CN216098904U - Rail mounted electric power angle steel tower overhauls robot - Google Patents
Rail mounted electric power angle steel tower overhauls robot Download PDFInfo
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- CN216098904U CN216098904U CN202121383698.1U CN202121383698U CN216098904U CN 216098904 U CN216098904 U CN 216098904U CN 202121383698 U CN202121383698 U CN 202121383698U CN 216098904 U CN216098904 U CN 216098904U
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 50
- 239000010959 steel Substances 0.000 title claims abstract description 50
- 239000000463 material Substances 0.000 claims abstract description 28
- 238000012423 maintenance Methods 0.000 claims abstract description 16
- 238000005096 rolling process Methods 0.000 claims description 3
- 230000009194 climbing Effects 0.000 abstract description 14
- 238000007689 inspection Methods 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 5
- 230000001174 ascending effect Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000005770 birds nest Nutrition 0.000 description 1
- 238000005253 cladding Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000000877 morphologic effect Effects 0.000 description 1
- 238000012946 outsourcing Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000006748 scratching Methods 0.000 description 1
- 230000002393 scratching effect Effects 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
- 235000005765 wild carrot Nutrition 0.000 description 1
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Abstract
The utility model belongs to the technical field of electric power operation climbing robots, and particularly relates to a track type electric power angle steel tower maintenance robot. The mechanical arm comprises a host and mechanical arms, wherein the host comprises two sets of walking parts which are respectively matched with two adjacent angle steel main materials; horizontal sliding tables are arranged on the two sets of walking parts, the mechanical arm is arranged on the front surface of the base between the two sets of walking parts, horizontal guide rods extend from the base to the horizontal sliding tables on the two sides, and sliding guide fit with the horizontal direction as the guiding direction is formed between the horizontal guide rods and the horizontal sliding tables; the service robot also includes a centering assembly for centering the base position. The climbing device has a light and reliable structure, and can synchronously ensure the action stability and the action reliability of climbing operation, thereby greatly saving the labor inspection cost, improving the maintenance efficiency and ensuring the safe and reliable operation of a power transmission system.
Description
Technical Field
The utility model belongs to the technical field of electric power operation climbing robots, and particularly relates to a track type electric power angle steel tower maintenance robot.
Background
The stability and the safety of the electric power are basic guarantees for promoting the development of various industries, and in China, the electric angle steel towers are large in number and wide in distribution and are exposed in a field environment or even a dusty strong wind and high humidity severe environment for a long time. Under traditional mode, need bear maintenance equipment by the maintainer and climb the angle-steel tower along the foot nail side, gradually articulate the safety rope and prevent weighing down, lead to patrolling and examining the cycle length, the climbing is dangerous big, and work efficiency is low. Therefore, the climbing robot suitable for the angle steel tower is produced, and climbing types with various morphological structures are gradually derived, such as snake-shaped robots, wheel-type robots, inchworm-type robots and the like. As shown in fig. 1, the power angle steel tower is a truss structure formed by welding or bolting angle steel, and is mainly constructed by four main angle steel main materials and some auxiliary materials for diagonal bracing; the angle steel main material is certain inclination with the ground and arranges, adopts outsourcing angle steel and adds bolt fixed connection between the angle steel main material, adopts the bolt directly to link or plus the gusset plate between angle steel main material to one side, thereby can also arrange the epitaxial foot nail of a large amount of levels along angle steel tower direction of height simultaneously and supply the manual check to use. Therefore, the electric angle steel tower has the characteristics of a plurality of obstacles, including but not limited to foot nails, cladding bolts, gusset plates and the like; no matter what kind of robot, how to guarantee climbing efficiency while avoiding obstacles is a big difficulty. In addition, in the climbing process, a main machine of the robot must be always parallel to a main material of the angle steel, so that stable clamping and stable climbing of the robot can be guaranteed; however, because of the huge mass of the existing robot, the host of the robot is often inclined at an angle, so that the reliability is questioned. How to develop a novel maintenance robot, make it possess the light and handy reliable advantage of structure to realize climbing efficiency and climbing stability reliable balance between, the technological problem that the field needs to solve in recent years.
Disclosure of Invention
The utility model aims to overcome the defects of the prior art and provides a track type electric power angle steel tower maintenance robot which is light and reliable in structure and can synchronously ensure the action stability and action reliability of climbing operation, so that the labor inspection cost can be greatly saved, the maintenance efficiency is improved, and the safe and reliable operation of a power transmission system is ensured.
In order to achieve the purpose, the utility model adopts the following technical scheme:
the utility model provides a track type electric power angle steel tower overhauls robot, includes the host computer and arranges the arm that is used for overhauing on the host computer, its characterized in that: the main machine comprises two sets of walking parts which can move along the length direction of the angle steel main materials and are respectively matched on two adjacent angle steel main materials; horizontal sliding tables are arranged on the two sets of walking parts, the mechanical arm is arranged on the front surface of the base between the two sets of walking parts, horizontal guide rods extend from the base to the horizontal sliding tables on the two sides, and sliding guide fit with the horizontal direction as the guiding direction is formed between the horizontal guide rods and the horizontal sliding tables; the maintenance robot also comprises a centering assembly for centering the position of the base, wherein the centering assembly comprises a vertical guide rail arranged on the back surface of the base, and a vertical sliding block is matched with the upper slide rail of the vertical guide rail; two ends of the centering connecting rod are respectively hinged on the plumb slide block and the walking part, and the axis of the hinged part is vertical to the advancing direction of the plumb slide block; an included angle is formed between the two groups of centering connecting rods positioned on the two sides of the base, and the angle end of the included angle points to the advancing direction of the plumb slide block.
Preferably, one set of walking part on each angle steel main material consists of two groups of walking modules which are sequentially arranged along the length direction of the angle steel main material; the walking modules on the upper layer on the two sets of walking parts are arranged at the same height, and the walking modules on the lower layer on the two sets of walking parts are arranged at the same height; the two horizontal guide rods are respectively matched at the horizontal sliding tables on the two groups of upper-layer walking modules and the horizontal sliding tables on the two groups of lower-layer walking modules; the base is fixed at the middle rod body of the horizontal guide rod and is bridged with the two horizontal guide rods.
Preferably, the arrangement position of the vertical guide rail and the arrangement position of the horizontal guide rod are spatially avoided; two groups of centering connecting rods are arranged on two sides of the vertical guide rail in a plane symmetry manner.
Preferably, I-shaped rails are arranged on the angle steel main material along the length direction of the angle steel main material, the walking module comprises a walking plate and walking wheels in rotary fit on the walking plate, and the walking wheels and the I-shaped rails form rolling fit; the walking wheels are driven by the driving wheels or the walking modules through an external driving source, so that walking action along the I-shaped rail is generated.
Preferably, a backing plate is clamped between the walking plate and the horizontal sliding table, and extends along the main material direction of the angle steel and extends above the horizontal sliding table, so that an cornice is formed.
The utility model has the beneficial effects that:
1) according to the scheme, on one hand, the host machine moves up and down along the electric angle steel tower by arranging the walking parts such as the walking wheels, the walking rollers, even the air rails or the walking clamping jaws; and the preset online maintenance function of parts such as bolts on the electric angle steel tower can be realized by matching with the mechanical arm. On the other hand, when the walking parts gradually go upwards, the distance between the walking parts is gradually shortened under the influence of the gradual distance between the main materials of the adjacent angle steels, so that the horizontal guide unit is formed by the horizontal guide rod and the horizontal sliding table, and the normal function of the walking parts is not influenced. In addition, for the maintenance robot, while the structural stability is satisfied, the operational reliability is also the key, that is, how to take into account the perfect balance between the "action of the walking part and the horizontal guide rail" and the "no action of the base". By adopting the matching structure of the vertical slide block, the vertical guide rail and the centering connecting rod, the utility model can ensure that the base is always positioned at a constant position such as the middle area of two angle steel main materials under the displacement action of the horizontal guide unit, thereby ensuring the constancy of the working reference of the mechanical arm positioned on the base and providing basic guarantee for the fixed-point maintenance of the final mechanical arm.
In conclusion, the utility model not only has high operation stability and high operation reliability, but also forms a simple frame type working structure only by the matching structure of the connecting rod, the guide rail and the sliding block, has structural lightness, and further improves the stability and the reliability of the work. Therefore, the utility model can greatly save the manpower and the inspection cost, effectively improve the maintenance efficiency and ensure the safe and reliable operation of the power transmission system.
2) As a further preferred scheme of the scheme, each set of walking part comprises two sets of walking modules, and the walking modules at the same height bear one horizontal guide rod together, so that the stable supporting function of the base is realized. At the moment, the outer ends of the centering connecting rods can be respectively arranged on the two groups of walking modules with the same height, the inner ends of the centering connecting rods are simultaneously hinged on the base, and included angles exist, so that the centering function is realized, the dead point effect generated when the two groups of centering connecting rods are positioned on the same straight line can be avoided, and the working reliability of the centering connecting rods is further improved.
3) For the angle steel main material, the walking module preferably adopts walking wheels, so that the walking wheels are matched with I-shaped rails welded on the angle steel main material in advance, and the functions of obstacle avoidance and directional maintenance are realized. Of course, in practice, walking jaws may be used. When the travelling wheels travel along the I-shaped rails, the travelling wheels can be driven to rotate by a power source such as a power motor, and can also be driven by an external drive source such as a traction system to generate the ascending and descending actions along the electric angle steel tower, so that the details are not repeated.
Drawings
FIG. 1 is a schematic structural view of an electric angle steel tower;
FIG. 2 is a diagram of one of the operating states of the present invention;
FIG. 3 is a top view of FIG. 2;
FIG. 4 is a schematic perspective view of the present invention;
FIG. 5 is a bottom view of the present invention;
fig. 6 is a front view of the present invention.
The actual correspondence between each label and the part name of the utility model is as follows:
a-angle main material
11-arm 12-running section
12 a-horizontal sliding table 12 b-traveling wheel 12 c-backing plate 12 d-cornice 12 e-traveling plate
13-horizontal guide rod 14-base
15 a-vertical guide rail 15 b-vertical slide block 15 c-centering connecting rod
16-I-shaped rail
Detailed Description
For ease of understanding, the specific construction and operation of the present invention is further described herein with reference to FIGS. 1-6:
the specific structure of the utility model is shown in fig. 2-5, the main structure of the utility model comprises a main machine and a mechanical arm 11, the mechanical arm 11 plays a role of maintenance, and the main machine is used as a bearing main body for realizing climbing and descending functions relative to the electric angle steel tower shown in fig. 1. Wherein:
the shape of the main machine is shown in fig. 4-6, which is similar to a four-foot trolley, namely, a vehicle body is formed by two horizontal guide rods 13 and a square plate-shaped base 14, and four groups of walking modules are used for forming four groups of wheels. During operation, four groups of walking modules all include walking wheel 12b, walking board 12e, have the backing plate 12c and the horizontal slip table 12a of eaves mouth 12 d. The traveling wheels 12b are in rolling fit with the i-shaped rails 16 welded on the angle steel main material a in advance, and the matching mode and the assembling mode are common, and are not described herein again. The base plate 12c functions to transitionally engage the traveling plate 12e and the horizontal sliding table 12a, and avoids a series of adverse conditions caused by obstacles such as nails and even bird nests on the traveling path scratching the horizontal sliding table 12a by means of the cornice 12 d.
On the basis of the above structure, the present invention also provides a centering assembly as a core structure. The design purpose of the centering assembly is that when two sets of walking parts 12 generate ascending motion or descending motion along the I-shaped rail 16, the walking parts 12 generate synchronous advancing or separating motion due to the splayed structure of the angle steel main material a shown in fig. 1; obviously, if a rigid member is used at all, the running part 12 will only be directly stuck to the i-rail 16 as shown in fig. 2. Therefore, the utility model designs the normal horizontal sliding table 12a and the horizontal guide rod 13 on one hand, thereby ensuring that the walking part 12 can realize the approaching and separating actions and can realize the ascending and descending actions. On the other hand, the centering assembly is arranged so as to always ensure the centering of the base 14 on the horizontal guide bar 13, i.e. always at the symmetry axis of the two i-rails 16 as shown in fig. 2-3, while the walking part 12 generates the above-mentioned XY-axis synchronous motion.
In actual design, as shown in fig. 4-6, the centering assembly includes two centering connecting rods 15c arranged in a shape like a Chinese character 'ba', the outer ends of the centering connecting rods 15c are hinged on the two sets of walking modules at the upper layer, and the inner ends of the centering connecting rods 15c are hinged on the vertical sliding blocks 15b at the base 14; at the same time, the vertical slider 15b is rail-fitted at the vertical rail 15a at the back surface of the base 14. At this time, each time the traveling unit 12 performs the above-described XY-axis operation, the centering link 15c is pressed or pulled, and the centering link 15c is further coupled with the sliding movement of the vertical slider 15b with respect to the vertical guide rail 15a, and finally, the base 14 integrated with the vertical guide rail 15a is always kept at the center position of the horizontal guide bar 13. Since the position of the base 14 is constant, the working reference of the robot arm 11 on the base 14 is also clear, and the working reliability and stability of the robot arm 11 are significantly guaranteed.
Of course, it will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof; for example, the outer end of the centering link 15c may be hinged to two sets of walking modules at the lower layer, or the robot 11 may be an inspection robot 11 or a robot 11 having other functions. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
The techniques, shapes, and configurations not described in detail in the present invention are all known techniques.
Claims (5)
1. The utility model provides a track type electric power angle steel tower overhauls robot, includes the host computer and arranges arm (11) that are used for overhauing on the host computer, its characterized in that: the main machine comprises two sets of walking parts (12) which can move along the length direction of the angle steel main materials, and the walking parts (12) are respectively matched on two adjacent angle steel main materials; horizontal sliding tables (12a) are arranged on the two sets of walking parts (12), mechanical arms (11) are arranged on the front face of a base (14) positioned between the two sets of walking parts (12), the base (14) extends to the horizontal sliding tables (12a) on the two sides to extend out of horizontal guide rods (13), and sliding guide fit with the horizontal direction as the guide direction is formed between the horizontal guide rods (13) and the horizontal sliding tables (12 a); the maintenance robot also comprises a centering assembly for centering the position of the base (14), wherein the centering assembly comprises a vertical guide rail (15a) arranged on the back surface of the base (14), and a vertical sliding block (15b) is matched on the upper rail of the vertical guide rail (15 a); two ends of the centering connecting rod (15c) are respectively hinged on the vertical sliding block (15b) and the walking part (12), and the axis of the hinged part is vertical to the advancing direction of the vertical sliding block (15 b); an included angle is formed between the two groups of centering connecting rods (15c) positioned at two sides of the base (14), and the angle end of the included angle points to the advancing direction of the vertical sliding block (15 b).
2. The track type electric power angle steel tower overhauling robot as claimed in claim 1, wherein: a set of walking part (12) on each angle steel main material consists of two groups of walking modules which are sequentially arranged along the length direction of the angle steel main material; the walking modules positioned on the upper layer on the two sets of walking parts (12) are arranged at the same height, and the walking modules positioned on the lower layer on the two sets of walking parts (12) are arranged at the same height; the two horizontal guide rods (13) are respectively matched at the horizontal sliding tables (12a) on the two groups of upper-layer walking modules and the horizontal sliding tables (12a) on the two groups of lower-layer walking modules; the base (14) is fixed at the middle shaft of the horizontal guide rod (13) and bridges the two horizontal guide rods (13).
3. The track type electric power angle steel tower overhauling robot as claimed in claim 2, wherein: the arrangement position of the vertical guide rail (15a) and the arrangement position of the horizontal guide rod (13) are mutually spatially avoided; two sets of centering links (15c) are arranged at both sides of the vertical guide rail (15a) in plane symmetry.
4. The track type electric power angle steel tower maintenance robot as claimed in claim 2 or 3, wherein: an I-shaped rail (16) is arranged on the angle steel main material along the length direction of the angle steel main material, the walking module comprises a walking plate (12e) and a walking wheel (12b) which is in rotary fit with the walking plate (12e), and the walking wheel (12b) and the I-shaped rail (16) form rolling fit; the traveling wheels (12b) are driven by an external driving source for driving wheels or traveling modules, so that traveling actions along the I-shaped rails (16) are generated.
5. The track type electric power angle steel tower overhauling robot as claimed in claim 4, wherein: a base plate (12c) is clamped between the walking plate (12e) and the horizontal sliding table (12a), and the base plate (12c) extends along the main material direction of the angle steel and extends above the horizontal sliding table (12a) so as to form an eave (12 d).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121383698.1U CN216098904U (en) | 2021-06-21 | 2021-06-21 | Rail mounted electric power angle steel tower overhauls robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121383698.1U CN216098904U (en) | 2021-06-21 | 2021-06-21 | Rail mounted electric power angle steel tower overhauls robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216098904U true CN216098904U (en) | 2022-03-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121383698.1U Expired - Fee Related CN216098904U (en) | 2021-06-21 | 2021-06-21 | Rail mounted electric power angle steel tower overhauls robot |
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| CN (1) | CN216098904U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113500580A (en) * | 2021-06-21 | 2021-10-15 | 国网安徽省电力有限公司 | Rail mounted electric power angle steel tower overhauls robot |
-
2021
- 2021-06-21 CN CN202121383698.1U patent/CN216098904U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113500580A (en) * | 2021-06-21 | 2021-10-15 | 国网安徽省电力有限公司 | Rail mounted electric power angle steel tower overhauls robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220322 |
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| CF01 | Termination of patent right due to non-payment of annual fee |