CN118357944A - A tower climbing robot for disassembling and assembling a fall arrester - Google Patents
A tower climbing robot for disassembling and assembling a fall arrester Download PDFInfo
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- CN118357944A CN118357944A CN202410636228.3A CN202410636228A CN118357944A CN 118357944 A CN118357944 A CN 118357944A CN 202410636228 A CN202410636228 A CN 202410636228A CN 118357944 A CN118357944 A CN 118357944A
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- wall
- climbing
- electric push
- push rod
- disassembling
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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
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
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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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- 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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manipulator (AREA)
Abstract
本发明涉及防坠器拆装技术领域，具体涉及一种用于拆装防坠器的爬塔机器人，包括外壳，外壳包括顶盖和壳体，还包括控制器、爬行机构、夹持机构和拆装机构，爬行机构包括驱动组件、两个传动组件、四个攀爬组件和四个支撑脚，夹持机构包括卡块和两个抵紧组件，顶盖的顶部通过两个滑条和两个滑轨设有滑板，卡块固定设在滑板的顶部，拆装机构包括伸缩组件、角度调节组件和两个夹爪，滑板的顶部固定设有竖板，角度调节组件设在竖板的外壁上，伸缩组件设在角度调节组件上，两个夹爪均设在伸缩组件上，本发明的一种用于拆装防坠器的爬塔机器人，能够达到无需工人亲自爬塔，通过机器人实现自动爬塔来拆装防坠器，降低组塔和架线工作的危险性。
The present invention relates to the technical field of disassembling and assembling fall arresters, and specifically to a tower climbing robot for disassembling and assembling fall arresters, comprising an outer shell, wherein the outer shell comprises a top cover and a shell body, and further comprises a controller, a crawling mechanism, a clamping mechanism and a disassembling mechanism, wherein the crawling mechanism comprises a driving assembly, two transmission assemblies, four climbing assemblies and four supporting feet, the clamping mechanism comprises a clamping block and two tightening assemblies, a slide plate is provided on the top of the top cover through two slide bars and two slide rails, the clamping block is fixedly arranged on the top of the slide plate, the disassembling mechanism comprises a telescopic assembly, an angle adjustment assembly and two clamping claws, a vertical plate is fixedly arranged on the top of the slide plate, the angle adjustment assembly is arranged on the outer wall of the vertical plate, the telescopic assembly is arranged on the angle adjustment assembly, and two clamping claws are both arranged on the telescopic assembly. The tower climbing robot for disassembling and assembling fall arresters of the present invention can achieve the goal of disassembling and assembling fall arresters by automatically climbing the tower without the need for workers to climb the tower personally, thereby reducing the danger of tower assembly and line stringing work.
Description
Technical Field
The invention relates to the technical field of disassembly and assembly of falling protectors, in particular to a climbing robot for disassembling and assembling the falling protectors.
Background
The falling protector is also called a speed differential device, and is a product with a protection function. The falling object can be rapidly braked and locked within a limited distance, is suitable for hoisting cargoes, protects the life safety of ground operators and prevents the damage of the hoisted workpiece object.
In the tower assembling and line erecting stages, power grid constructors often need to climb the towers, and high-altitude falling accidents easily occur in the climbing process. At present, tools such as anti-falling guide rails, anti-falling climbing ladders and the like are added on a pole tower, and the tools are required to be installed on the pole tower in advance, so that workers need to install the tools first, follow-up personnel can use the tools, the tools need to be removed after the tools are used, and if each base pole tower is installed, the cost is high.
According to the defects of the prior art, it is necessary to design a climbing robot for a disassembly and assembly falling protector, which can realize automatic assembly and disassembly without manual assembly and can reduce the potential safety hazard and cost of the assembled tower line.
Disclosure of Invention
The invention aims to provide a climbing robot for disassembling and assembling a falling protector.
To achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a climb tower robot for dismouting safety hook, includes the shell, and the shell includes top cap and casing, and the top cap is fixed to be established at the top of casing through a plurality of bolt;
The device also comprises a controller, a crawling mechanism, a clamping mechanism and a dismounting mechanism, wherein the controller is fixedly arranged on the inner wall of the shell;
the crawling mechanism comprises a driving assembly, two transmission assemblies, four climbing assemblies and four supporting feet, wherein the driving assembly is arranged in the shell, the two transmission assemblies and the four climbing assemblies are symmetrically arranged on two side walls of the shell, each supporting foot is fixedly arranged at the bottom of one climbing assembly, and a power-losing electromagnet is arranged at the bottom of each supporting foot;
The clamping structure is arranged at the top of the top cover and comprises a clamping block and two abutting components, the top of the top cover is provided with a sliding plate through two sliding strips and two sliding rails, the clamping block is fixedly arranged at the top of the sliding plate, and the two abutting components are symmetrically arranged at the top of the sliding plate;
The dismounting mechanism is arranged at the top of the sliding plate and comprises a telescopic assembly, an angle adjusting assembly and two clamping jaws, a vertical plate is fixedly arranged at the top of the sliding plate, the angle adjusting assembly is arranged on the outer wall of the vertical plate, the telescopic assembly is arranged on the angle adjusting assembly, the two clamping jaws are all arranged on the telescopic assembly, and a driving assembly, the telescopic assembly, the angle adjusting assembly, each power-losing electromagnet and each supporting assembly are electrically connected with a controller.
Further, the top of the top cover is fixedly provided with a first electric push rod, an L-shaped block is fixedly arranged between the output end of the first electric push rod and the sliding plate, and the first electric push rod is electrically connected with the controller.
Further, angle adjusting part includes support arm, cantilever and second electric putter, and the support arm is fixed to be established at the top of riser, and the cantilever articulates to be established in the support arm one end of keeping away from the riser, and the second electric putter articulates to set up between the outer wall of support arm and cantilever, and the cantilever one end of keeping away from the support arm is fixed through two connecting rods and is equipped with the mounting panel, and the second electric putter is connected with the controller electricity.
Further, the telescopic assembly comprises a third electric push rod, a push block and two first connecting rods, sliding bearings are arranged on the inner wall of one end of the mounting plate, which is close to the cantilever, the third electric push rod is inserted on the inner wall of the cantilever, the output end of the third electric push rod penetrates through the cantilever and is connected with the inner ring of the sliding bearings, the push block is fixedly arranged on the output end of the third electric push rod, the two first connecting rods are all hinged to the push block, one end of each clamping jaw, which is close to the first connecting rod, is provided with a second connecting rod in an integrated manner, one end outer wall of the mounting plate and one end of each first connecting rod, which is far away from the push block, are hinged to two ends of each second connecting rod respectively, buffer springs are sleeved on the output end of the third electric push rod, the outer wall of the mounting plate and the outer wall of the push block are respectively in contact with two ends of the buffer springs, and the third electric push rod is electrically connected with the controller.
Further, every supports tight subassembly and all includes fourth electric putter and clamp plate, and the top of slide is fixed to be equipped with two backup pads, and every fourth electric putter all inserts and establishes in one of them backup pad, and the clamp plate is fixed to be established on its output, and fourth electric putter is connected with the controller electricity.
Further, the drive assembly includes biax motor and two first gears, and biax motor is fixed to be established in the inside of casing, and every first gear is all established on the one end outer wall of casing through first pivot rotation, and the one end that first gear was kept away from to every first pivot all is connected with an output fixed of biax motor, biax motor and controller electricity.
Further, each transmission assembly comprises two second gears, the two second gears are arranged on the outer wall of the shell in a rotating mode through the second rotating shaft, and the first gears are in meshed connection with the two second gears.
Further, every climbing subassembly all includes actuating lever, climbs pole, first gag lever post and second gag lever post, and the actuating lever post articulates and sets up on the outer wall of one of them second gear, and first gag lever post and second gag lever post all articulate and set up on the outer wall of casing, and the one end that the casing was kept away from to first gag lever post is articulated with the actuating lever post, climbs the pole and articulates the one end that the one end and the second gag lever post that the casing was kept away from at the actuating lever post between, every supporting legs all with the bottom fixed connection of a climbing pole.
Further, two high-definition cameras are symmetrically arranged on the outer wall of the top cover, and each high-definition camera is electrically connected with the controller.
Further, the outer wall of the clamping block is provided with a clamping groove in an integrated manner.
The invention has the beneficial effects that:
1. According to the invention, the crawling mechanism, namely the driving assembly, the two transmission assemblies, the four climbing assemblies and the four supporting legs, is designed, the power-losing type electromagnet is arranged at the bottom of each supporting leg, the electromagnet is powered off when the power is on, the robot climbs the pole tower through the supporting legs, and meanwhile, the power-losing type electromagnet is an electromagnetic device made of a conductive coil and an iron core, and is characterized in that the adsorbed object can be kept under the power-off state, so that the robot is ensured not to fall off from the pole tower all the time, the aim of avoiding workers to climb the pole tower personally can be achieved, the automatic climbing of the pole tower is realized through the robot to disassemble and assemble the anti-falling device, and the danger of work of the pole tower assembly and the overhead line is reduced.
2. According to the invention, through designing the clamping structure, namely the clamping block and the two abutting components, after the two abutting components fix the plastic shell of the falling protector, the rope plastic package part of the connecting hook, which is needed to be hung on one section of the pole tower, of the falling protector is placed in the clamping groove, so that the vertical placement of the hook to be hung is realized, the hook is conveniently and subsequently hung on the top of the tower, and meanwhile, the robot is conveniently carried out to bear the falling protector, and the falling protector is not needed to be installed or detached by a worker on the tower.
3. According to the invention, the anti-falling device is directly arranged on the tower top by utilizing the crawling robot, and then the hook on the safety rope connected with the automatic braking device of the anti-falling device is pulled to the ground from the tower top, so that the hook is conveniently buckled with the safety rope hook between the waists of workers, and workers can climb the tower under the condition of the protection device, thereby not only improving the safety of the climbing tower, but also completing the work of grouping the tower and the wire erection by only installing one anti-falling device, and not installing an anti-falling guide rail or an anti-falling ladder at each base tower, thereby reducing the cost of climbing the tower and further reducing the cost of grouping the tower and the wire erection.
4. According to the invention, by designing the two high-definition cameras, the two high-definition cameras provide crawling vision when the robot climbs the tower, so that ground operators can learn the condition on the tower in time, and visual support is provided for the disassembly and assembly of the falling protector.
5. According to the invention, the shell is designed into the combined structure of the top cover and the shell, so that the parts in the shell are convenient to disassemble quickly for maintenance when faults occur, the service life of the device is prolonged, the maintenance efficiency is improved, and the maintenance cost is reduced.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present invention, the following description briefly describes the drawings in the embodiments of the present invention.
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic diagram of a second perspective structure of the present invention;
FIG. 3 is a side view of the present invention;
fig. 4 is an enlarged view at a in fig. 3;
FIG. 5 is a schematic perspective view of the invention with the top cover removed;
FIG. 6 is a schematic perspective view of the clamping mechanism and the dismounting mechanism of the present invention;
FIG. 7 is a schematic view of a cross-sectional structure of a cantilever of the present invention;
FIG. 8 is an enlarged view at B in FIG. 7;
In the figure: the device comprises a shell 1, a top cover 2, a shell 3, a driving assembly 4, a transmission assembly 5, a climbing assembly 6, supporting legs 7, a power-off electromagnet 8, a clamping block 9, a supporting assembly 10, a sliding plate 11, a telescopic assembly 12, an angle adjusting assembly 13, clamping jaws 14, a first electric push rod 15, an L-shaped block 16, a supporting arm 17, a cantilever 18, a second electric push rod 19, a mounting plate 20, a third electric push rod 21, a push block 22, a first connecting rod 23, a second connecting rod 24, a buffer spring 25, a fourth electric push rod 26, a pressing plate 27, a double-shaft motor 28, a first gear 29, a second gear 30, a driving rod 31, a climbing rod 32, a first limiting rod 33, a second limiting rod 34, a high-definition camera 35, a falling protector 36 and a controller 37.
Detailed Description
The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings.
Wherein the drawings are for illustrative purposes only and are shown in schematic, non-physical, and not intended to be limiting of the present patent; for the purpose of better illustrating embodiments of the invention, certain elements of the drawings may be omitted, enlarged or reduced in size and do not represent the actual product dimensions.
Referring to fig. 1 to 8, a climbing robot for dismounting a fall arrester 36 includes a housing 1, the housing 1 includes a top cover 2 and a casing 3, the top cover 2 is fixedly arranged at the top of the casing 3 through a plurality of bolts, the housing 1 is designed into a combined structure of the top cover 2 and the casing 3, and when parts in the housing 1 fail, the parts are convenient to disassemble quickly for maintenance;
the device also comprises a controller 37, a crawling mechanism, a clamping mechanism and a dismounting mechanism, wherein the controller 37 is fixedly arranged on the inner wall of the shell 3;
The crawling mechanism comprises a driving component 4, two transmission components 5, four climbing components 6 and four supporting feet 7, wherein the driving component 4 is arranged in the shell 3, the two transmission components 5 and the four climbing components 6 are symmetrically arranged on two side walls of the shell 3, each supporting foot 7 is fixedly arranged at the bottom of one climbing component 6, a power-losing electromagnet 8 is arranged at the bottom of each supporting foot 7, when the power is supplied, the electromagnet is powered off, so that a robot climbs a pole tower through the supporting foot 7, and meanwhile, the power-losing electromagnet is an electromagnetic device made of a conductive coil and an iron core, and is characterized in that the adsorbed object can be kept under the power-off state, so that the robot is ensured not to drop from the pole tower all the time;
The clamping structure is arranged at the top of the top cover 2, the clamping mechanism comprises a clamping block 9 and two propping components 10, a sliding plate 11 is arranged at the top of the top cover 2 through two sliding strips and two sliding rails, the clamping block 9 is fixedly arranged at the top of the sliding plate 11, and the two propping components 10 are symmetrically arranged at the top of the sliding plate 11;
The dismounting mechanism is arranged at the top of the sliding plate 11 and comprises a telescopic component 12, an angle adjusting component 13 and two clamping jaws 14, a vertical plate is fixedly arranged at the top of the sliding plate 11, the angle adjusting component 13 is arranged on the outer wall of the vertical plate, the telescopic component 12 is arranged on the angle adjusting component 13, the two clamping jaws 14 are arranged on the telescopic component 12, and a driving component 4, the telescopic component 12, the angle adjusting component 13, each power-losing electromagnet 8 and each abutting component 10 are electrically connected with a controller 37.
Referring to fig. 1 to 8, a first electric push rod 15 is fixedly arranged at the top of the top cover 2, an L-shaped block 16 is fixedly arranged between the output end of the first electric push rod 15 and the sliding plate 11, the first electric push rod 15 is electrically connected with a controller 37, after the robot climbs to the top of the tower, a worker gives an instruction for starting the first electric push rod 15 to the controller 37 through a remote control handle, so that the first electric push rod 15 is started through the controller 37, and the sliding plate 11 and a falling protector 36 on the sliding plate 11 are pushed to approach a metal rod at the top of the tower until a hook of the falling protector 36, which is close to one end of the clamping jaw 14, is close to the metal rod at the top of the tower.
Referring to fig. 1 to 8, the angle adjusting assembly 13 includes a supporting arm 17, a cantilever 18 and a second electric push rod 19, the supporting arm 17 is fixedly arranged at the top of the riser, the cantilever 18 is hinged at one end of the supporting arm 17 far away from the riser, the second electric push rod 19 is hinged between the supporting arm 17 and the outer wall of the cantilever 18, one end of the cantilever 18 far away from the supporting arm 17 is fixedly provided with a mounting plate 20 through two connecting rods, the second electric push rod 19 is electrically connected with a controller 37, when a hook of the fall arrester 36 near one end of the clamping jaw 14 is close to a metal rod at the top of the tower, a ground operator gives an instruction for starting the second electric push rod 19 to the controller 37 through a remote control handle, so that the output end of the second electric push rod 19 is contracted, the cantilever 18 is hinged with one end of the supporting arm 17 far away from the riser, the outer walls of the supporting arm 17 and the cantilever 18 are respectively hinged with two ends of the second electric push rod 19, one end of the cantilever 18 far away from the supporting arm 17 is fixedly connected with the mounting plate 20 through two connecting rods, and further the two clamping plates 20 and one ends of the two clamping jaws 14 are driven to rotate towards one end near the clamping jaw 9.
Referring to fig. 1 to 8, the telescopic assembly 12 includes a third electric push rod 21, a push block 22 and two first connecting rods 23, a sliding bearing is disposed on an inner wall of one end of the mounting plate 20 near the cantilever 18, the third electric push rod 21 is inserted on the inner wall of the cantilever 18, an output end of the third electric push rod 21 passes through the cantilever 18 and is connected with an inner ring of the sliding bearing, the push block 22 is fixedly disposed on an output end of the third electric push rod 21, the two first connecting rods 23 are all hinged on the push block 22, one end of each clamping jaw 14 near the first connecting rod 23 is integrally formed and provided with a second connecting rod 24, an outer wall of one end of the mounting plate 20 and one end of each first connecting rod 23 far away from the push block 22 are respectively hinged with two ends of each second connecting rod 24, a buffer spring 25 is sleeved on an output end of the third electric push rod 21, an outer wall of the mounting plate 20 and an outer wall of the push block 22 are respectively abutted with two ends of the buffer spring 25, when the two clamping jaws 14 rotate to approach the hook of the anti-falling device 36 near the clamping block 9, a ground operator gives an instruction for starting the third electric push rod 21 to the controller 37 through a remote control handle, so that the output end of the controller drives the push block 22 to retract towards one end near the cantilever 18, one end of each of the push block 22 and the second connecting rods 24 is hinged with two ends of each of the first connecting rods 23 respectively, the other end of each of the second connecting rods 24 is hinged with the mounting plate 20, and because each clamping jaw 14 is fixedly connected with one of the second connecting rods 24, the two first connecting rods 23 are driven to rotate towards one end near each other, namely, the inclined state is changed into the parallel state, the two clamping jaws 14 are driven to rotate towards one end near each other, the outer wall of the hook of the anti-falling device 36 near the clamping block 9 is clamped, then drive the output of second electric putter 19 through controller 37 and stretch out and draw back to realize the reciprocal rotation of cantilever 18, buckle the couple that is close to fixture block 9 on the safety catch 36 on the metal pole on shaft tower top, realize the installation of safety catch 36, then loosen two clamp plates 27 through controller 37, realize the unclamping of the inside automatic tight device that stops of safety catch 36 plastics shell, rethread second electric putter 19 drives cantilever 18 and two clamping jaws 14 on it and be close to the couple that is close to riser one end on the safety catch 36, then with this couple clamping jaw 14 through two clamping jaws 14, ground operating personnel is down to the signal that the robot returned the ground through remote control handle to controller 37, drive biax motor 28 through controller 37 promptly and reverse, realize the whereabouts of crawling the robot, it climbs together to clip the couple that is close to riser one end on the safety catch 36 plastics shell simultaneously, wait for the robot to pull this couple to ground through the automatic tight device that stops inside safety rope, the workman that need the climbing tower can climb the safety catch on the waist of oneself with this couple and automatic tight device that climbs, the climbing tower can fall down with the safety catch, if the safety catch down in time, the safety catch down, the potential safety hazard can be prevented when the climbing tower is down in time and the safety catch, and the safety catch down in time, and the safety catch down.
Referring to fig. 1 to 8, each tightening assembly 10 includes a fourth electric push rod 26 and a pressing plate 27, two supporting plates are fixedly arranged at the top of the sliding plate 11, each fourth electric push rod 26 is inserted in one of the supporting plates, the pressing plate 27 is fixedly arranged at the output end of the pressing plate, the fourth electric push rod 26 is electrically connected with a controller 37, and before the robot climbs a pole 32 tower, the two fourth electric push rods 26 are started through the controller 37, so that the output ends of the two fourth electric push rods 26 are mutually close to drive the two pressing plates 27 to tightly tighten the plastic shell of the falling protector 36, and the robot is realized to bear the falling protector 36.
Referring to fig. 1 to 8, the driving assembly 4 includes a dual-shaft motor 28 and two first gears 29, the dual-shaft motor 28 is fixedly disposed in the housing 3, each first gear 29 is rotatably disposed on an outer wall of one end of the housing 3 through a first rotating shaft, one end of each first rotating shaft far away from the first gear 29 is fixedly connected with one output end of the dual-shaft motor 28, the dual-shaft motor 28 is electrically connected with the controller 37, a signal receiving chip is mounted in the controller 37 and is electrically connected with a remote control handle, thereby facilitating a detection person to remotely control the controller 37 through the remote control handle, so that the robot is vertically disposed at the bottom end of a pole tower when climbing is required, and keeps the power-losing type electromagnet 8 on the four supporting legs 7 attached to the outer wall of the pole tower, and then a ground operator gives a signal for starting the dual-shaft motor 28 to the controller 37 through the remote control handle, so that the two first gears 29 are driven to rotate clockwise through the two first rotating shafts.
Referring to fig. 1 to 8, each transmission assembly 5 includes two second gears 30, the two second gears 30 are rotatably disposed on the outer wall of the housing 3 through a second rotation shaft, and the first gear 29 is engaged with the two second gears 30, and when the first gear 29 rotates, the first gear 29 is engaged with the two second gears 30 due to the fact that the two second gears 30 are rotatably connected with the housing 3 through the second rotation shaft, so that the two second gears 30 are driven to rotate counterclockwise.
Referring to fig. 1 to 8, each climbing assembly 6 includes a driving rod 31, a climbing rod 32, a first limit rod 33 and a second limit rod 34, the driving rod 31 is hinged on the outer wall of one of the second gears 30, the first limit rod 33 and the second limit rod 34 are both hinged on the outer wall of the housing 3, one end of the first limit rod 33 far away from the housing 3 is hinged with the driving rod 31, the climbing rod 32 is hinged between one end of the driving rod 31 far away from the second gear 30 and one end of the second limit rod 34 far away from the housing 3, each supporting leg 7 is fixedly connected with the bottom end of one climbing rod 32, when the second gear 30 rotates anticlockwise, the driving rod 31 is hinged with the second gear 30 so as to drive the driving rod 31 to rotate anticlockwise, one end of the driving rod 31 close to the climbing rod 32 is restrained by the first limit rod 33 due to the hinge with the first limit rod 33, and meanwhile, one end of the second limit rod 34 is restrained by the housing 3, the other end of the second limit rod is hinged with the climbing rod 32, and the climbing rod 32 is matched with the first limit rod 33 so that the climbing rod 32 swings forwards to realize the climbing assembly to the climbing assembly.
Referring to fig. 1 to 8, two high-definition cameras 35 are symmetrically arranged on the top outer wall of the top cover 2, each high-definition camera 35 is electrically connected with a controller 37, and the two high-definition cameras 35 provide crawling vision when the robot climbs the tower, so that ground operators can learn about the condition on the tower in time, and visual support is provided for the disassembly and assembly of the falling protector 36.
Referring to fig. 1 to 8, a clamping groove is formed in the outer wall of the clamping block 9 in an integrated manner, after the plastic shell of the falling protector 36 is fixed, a rope plastic package part of the falling protector 36, which is needed to be hung on one section of the pole tower and is connected with a hook, is placed in the clamping groove, so that the vertical placement of the hook to be hung is realized, and the hook is conveniently hung on the top of the pole in the follow-up process.
The working principle of the invention is as follows: before the robot climbs the pole 32 tower, two fourth electric push rods 26 are started through a controller 37, so that the output ends of the two fourth electric push rods 26 are close to each other, the two pressing plates 27 are driven to tightly prop against the plastic shell of the falling protector 36, and the robot is carried on the falling protector 36.
When the plastic shell of the falling protector 36 is fixed, the rope plastic package part of the connecting hook, which is needed to be hung on one section of the pole tower, of the falling protector 36 is placed in the clamping groove, so that the vertical placement of the hook to be hung is realized, and the hook is conveniently hung on the top of the pole.
The two high-definition cameras 35 provide crawling vision when the robot climbs the tower, so that ground operators can learn the condition on the tower in time, and visual support is provided for the disassembly and assembly of the falling protector 36.
The internally mounted of controller 37 has signal receiving chip, this signal receiving chip and remote control handle electric connection, thereby make things convenient for the inspector to pass through remote control handle remote control controller 37, thereby control this robot through controller 37, when need climb the tower, firstly with the vertical bottom of putting the robot at the shaft tower, and keep the laminating of the outer wall of power-off electro-magnet 8 and the shaft tower on four supporting legs 7, then ground operating personnel passes through remote control handle and gives the signal of start-up biax motor 28 to controller 37, thereby drive two first gears 29 clockwise rotation through two first rotating shafts.
When the first gear 29 rotates, since the two second gears 30 are both rotatably connected to the housing 3 through the second shaft, the first gear 29 is engaged with the two second gears 30, thereby driving the two second gears 30 to rotate counterclockwise.
When the second gear 30 rotates anticlockwise, the driving rod 31 is hinged with the second gear 30, so that the driving rod 31 is driven to rotate anticlockwise, one end of the driving rod 31, which is close to the climbing rod 32, is hinged with the first limiting rod 33, so that the driving rod 31 is restrained by the first limiting rod 33, meanwhile, the first limiting rod 33 rotates anticlockwise, one end of the second limiting rod 34 is restrained by the shell 3, the other end of the second limiting rod is hinged with the climbing rod 32, the climbing rod 32 swings forwards in cooperation with the first limiting rod 33, and climbing of the robot on the outer wall of a tower is realized through cooperation with the other three climbing assemblies.
After the robot climbs to the top of the pole tower, a worker gives an instruction for starting the first electric push rod 15 to the controller 37 through the remote control handle, so that the first electric push rod 15 is started through the controller 37, and the output end of the first electric push rod 15 is fixedly connected with the slide plate 11 through the L-shaped block 16, so that the slide plate 11 and the falling protector 36 on the slide plate 11 are pushed to approach to the metal rod at the top end of the pole tower until the hook of the falling protector 36, which is close to one end of the clamping jaw 14, is close to the metal rod at the top end of the pole tower.
When the hook of the falling protector 36 near one end of the holding jaw 14 is close to the metal rod at the top end of the tower, a ground operator gives an instruction for starting the second electric push rod 19 to the controller 37 through the remote control handle, so that the output end of the second electric push rod 19 is contracted, as the supporting arm 17 is fixedly connected with the vertical plate, the cantilever 18 is hinged with one end of the supporting arm 17 far away from the vertical plate, the outer walls of the supporting arm 17 and the cantilever 18 are respectively hinged with two ends of the second electric push rod 19, one end of the cantilever 18 far away from the supporting arm 17 is fixedly connected with the mounting plate 20 through two connecting rods, and the mounting plate 20 and the two holding jaws 14 on the mounting plate are driven to rotate towards one end near the hook of the clamping block 9.
When the two clamping jaws 14 rotate to be close to the hook of the anti-falling device 36, a ground operator sends an instruction for starting the third electric push rod 21 to the controller 37 through the remote control handle, so that the output end of the controller drives the push block 22 to retract towards one end close to the cantilever 18, as one end of each of the push block 22 and the second connecting rods 24 is hinged with two ends of each of the first connecting rods 23 respectively, the other end of each of the second connecting rods 24 is hinged with the mounting plate 20, and as each clamping jaw 14 is fixedly connected with one of the second connecting rods 24, the two first connecting rods 23 are driven to rotate towards one end close to each other, namely, the controller 37 is used for driving the two clamping jaws 14 to rotate towards one end close to each other, clamping the outer wall of the hook of the anti-falling device 36 close to the anti-falling device 9, then the controller 37 is used for driving the output end of the second electric push rod 19 to retract, the cantilever 18 can be reciprocally rotated, the hook close to the clamping block 9 on the falling protector 36 is buckled on the metal rod at the top end of the pole tower, the falling protector 36 is installed, then the two pressing plates 27 are loosened through the controller 37, the falling protector 36 plastic shell is loosened, the cantilever 18 and the two clamping jaws 14 on the cantilever are driven to approach to the hook close to one end of the falling protector 36 and close to the vertical plate through the second electric push rod 19, then the two clamping jaws 14 are used for clamping the hook, a ground operator can send a signal for returning the robot to the ground to the controller 37 through the remote control handle, namely the controller 37 drives the double-shaft motor 28 to reversely rotate, the falling robot is crawled, the falling hook close to one end of the vertical plate on the falling protector 36 is clamped to climb down together, the hook is connected with an automatic tightening device inside the falling protector 36 plastic shell through a safety rope, and the robot pulls the hook to climb to the ground, the first time need climb the workman of tower can climb the tower after with the safety catch on the safety rope of oneself waist and this couple lock joint, crawl the in-process if carelessly drop, automatic tight device of stopping can in time pull the workman through this couple, prevent to drop ground, and then reduce the potential safety hazard, promotes the security when tower and overhead line work climbing.
It should be noted that, after the last worker climbs to ground after the work of group's tower and overhead line at every turn, this robot of crawling also can climb pole top of the tower and will install in the safety hook 36 of top of the tower and tear down, and then make things convenient for the re-use of safety hook 36, and not disposable, is favorable to reducing the climbing cost.
The specific operation of detaching the fall arrester 36 is as follows, the movable tongue on the hook fastened on the top of the tower is pulled open by the mutual approaching of the two clamping jaws 14, and then the hook is taken down from the metal rod on the top of the tower by the gap between the movable tongue and the hook after being pulled open, so that the fall arrester 36 can be detached.
Claims (10)
1. A climb tower robot for dismouting safety hook, includes shell (1), and shell (1) include top cap (2) and casing (3), and top cap (2) are established at the top of casing (3) through a plurality of bolt fastening, its characterized in that:
the device also comprises a controller (37), a crawling mechanism, a clamping mechanism and a dismounting mechanism, wherein the controller (37) is fixedly arranged on the inner wall of the shell (3);
The crawling mechanism comprises a driving assembly (4), two transmission assemblies (5), four climbing assemblies (6) and four supporting legs (7), wherein the driving assembly (4) is arranged in the shell (3), the two transmission assemblies (5) and the four climbing assemblies (6) are symmetrically arranged on two side walls of the shell (3), each supporting leg (7) is fixedly arranged at the bottom of one climbing assembly (6), and an electric loss electromagnet (8) is arranged at the bottom of each supporting leg (7);
The clamping structure is arranged at the top of the top cover (2), the clamping structure comprises a clamping block (9) and two propping components (10), a sliding plate (11) is arranged at the top of the top cover (2) through two sliding strips and two sliding rails, the clamping block (9) is fixedly arranged at the top of the sliding plate (11), and the two propping components (10) are symmetrically arranged at the top of the sliding plate (11);
The disassembly and assembly mechanism is arranged at the top of the sliding plate (11), the disassembly and assembly mechanism comprises a telescopic component (12), an angle adjusting component (13) and two clamping jaws (14), a vertical plate is fixedly arranged at the top of the sliding plate (11), the angle adjusting component (13) is arranged on the outer wall of the vertical plate, the telescopic component (12) is arranged on the angle adjusting component (13), the two clamping jaws (14) are all arranged on the telescopic component (12), and the driving component (4), the telescopic component (12), the angle adjusting component (13), each power-losing electromagnet (8) and each supporting component (10) are electrically connected with the controller (37).
2. The climbing robot for disassembling and assembling the fall arrester of claim 1, wherein: the top of the top cover (2) is fixedly provided with a first electric push rod (15), an L-shaped block (16) is fixedly arranged between the output end of the first electric push rod and the sliding plate (11), and the first electric push rod (15) is electrically connected with the controller (37).
3. The climbing robot for disassembling and assembling the fall arrester as recited in claim 2, wherein: the angle adjusting component (13) comprises a supporting arm (17), a cantilever (18) and a second electric push rod (19), wherein the supporting arm (17) is fixedly arranged at the top of a vertical plate, the cantilever (18) is hinged to one end, far away from the vertical plate, of the supporting arm (17), the second electric push rod (19) is hinged to the outer wall of the supporting arm (17) and the outer wall of the cantilever (18), one end, far away from the supporting arm (17), of the cantilever (18) is fixedly provided with a mounting plate (20) through two connecting rods, and the second electric push rod (19) is electrically connected with the controller (37).
4. A climbing robot for dismounting a fall arrester as claimed in claim 3, characterized in that: the telescopic assembly (12) comprises a third electric push rod (21), a push block (22) and two first connecting rods (23), sliding bearings are arranged on the inner wall of one end, close to the cantilever (18), of the mounting plate (20), the third electric push rod (21) is inserted on the inner wall of the cantilever (18), the output end of the third electric push rod passes through the cantilever (18) and is connected with the inner ring of the sliding bearings, the push block (22) is fixedly arranged on the output end of the third electric push rod (21), the two first connecting rods (23) are hinged to the push block (22), one end, close to the first connecting rods (23), of each clamping jaw (14) is provided with a second connecting rod (24) in an integrated manner, one end outer wall of the mounting plate (20) and one end, far away from the push block (22), of each first connecting rod (23) are hinged to the two ends of each second connecting rod (24), a buffer spring (25) is sleeved on the output end of the third electric push rod (21), the outer wall of the mounting plate (20) and the outer wall of the push block (22) are respectively abutted to the two ends of the buffer spring (25), and the third electric push rod (21) are electrically connected with a controller (37).
5. The climbing robot for disassembling and assembling the fall arrester of claim 4, wherein: every supports tight subassembly (10) all includes fourth electric putter (26) and clamp plate (27), and the top of slide (11) is fixed to be equipped with two backup pads, and every fourth electric putter (26) all inserts and establishes in one of them backup pad, and clamp plate (27) are fixed to be established on its output, and fourth electric putter (26) are connected with controller (37) electricity.
6. The climbing robot for disassembling and assembling the fall arrester of claim 5, wherein: the driving assembly (4) comprises a double-shaft motor (28) and two first gears (29), the double-shaft motor (28) is fixedly arranged in the shell (3), each first gear (29) is rotatably arranged on the outer wall of one end of the shell (3) through a first rotating shaft, one end, far away from the first gear (29), of each first rotating shaft is fixedly connected with one output end of the double-shaft motor (28), and the double-shaft motor (28) is electrically connected with the controller (37).
7. The climbing robot for disassembling and assembling the fall arrester of claim 6, wherein: each transmission assembly (5) comprises two second gears (30), the two second gears (30) are arranged on the outer wall of the shell (3) in a rotating mode through a second rotating shaft, and the first gears (29) are in meshed connection with the two second gears (30).
8. The climbing robot for disassembling and assembling the fall arrester of claim 7, wherein: every climbing subassembly (6) all includes actuating lever (31), climbing pole (32), first gag lever post (33) and second gag lever post (34), actuating lever post (31) articulated set up on the outer wall of one of them second gear (30), first gag lever post (33) and second gag lever post (34) all articulate set up on the outer wall of casing (3), the one end that casing (3) was kept away from to first gag lever post (33) is articulated with actuating lever post (31), climbing pole (32) articulated set up between the one end that second gear (30) was kept away from in actuating lever (31) and the one end that casing (3) was kept away from to second gag lever post (34), every supporting legs (7) all with the bottom fixed connection of a climbing pole (32).
9. The climbing robot for disassembling and assembling the fall arrester of claim 8, wherein: two high-definition cameras (35) are symmetrically arranged on the outer wall of the top cover (2), and each high-definition camera (35) is electrically connected with a controller (37).
10. The climbing robot for disassembling and assembling the fall arrester as recited in claim 9, wherein: the outer wall of the clamping block (9) is provided with a clamping groove in an integrated manner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410636228.3A CN118357944A (en) | 2024-05-22 | 2024-05-22 | A tower climbing robot for disassembling and assembling a fall arrester |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410636228.3A CN118357944A (en) | 2024-05-22 | 2024-05-22 | A tower climbing robot for disassembling and assembling a fall arrester |
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| Publication Number | Publication Date |
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| CN118357944A true CN118357944A (en) | 2024-07-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410636228.3A Pending CN118357944A (en) | 2024-05-22 | 2024-05-22 | A tower climbing robot for disassembling and assembling a fall arrester |
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| Country | Link |
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| CN (1) | CN118357944A (en) |
Cited By (1)
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| CN119176200A (en) * | 2024-10-10 | 2024-12-24 | 三峡大学 | Automatic safety rope dismounting robot based on electromagnetic adsorption and working method thereof |
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