiled plate, the stable climbing and nondestructive monitoring of the robot are realized, but the clamping device has poor rigidity and low load, creep and stress relaxation phenomena possibly occur when the clamping device is used for a long time, and the clamping device cannot be well adjusted for deviation and different holding sizes of single-column steel pipes in the climbing process.

The Chinese patent publication No. CN208411902U discloses a climbing robot compound foot end and climbing robot, this patent provides power through the lead screw motor, accomplish the snatching and unclamping action to the pin or similar cylinder member, climbing robot can carry this foot end and accomplish the quick stable removal on the angle steel tower, simultaneously the arm drive embraces the arm and does circular motion with the tie point with the claw shoulder support, embraces the arm and drives and presss from both sides tight big arm motion, two big arms inwards move relatively, reach the function of embracing the pin, and whole compound foot end firmly presss from both sides tight pin through the gripper, make the electro-magnet adsorb at the angle steel land, guaranteed that the robot is firm to be attached to on the angle steel tower, when the robot is about to carry out the next motion, lead screw motor reversal makes the clamp big arm loosen the pin, then relay control electro-magnet outage loses the adsorption affinity, make compound foot end can carry out the action of next step centre gripping and absorption, but this patent compound foot end and climbing robot's climbing gripper are the special for the pin, the angle steel main step is designed, can not be suitable for the single-column climbing tower. Moreover, the robot has low bearing capacity and can only carry out relevant inspection and detection work.

Disclosure of Invention

The technical problems to be solved by the invention are as follows: how to realize the autonomous climbing of a single-column steel pipe tower by a robot, thereby avoiding the risk of the high-altitude operation of installers.

In order to solve the technical problems, the invention provides the following technical scheme: the utility model provides an automatic climbing robot for unmanned supplementary butt joint of single-column steel pipe pole, includes module, lower module, flexible traction unit, go up the module and be connected through flexible traction unit down between the module, go up the equal symmetrical swing joint of the left and right sides of module, lower module have and hold the clamp unit, hold the clamp unit and include the telescopic link, the equal fixedly connected with clamping device of flexible end, a plurality of clamping device's lower extreme all is connected with electromagnetic adsorption unit, the equal fixedly connected with elasticity flexible unit of outside one end of electromagnetic adsorption unit, hold on the module and press from both sides the unit motion the same and synchronous, hold on the lower module and press from both sides the unit motion the same and synchronous.

The utility model provides a module, lower module are connected through flexible traction unit to the clamp unit is embraced to clamp the steel pipe tower cat ladder according to on-the-spot actual conditions through last module, lower module outside swing joint, and the motor of module inner chamber is connected with flexible traction unit and is provided power for it on the rethread, thereby drives down the module and upwards moves down, and is reciprocating with this, and then has realized that the robot independently climbs single column steel pipe tower, has avoided the installer at the overhead working risk.

Preferably: the upper module is the bottom towards the step direction, and the back is the top, flexible traction unit includes flexible body shell, flexible body shell adopts elastic material, the right-hand member of flexible body shell and the one end threaded connection of upper module, the right-hand member of flexible body shell and the other end fixed connection of lower module, just flexible body shell is connected with the motor of one of them module inner chamber through inside lead screw.

The advantages are that: the device is integrally provided with the passive independent fine adjustment in the pitching direction and the deflection direction through the elastic structure, so that the practicability of the device is improved.

Preferably: the top fixed mounting of going up the module has first mounting panel, the first logical groove of "U type" structure has been seted up to the orientation of module down to first mounting panel, the inboard fixedly connected with first dead lever of first logical groove, flexible traction element still includes first connecting rod, the one end of first connecting rod is articulated mutually.

Preferably: the connecting piece is characterized in that the whole first connecting rod is of a T-shaped structure, an integrally formed connecting piece is arranged on the outer side of the first connecting rod, and one end of the connecting piece is connected with a spring.

Preferably: the top fixed mounting of lower module has the second mounting panel, the second through groove of "rectangle" structure has been seted up to the upper end intermediate position of second mounting panel, the inboard fixed mounting in second through groove has the second dead lever, flexible traction element still includes the second connecting rod, the one end of second connecting rod is articulated mutually with the second dead lever, and the other end is articulated mutually with first connecting rod one end of keeping away from first dead lever.

Preferably: the right side of second mounting panel is seted up the third through groove of "U type" structure with the corresponding position in first through groove, the inboard fixedly connected with third dead lever in third through groove, the one end that the connecting piece was kept away from to the spring articulates mutually with the third dead lever.

The advantages are that: the functions of foolproof, dead lock prevention, idle return prevention and the like are realized, and meanwhile, high-precision motion output is realized through methods of reducing backlash, optimizing transmission links and the like, so that basic guarantee is provided for the accurate positioning of the autonomous climbing device.

Preferably: the clamping unit comprises telescopic rods, the parts, located in the inner cavities of the through holes, of each telescopic rod are connected with a motor, clamping devices are fixedly connected to the telescopic ends of the telescopic rods, and electromagnetic adsorption units are fixedly connected to the lower ends of the clamping devices.

Preferably: through holes are formed in the left side and the right side of the upper module and the lower module and in positions corresponding to the telescopic rods, and motor output ends of inner cavities of the through holes are connected with the telescopic rods.

The advantages are that: make it and double ladder interconnect in turn through the electromagnetism absorption finger of every independent operation to realize that the device independently crawl through mutually supporting with the telescoping device in the climbing device, can in time feed back the signal when electromagnetism absorption finger contacts cat ladder rigid surface through induction system simultaneously, the effectual practicality that has improved this application.

Preferably: the elastic telescopic unit comprises a servo motor, the outer side of the servo motor is fixedly connected with the outer side of the electromagnetic adsorption finger, the output end of the servo motor is fixedly connected with an elastic telescopic rod, and the bottom of the elastic telescopic rod is fixedly connected with an elastic telescopic finger.

The advantages are that: the connecting part of the four self-adaptive moving mechanisms and the crawling ladder bears axial stretching and bending force in the alternating movement process, and meanwhile, a frame structure is formed between the four self-adaptive moving mechanisms and the crawling ladder on each single module, so that the static stability of the whole structure is realized.

Preferably: the right end of the upper module is fixedly provided with a carrying platform, the middle position of the upper end of the carrying platform is symmetrically provided with electrical interfaces, and a mechanical interface is arranged between the two electrical interfaces.

The advantages are that: can provide accurate guide for the accurate butt joint that meets of autonomous climbing device and operation auxiliary device.

Preferably: the control system of the upper module, the lower module, the holding and clamping unit and the carrying platform adopts an operation mode of combining manual control and intelligent control, the core control system of the device adopts an ARM board card as a central control system, the whole control platform of the device integrates a motion mechanism control system, a dynamic guiding system and a docking system under the same control platform, the motion control system of the device forms the core control system through a DSP+FPGA, and the bottom motion control of the device is realized through driving and controlling.

The advantages are that: the method has the advantages of short development period, easy maintenance and expansion of the system and suitability for real-time signal processing.

Compared with the prior art, the invention has the beneficial effects that: according to the climbing device, the upper module and the lower module are connected through the telescopic traction units, a plurality of through holes are symmetrically and equidistantly formed in the outer sides of the upper module and the lower module, the clamping units are movably connected in the outer sides of the through holes, the clamping units are telescopic up and down, expanding left and right and flexible clamping functions, the climbing device can overcome the size and position change caused by the size deviation generated in the production welding process of a single ladder in the climbing moving process, a robot can generate stable and reliable clamping force at different positions of the single ladder when the two modules are clamped in an interactive mode, the single modules are respectively connected with the herringbone ladder in an alternating mode through the inchworm type double modules, and the independent climbing device is independently crawled through the mutual matching of the telescopic traction units in the climbing device, so that the problem that the high-altitude operation protection measures are insufficient and the potential safety hazard problem exist in the installation process of the steel pipe tower are effectively solved, the step ladder, the end face of the flange plate and the like of the single tower can be avoided, and further the single tower can be effectively installed without the risk of personnel in the installation process of the single tower;

the telescopic traction unit is arranged to be of an elastic structure, so that the telescopic traction unit can be subjected to passive independent fine adjustment in the pitching and deflecting directions, and through the first connecting rods hinged with the first fixed rods respectively, the second connecting rods hinged with the second fixed rods and the springs hinged with the first connecting rods, the foolproof, dead locking preventing and idle returning preventing effects are realized, basic guarantee is provided for accurate positioning of an independent climbing device, meanwhile, one end of the flexible body shell is in threaded connection with the upper module, the other end of the flexible body shell is fixedly connected with the lower module, and when the upper moving module is fixedly connected with the moving platform above, the whole mechanism is of a rigid structure, and the situation that errors between ladders are small can be met;

the electromagnetic adsorption unit can realize the passive adjustment of the position state of the mechanism through the bidirectional flexible support, and the mechanism has at least 4 degrees of freedom in two directions by restraining the structural frame and elastically propping the mechanism and matching the structural gap with the movement space provided by the mechanism; the elastic telescopic unit can realize the position self-adaptation regulation under the rated clamping force effect through the elasticity shrink degree of freedom of finger, through the elastic drive of flexible degree of freedom, realize torsion output and tensile driven's mutual combination, make the mechanism can deal with the problem hidden danger that cat ladder side pole setting size deviation caused, and electromagnetic adsorption unit lower extreme installs induction system, can in time feed back the signal when electromagnetic adsorption finger contacts cat ladder rigid surface, the effectual practicality that has improved this application.

Through fixedly mounting on the terminal surface of last module, be used for improving the bearing capacity of this application robot.

Drawings

Fig. 1 is a schematic diagram of the overall structure of an automatic climbing robot for unmanned butt joint of a single-column steel pipe rod according to an embodiment of the invention;

fig. 2 is an enlarged schematic structural view of the holding and clamping unit in fig. 1 of an automatic climbing robot for unmanned docking of single-column steel pipe rods according to an embodiment of the present invention;

fig. 3 is a schematic diagram of an application of a side view structure of an automatic climbing robot for unmanned butt joint of a single-column steel pipe rod according to an embodiment of the invention;

fig. 4 is a schematic diagram of a rear view structure of an automatic climbing robot for unmanned docking of a single-column steel pipe pole according to an embodiment of the present invention;

fig. 5 is a schematic diagram illustrating an application of a top view structure of an automatic climbing robot for unmanned docking of a single-column steel pipe pole according to an embodiment of the present invention;

fig. 6 is a schematic diagram of a state change of an automatic climbing robot for unmanned docking of a single-column steel pipe pole according to an embodiment of the present invention;

fig. 7 is a schematic diagram of an automatic climbing robot control system for unmanned docking of a single-column steel pipe pole according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of a technical route of an automatic climbing robot control system for unmanned docking of single-column steel pipe poles according to an embodiment of the invention;

fig. 9 is a schematic diagram of an intermediate layer control system of an automatic climbing robot for unmanned butt joint of a single-column steel pipe pole in an embodiment of the invention.

In the figure: 1-upper module; 11-a first mounting plate; 111-a first through groove; 112-a first fixing rod; 2-a lower module; 21-a second mounting plate; 211-a second through slot; 212-a second fixing rod; 213-third through slots; 214-a third securing lever; 3-a telescopic traction unit; 31-a flexible body shell; 32-a first link; 321-connectors; 33-a second link; 34-a spring; 4-through holes; 5-clamping units; 51-telescoping rod; 52-a clamping device; 53-electromagnetic adsorption unit; 531-electromagnetically adsorbing fingers; 532-sensing means; 54-an elastic telescoping unit; 541-a servo motor; 542-elastic telescopic rod; 543-elastically stretching fingers; 6-carrying a platform; 61-an electrical interface; 62-mechanical interface.

Detailed Description

In order to facilitate the understanding of the technical scheme of the present invention by those skilled in the art, the technical scheme of the present invention will be further described with reference to the accompanying drawings.

The terms "first," "second," and the like, 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 defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

Referring to fig. 1, the embodiment discloses an automatic climbing robot for unmanned auxiliary docking of a single-column steel pipe pole, which comprises an upper module 1, a lower module 2, a telescopic traction unit 3, a through hole 4, a holding and clamping unit 5, a connecting unit 6 and a carrying platform 7.

Referring to fig. 1 and 4, the upper module 1 is a box body with a rectangular structure, the upper module 1 is arranged at the bottom in the direction of the step ladder, the back surface is arranged at the top, a first mounting plate 11 is fixedly mounted at the top of the upper module 1, a first through groove 111 with a U-shaped structure is formed at the left end of the first mounting plate 11, a first transverse fixing rod 112 is fixedly mounted in an inner cavity of the first through groove 111, and a motor (not shown) is fixedly mounted in an inner cavity of the upper module 1.

In this embodiment, a thread groove is formed at the opening of the left cavity of the upper module 1.

The whole box that is "rectangle structure" of lower module 2, the top fixed mounting of lower module 2 has second mounting panel 21, and the second through groove 211 of "rectangle structure" has been seted up to the upper end intermediate position of second mounting panel 21, and the inboard fixedly connected with second dead lever 212 of second through groove 211, and the third through groove 213 of "U type" structure has been seted up to the right-hand member of second mounting panel 21 and the corresponding position of first mounting panel 11, and the inboard fixed mounting of third through groove 213 has third dead lever 214.

Referring to fig. 1 and 3, the telescopic traction unit 3 includes a flexible body shell 31, a first connecting rod 32, a second connecting rod 33 and a spring 34, the flexible body shell 31 is made of elastic materials, passive autonomous fine adjustment can be performed in the pitching and deflecting directions, foolproof, dead-lock prevention and air return prevention are achieved, the right end of the flexible body shell 31 is in threaded connection with the upper module 1, the left end of the flexible body shell 31 is fixedly connected with the right end face of the lower module 2, and when the upper mobile module is fixedly connected with the upper mobile platform, the mechanism is integrally in a rigid structure and can cope with the situation that errors between ladders are small.

In this embodiment, the flexible housing 31 is connected to a motor in one of the module cavities through an internal screw rod to provide telescopic power for the flexible housing, and the upper module 1 is generally adopted.

The whole structure of "T" that is of first connecting rod 32, the one end of first connecting rod 32 articulates mutually with first dead lever 112, the outside intermediate position of first connecting rod 32 is provided with "integrated into one piece" connecting piece 321, the one end of second connecting rod 33 articulates mutually with second dead lever 212, the other end articulates mutually with the other end that first connecting rod 32 kept away from first dead lever 112, the one end of spring 34 articulates mutually with third dead lever 214, the other end articulates mutually with connecting piece 321, the effectual stability when having improved this device climbing has realized preventing slow-witted, prevent that the lock dies, prevent that the idle call from waiting, realize high accuracy motion output through methods such as reducing the back clearance, optimizing transmission link simultaneously, provide basic guarantee for the accurate location of autonomous climbing device.

In the embodiment, the climbing platform adopts inchworm type double-module movement, and single modules are respectively connected with the herringbone ladder alternately through electromagnetic adsorption, and the autonomous crawling of the device is realized through mutual cooperation with a telescopic device in the climbing device.

Referring to fig. 1-2 and 5, through holes 4 are provided with a plurality of through holes, the through holes are symmetrically arranged at two ends of the outer sides of an upper module 1 and a lower module 2 at equal intervals, motors are mounted in inner cavities of the through holes 4, output ends of the motors are connected with a clamping unit 5, the clamping unit 5 comprises a telescopic rod 51, a clamping device 52, an electromagnetic adsorption unit 53 and an elastic telescopic unit 54, tail ends of the telescopic rod 51 are connected with output ends of the inner cavities of the through holes 4 at equal intervals, and the clamping device 52 is fixedly mounted at the front end of the telescopic rod 51.

In this embodiment, the motor in the cavity of the through hole 4 is started to enable the telescopic rod 51 to extend and retract, so that the distance between the clamping devices 52 on the same level can be adjusted according to actual conditions.

In this embodiment, the plurality of clamping devices 52 on each module move identically and synchronously to achieve stable and reliable attachment of the climbing device to the step ladder of the single-column steel tower.

The electromagnetic adsorption unit 53 is fixedly installed at the lower end of the clamping device 52, the electromagnetic adsorption unit 53 comprises an electromagnetic adsorption finger 531 and an induction device 532, the electromagnetic adsorption finger 531 contacts the front side of the lateral upright rod of the ladder and is electrified to realize fixed connection, the induction device 532 is fixedly installed at the lower end of the electromagnetic adsorption finger 531, when the left-right expansion degree of freedom is in a contracted state, the up-down expansion degree of freedom moves downwards until the end face of the rigid electromagnetic adsorption finger 531 contacts the rigid surface of the ladder, signals are fed back by the induction device 532, the up-down expansion movement is stopped, and meanwhile, the electromagnetic adsorption finger 531 is electrified to realize connection between the finger and the ladder.

In this embodiment, the clamping device 52 drives the electromagnetic adsorption unit 53 to perform up-and-down telescopic motion.

In this embodiment, each electromagnetic adsorption finger 531 is independently operated and energized.

In this embodiment, the electromagnetic adsorption unit 53 can realize passive adjustment of the position state of the mechanism through bidirectional flexible support, and the mechanism has no less than 4 degrees of freedom in two directions by restraining the structural frame and supporting the elastic jack and matching the movement space provided by the structural gap for the mechanism.

The elastic telescopic unit 54 is located the outside of electromagnetism absorption finger 531, the elastic telescopic unit 54 includes servo motor 541, elastic telescopic link 542, elastic telescopic finger 543, servo motor 541 and the outside fixed connection of electromagnetism absorption finger 531, the output and the elastic telescopic link 542 of servo motor 541 are connected, the bottom of elastic telescopic link 542 all fixedly connected with elastic telescopic finger 543, the flexible degree of freedom in shank is passed through servo motor 541 drive from top to bottom, drive elastic telescopic link 542 and elastic telescopic finger 543 and carry out the up-and-down motion, after the electromagnetism absorption finger 531 is connected to the cat ladder surface, the control servo motor 541 of elastic telescopic unit 54 drives elastic telescopic link 542 shrink, until elastic telescopic finger 543 meets with the cat ladder surface, servo motor 541 continues the motion pulling elastic telescopic link 542 this moment, because the one end of elastic telescopic link 542 is blocked by the cat ladder and can't move, elastic telescopic link 542 is passively elongated, make its axial tension increase, until reaching the moment threshold value of servo motor 541, realize the installation and the fixation.

In this embodiment, the elastic telescopic rod 542 of the leg is used as the main structure of the climbing device, the connecting part of the elastic telescopic rod 542 and the elastic telescopic finger 543 bears the axial stretching and bending force in the process of alternating movement, and meanwhile, the four self-adaptive moving mechanisms on the individual modules form a frame structure with the ladder, so that the static stability of the whole structure is realized.

In this embodiment, the expansion degree of freedom about the shank is controlled by the motor, can make four self-adaptation mobile mechanism on the module respectively control the removal, after the clamp unit 5 of the device has been opened, realize clamp unit 5 and cat ladder composition state, the expansion degree of freedom drives self-adaptation mobile mechanism and outwards expands from the both sides of cat ladder when removing to the device centroid, realize clamp unit 5 and cat ladder completely breaking away from, in the climbing device of independently, two module interaction climbing cat ladder rise in-process, expansion degree of freedom about the shank can make the movement space grow of mechanism, simultaneously provide the space for follow-up mechanical mechanism to carry out motion adjustment, subaerial simultaneously, when the manual fixing the device of independently climbing on the cat ladder is moved in the clamp system of holding about and can make the flexible clamp system cross the installation and the fixing of cat ladder realization device.

Referring to fig. 1 and 5, the carrying platform 6 is fixedly installed on the right side of the upper module 1, the carrying platform 6 comprises an electric interface 61 and a mechanical interface 62, the electric interface 61 is provided with two sides respectively arranged on the end face of the carrying platform 7, one group is a power supply interface, and a 24-volt power supply is provided for the system; one group is a communication interface, provides can communication interface for the system, and the mechanical interface 62 is of a circular structure, is positioned in the middle of the two electrical interfaces 61 and is fixed by matching with a locking bolt, and has the functions of detecting and adjusting the relative position between the two electrical interfaces and the interface of the operation auxiliary device.

Further, in the aspect of detection, after the autonomous climbing device moves to a position adjacent to the operation auxiliary device, a detection system on the intersection docking mechanism starts to work, in the scheme, the detection system mainly comprises a visual detection/positioning technology and a wireless Bluetooth system docking technology, the two detection systems respectively realize two functions of area positioning and accurate positioning through different methods, accurate guidance is provided for accurate intersection docking of the autonomous climbing device and the operation auxiliary device, infrared guidance is used for realizing ranging and orientation by using an infrared sensor, the infrared sensor is arranged at the forefront end of the intersection docking device, and when the intersection docking function is started, the distance S between a docking point on the operation auxiliary device and the intersection docking device is measured through continuous measurement of rotation and distance, and the minimum value is recorded through multiple measurements. And (5) repeating the actions through the adjustment of the motion algorithm until the motion is to the accurate positioning area.

Still further, in the adjustment aspect, the main moving part of the body of the intersection docking mechanism is a four-degree-of-freedom moving platform, and the bottom end of the main moving part is fixed on an upper moving module of the autonomous climbing device. The four-degree-of-freedom platform is mainly an inclination degree of freedom, an automatic vertical lifting degree of freedom, a horizontal plane lateral autonomous movement degree of freedom and a horizontal plane radial autonomous movement degree of freedom which are adjusted manually, wherein the inclination degree of freedom adjusts the included angle position between the platform and the axis of the single-column steel tube tower, and the other three degrees of freedom are used for adjusting the relative position between an interface on the autonomous climbing device and an interface on the operation auxiliary device.

In this embodiment, according to the functional requirement of the autonomous climbing device, the device needs to know the state information of each part of the device and the detailed scene information in the field environment in the autonomous walking and docking process, and the acquisition and processing of the information are realized through the autonomous climbing device environment sensing system.

In the aspect of self state, the device adopts electric power as system power, and data acquisition and state monitoring are performed aiming at an information system such as the stability of a device control system, the state of a power supply system, the position of an execution system and the like. The state information of the device is mainly acquired through sensors such as a temperature sensor, a position sensor, current/voltage detection and the like. The control system is a core device of the device, and in the scheme, data acquisition is carried out aiming at the information such as the running temperature, the humidity and the data information transmission success rate detection of the control system hardware. The power supply is the basis of the running of the device, and the data acquisition is carried out on the information of power supply voltage detection, power supply stability detection and power supply current monitoring aiming at the power supply system in the scheme. The execution system completes the function of the device, and in the scheme, data acquisition is performed through a proximity sensor, a laser distance sensor, a Bluetooth sensor, a visual sensor and the like.

In terms of environmental information, the walking strategy and the motion executing process of the device need to be judged according to the environmental state and the position information, such as whether the device spans, the docking position of the device, the docking position of the platform and the like. The travelling position information of the device is used as a basis for judging the travelling strategy execution, and in the scheme, data acquisition is performed through a laser sensor, a visual sensor, a photoelectric sensor and the like. The device docking position information is used as a motion guiding and control judging basis of a docking mechanism, and in the scheme, data acquisition is carried out through a visual sensor, a laser distance sensor and the like.

Referring to fig. 7-9, the control system of the present application adopts an operation mode of combining manual and intelligent control, and controls the climbing mobile platform manually, so that the climbing mobile platform is connected to the ladder stand system from the initial position below the iron tower, at this time, the system prompts that the next operation flow can be performed, the work of guiding the robot to initially position is manually completed, and then the work is automatically completed by the device. The device core control system adopts an ARM board card as a central control system, and the bottom layer adopts a controller, a development board and the like to realize the work of motor, sensor, data processing and the like. The device integral control platform integrates the motion mechanism control, the dynamic guiding system and the docking system under the same control platform, the control platform has good man-machine interaction function, can provide various environments and monitoring parameters collected on the robot for operators and the system, can be used as references and guidance for further work of the operators, and can be used as a part of real-time data of a network cloud platform in the power grid industry to be uploaded to the industry cloud platform in the future to provide data support for the intelligent internet of things of the power grid. The motion control system of the device forms a core control system through a DSP and an FPGA, and the bottom layer motion control of the device is realized through driving and controlling integration. The DSP+FPGA combination has the advantages of flexible structure, suitability for the general purpose and modularization of a device control system in the project, capability of improving algorithm efficiency and hardware general purpose, short development period, easy maintenance and expansion of the system and suitability for real-time signal processing.

The working principle of the embodiment is as follows: referring to fig. 6, in the initial state of the application, the elastic telescopic unit 54 and the electromagnetic adsorption unit 53 are opened, after a worker places the device at a designated position, the worker controls the climbing moving platform through intelligent control, controls the clamping devices 52 at the outer sides of the upper module 1 and the lower module 2 to fall down, enables the electromagnetic adsorption unit 53 to contact the front side of the lateral upright of the ladder, feeds back information through the sensing device 532, further electrifies the electromagnetic adsorption finger 531 to enable the electromagnetic adsorption unit to adsorb the information to realize fixed connection, simultaneously moves the elastic telescopic unit 54 to tighten contact with the back side of the lateral upright and keep the rated clamping force, moves the four clamping devices on the single module identically and synchronously, realizes the stable and reliable fixation of the climbing device on the ladder of the single-column steel pipe tower, controls the left and right expansion degrees of freedom of legs through a motor, enables four self-adaptive moving mechanisms on the modules to move leftwards and rightwards respectively, when the holding and clamping unit 5 of the device is opened to realize the decomposition state of the holding and clamping unit 5 and the ladder, the expansion degree of freedom drives the self-adaptive moving mechanism to move to the outside of the centroid of the device, the holding and clamping unit 5 expands outwards from the two sides of the ladder to realize the complete separation between the holding and clamping unit 5 and the ladder, in the process of the ascending of the two modules in the autonomous climbing device, the expansion degree of freedom left and right of legs can enlarge the movement space of the mechanism, and simultaneously provide space for the movement adjustment of the subsequent mechanical mechanism, so that the upper module 1 and the lower module 2 move in a 'inchworm' mode in a reciprocating manner, the single modules are respectively connected with the herringbone ladder in an alternating manner through electromagnetic adsorption mode, and realize the autonomous crawling of the device through the mutual cooperation with the telescopic device in the climbing device, can realize climbing device can overcome single cat ladder because of the size, the position variation that the size deviation that produces in the production welding process leads to at climbing removal in-process, effectually solved the problem that there is the overhead operation safeguard measure in the steel pipe tower installation not enough and the potential safety hazard problem, realized that the robot independently goes up and down single-column steel pipe tower, can avoid the protruding step on the steel pipe tower, stride across the obstacle such as steel pipe tower terminal surface ring flange, and then realize single-column steel pipe tower's installation unmanned, effectually avoided installer at overhead operation risk.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

The above-described embodiments merely represent embodiments of the invention, the scope of the invention is not limited to the above-described embodiments, and it is obvious to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention.

Claims (10)

1. A automatic climbing robot that is used for unmanned supplementary butt joint of single-column steel pipe pole, its characterized in that: including last module (1), lower module (2), flexible traction element (3), go up module (1) and be connected through flexible traction element (3) between lower module (2), go up the equal symmetrical swing joint of the left and right sides of module (1), lower module (2) and hold and press from both sides unit (5), hold and press from both sides unit (5) including telescopic link (51), the equal fixedly connected with clamping device (52) of flexible end, a plurality of the lower extreme of clamping device (52) all is connected with electromagnetic adsorption unit (53), the equal fixedly connected with elastic telescoping unit (54) of outside one end of electromagnetic adsorption unit (53), hold on last module (1) and press from both sides unit (5) motion the same and synchronous, hold down on module (2) and press from both sides unit (5) motion the same and synchronous.

2. An automatic climbing robot for unmanned docking of single-column steel pipe poles according to claim 1, characterized in that: the utility model provides a flexible traction unit, including last module (1), flexible traction unit (3) are the bottom towards the step direction, and the back is the top, flexible casing (31) adopts elastic material, the one end of flexible casing (3) and the left end threaded connection of last module (1), the other end of flexible casing (3) and the left end fixed connection of lower module (2), just flexible casing (31) are connected with the motor of one of them module inner chamber through inside lead screw.

3. An automatic climbing robot for unmanned docking of single-column steel pipe poles according to claim 1, characterized in that: the top fixed mounting of going up module (1) has first mounting panel (11), first logical groove (111) of "U type" structure have been seted up to the direction of module (2) under the orientation of first mounting panel (11), the inboard fixedly connected with first dead lever (112) of first logical groove (111), flexible traction unit (3) still include first connecting rod (32), the one end and the first dead lever (112) of first connecting rod (32) articulate mutually.

4. An automatic climbing robot for unmanned docking of single-column steel pipe poles according to claim 2, characterized in that: the utility model discloses a connecting piece, including first connecting rod (32), spring (34), connecting piece (321), spring, connecting piece (34) are connected with, first connecting rod (32) wholly is "T type" structure, the outside of first connecting rod (32) is equipped with "integrated into one piece".

5. An automatic climbing robot for unmanned docking of single-column steel pipe poles according to claim 1, characterized in that: the top fixed mounting of lower module (2) has second mounting panel (21), second through groove (211) of "rectangle" structure have been seted up to the upper end intermediate position of second mounting panel (21), the inboard fixed mounting of second through groove (211) has second dead lever (212), flexible traction unit (3) still include second connecting rod (33), the one end and the second dead lever (212) of second connecting rod (33) are articulated mutually, and the other end is articulated mutually with first connecting rod (32) one end of keeping away from first dead lever (112).

6. The automatic climbing robot for unmanned docking of single-column steel pipe poles according to claim 5, wherein: a third through groove (213) with a U-shaped structure is formed in the right side of the second mounting plate (21) and corresponds to the first through groove (111), a third fixing rod (214) is fixedly connected to the inner side of the third through groove (213), and one end, far away from the connecting piece (321), of the spring (34) is hinged to the third fixing rod (214).

7. An automatic climbing robot for unmanned docking of single-column steel pipe poles according to claim 1, characterized in that: through holes (4) are formed in the left side and the right side of the upper module (1) and the right side of the lower module (2) and correspond to the telescopic rods (51), and motor output ends of inner cavities of the through holes (4) are connected with the telescopic rods (51).

8. An automatic climbing robot for unmanned docking of single-column steel pipe poles according to claim 1, characterized in that: the electromagnetic adsorption unit (53) comprises electromagnetic adsorption fingers (531), an induction device (532) is arranged at the lower end of the electromagnetic adsorption unit (53), each electromagnetic adsorption finger (531) independently operates, and the outer sides of the electromagnetic adsorption fingers (531) are fixedly connected with the elastic telescopic units (54).

9. An automatic climbing robot for unmanned docking of single-column steel pipe poles according to claim 1, characterized in that: the elastic telescopic unit (54) comprises a servo motor (541), the outer side of the servo motor (541) is fixedly connected with the outer side of an electromagnetic adsorption finger (531), the output end of the servo motor (541) is fixedly connected with an elastic telescopic rod (542), and the bottom of the elastic telescopic rod (542) is fixedly connected with an elastic telescopic finger (543).

10. An automatic climbing robot for unmanned docking of single-column steel pipe poles according to claim 1, characterized in that: the right end of the upper module (1) is fixedly provided with a carrying platform (6), electric interfaces (61) are symmetrically arranged at the middle position of the upper end of the carrying platform (6), and a mechanical interface (62) is arranged between the two electric interfaces (61).

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