CN220243408U - Climbing robot crawling obstacle-surmounting device for high-voltage transmission tower - Google Patents
Climbing robot crawling obstacle-surmounting device for high-voltage transmission tower Download PDFInfo
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- CN220243408U CN220243408U CN202321255031.2U CN202321255031U CN220243408U CN 220243408 U CN220243408 U CN 220243408U CN 202321255031 U CN202321255031 U CN 202321255031U CN 220243408 U CN220243408 U CN 220243408U
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 40
- 230000009194 climbing Effects 0.000 title claims abstract description 29
- 230000009193 crawling Effects 0.000 title claims abstract description 16
- 230000001681 protective effect Effects 0.000 claims description 15
- 238000009434 installation Methods 0.000 claims description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 18
- 239000000463 material Substances 0.000 description 16
- 229910000831 Steel Inorganic materials 0.000 description 10
- 239000010959 steel Substances 0.000 description 10
- 229910052742 iron Inorganic materials 0.000 description 9
- 238000007689 inspection Methods 0.000 description 7
- 238000001514 detection method Methods 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
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- 238000013461 design Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
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Abstract
The utility model discloses a crawling obstacle surmounting device of a high-voltage transmission tower climbing robot, which comprises two chucks, two rotating arms and two swinging arms, wherein one ends of the two swinging arms are in rotating connection, the other ends of the swinging arms are in rotating connection with one ends of the rotating arms, the other ends of the rotating arms are in rotating connection with the chucks, a swinging motor is arranged at the joint of the two swinging arms, the swinging motor is fixedly connected to the outer wall of one swinging arm, an output shaft of the swinging motor is fixedly connected with the end part of the other swinging arm, a rotating motor is arranged at the joint of the swinging arm and the rotating arm, the rotating motor is fixedly connected to the outer wall of the swinging arm, and the output shaft of the rotating motor is fixedly connected with the end part of the rotating arm, so that the rotating arm and the swinging arm relatively rotate through the rotating motor. The whole device has nine degrees of freedom, so that the robot has excellent crawling obstacle-surmounting capability when crawling on a high-voltage transmission tower, and the practicability and flexibility of the device are greatly improved.
Description
Technical Field
The utility model relates to a climbing robot, in particular to a climbing obstacle surmounting device of a high-voltage transmission tower climbing robot.
Background
The transmission towers are distributed in places with severe environments and scarce human smoke, are required to bear the influence of the severe environments of wind, sun, rain, snow and lightning, and are easy to cause different types of faults, such as loosening, rust, abrasion and deformation of bolts and nuts of the towers, rust, abrasion and deformation of angle steel of the towers, damage of insulators and wire clamps on the towers and the like. In order to find out the defects of the iron tower at the first time and achieve the anti-micro effect, regular or irregular inspection of the power transmission iron tower is required.
At present, the following modes are mainly adopted for inspection of the electric power transmission tower:
(1) The iron tower is manually climbed, and inspection is carried out by the detection technician by means of manually climbing the iron tower. Its advantages are high inspection accuracy and accurate fault location. However, the manual climbing iron tower mode has the defects of high operation difficulty, high risk, low efficiency and the like.
(2) Unmanned aerial vehicle aerial survey, namely, unmanned aerial vehicle fly to patrol along an iron tower from low to high, and a detection image is transmitted back through wireless equipment. The device is portable and easy to carry, can perform autonomous navigation and positioning, but has short endurance time, poor wind resistance and incapability of realizing close-range detection of the iron tower.
(3) The climbing inspection robot is high in automation degree, so that a great amount of labor cost is saved, and the inspection efficiency and accuracy are improved. Therefore, the robot climbing of the transmission line iron tower for iron tower fault detection is a necessary development trend. The climbing inspection robot with high automation degree gradually replaces the traditional detection mode with a plurality of whole ends, double improvement of work efficiency and precision is achieved, and the construction of a national intelligent power grid is improved.
The space structure of the transmission tower in the prior art is complex, and main obstacles of the climbing robot in the climbing process of the transmission tower include an outer wrapping angle steel and bolts on a main material, a node plate at the fixedly connected position of the inclined material and the main material, and an inclined material vertical edge. Thus, it is necessary to have very high flexibility in designing climbing robots to cross various obstacles on the pylon.
Disclosure of Invention
The utility model aims to provide a crawling obstacle surmounting device for a climbing robot of a high-voltage transmission tower, which solves the problems encountered in actual use.
In order to achieve the above purpose, the present utility model provides the following technical solutions:
the utility model provides a high tension transmission tower climbing robot climbs obstacle crossing device, includes two chucks, two rotating arms and two swing arms, two the one end rotation of swing arm is connected, the other end of swing arm is connected with the one end rotation of rotating arm, the other end of rotating arm is connected with the chuck through the bearing rotation, and swing motor is installed to the junction of two swing arms, swing motor passes through bolt fixed connection on the outer wall of one of them swing arm, and swing motor's output shaft and the tip fixed connection of another swing arm, in actual use, through swing motor's setting, make two swing arms rotate relatively, swing arm and the junction of rotating arm are equipped with rotating motor, rotating motor passes through bolt fixed connection on the outer wall of swing arm, and rotating motor's output shaft and the tip fixed connection of rotating arm, make rotating arm and swing arm rotate relatively through rotating motor.
In actual work, one clamping head is clamped on the power transmission tower, the other clamping head is in an anti-loosening state, at the moment, the two swinging arms are relatively rotated through the swinging of the swinging motor, so that the distance between the two clamping heads is adjusted, the angles of the clamping heads are adjusted through the arrangement of the rotating motor to be aligned to the power transmission tower, the original anti-loosening clamping head is clamped and fixed on the power transmission tower, the original clamping head clamped on the power transmission tower is anti-loosening, and then the swinging motor reversely rotates to control the two swinging arms to relatively rotate, so that one-time walking process is completed.
Through the structural design of the utility model, the clamping heads are provided with the rotational degrees of freedom, the two ends of the swinging rod are provided with the vertical rotational degrees of freedom, and the whole device is provided with nine degrees of freedom in total, so that when a robot crawls on a high-voltage transmission tower, the robot can easily cross various obstacles such as the outer wrapping angle steel and bolts on a main material, a node plate at the fixedly connected position of an inclined material and the main material, and the vertical edge of the inclined material, has excellent crawling obstacle crossing capability, and the clamping mechanism needs to have the capability of clamping angle steel of different types, thereby greatly improving the practicability and flexibility of the utility model.
Preferably: the chuck comprises a C-shaped frame and two sliding plates arranged in the C-shaped frame, the C-shaped frame is rotationally connected with the rotating arm, the sliding plates are slidably connected on the inner wall of the C-shaped frame, one side of each sliding plate, which faces the horizontal section of the C-shaped frame, is fixedly connected with one end of a first pneumatic telescopic rod, the first pneumatic telescopic rod is fixedly connected with the inner wall of the horizontal section of the C-shaped frame, one end side wall, which faces the outer side of the C-shaped frame, of each sliding plate is fixedly connected with one end of a second pneumatic telescopic rod which is horizontally arranged, right-angle clamping jaws are fixedly connected with the other end of each second pneumatic telescopic rod, and the two right-angle clamping jaws are oppositely arranged.
According to the utility model, through the arrangement of the clamping head, the right-angle clamping jaw can be buckled on power transmission tower trusses or section steel with different specifications, so that the stability of clamping the clamping head on the power transmission tower is effectively improved.
Preferably: the bottom surface fixedly connected with pneumatic control box of C shape frame controls the flexible work of first pneumatic telescopic link and second pneumatic telescopic link through pneumatic control box.
Preferably: the connecting part of the C-shaped frame and the rotating arm is provided with a through hole, the rotating arm faces one end of the C-shaped frame, a circular groove is formed in one end of the rotating arm, an installation cylinder is fixedly connected to the outer wall of the C-shaped frame at the through hole, the outer diameter of the installation cylinder is identical to the inner diameter of the circular groove, a steering motor is fixedly connected to the inside of the circular groove, an output shaft of the steering motor is fixedly connected with the rotating arm, and in actual use, the steering motor drives the rotating arm to rotate.
Preferably: the mounting groove has been seted up on the inner wall of C shape frame, and mounting groove internal thread connection has the protective cover, through the setting of protective cover, protects steering motor, and conveniently carries out dismouting maintenance to steering motor after opening the protective cover.
Preferably: the outer wall of the protective cover is provided with a handle groove, a handle is fixedly connected in the handle groove, and the protective cover is conveniently rotated through the handle, so that the protective cover is detached.
Preferably: the top fixedly connected with camera of C shape frame catches the position of chuck through the camera.
Compared with the prior art, the utility model has the beneficial effects that:
the chuck of the utility model has rotational freedom degrees, the two ends of the swinging rod have vertical rotation freedom degrees, the whole device has nine freedom degrees, so that when a robot crawls on a high-voltage transmission tower, the robot can easily cross various barriers such as an outer wrapping angle steel and a bolt on a main material, a node plate at the fixedly connected position of the inclined material and the main material, and a vertical edge of the inclined material, and the clamping mechanism has excellent crawling obstacle crossing capability, and the clamping mechanism needs to have the capability of clamping angle steel of different types, thereby greatly improving the practicability and flexibility of the utility model.
Drawings
Fig. 1 is a schematic structural view of a climbing robot crawling obstacle surmounting device for a high-voltage transmission tower.
Fig. 2 is a schematic structural diagram of a chuck in a crawling obstacle surmounting device of a climbing robot for a high-voltage transmission tower.
Fig. 3 is an exploded view of the collet in the crawling obstacle surmounting device of the pylon climbing robot.
As shown in the figure: 1. a chuck; 2. a rotating arm; 3. a swing arm; 4. a swing motor; 5. a rotating motor; 6. a C-shaped frame; 7. a camera; 8. a sliding plate; 9. a pneumatic control box; 10. a first pneumatic telescopic rod; 11. right-angle clamping jaws; 12. the second pneumatic telescopic rod; 13. a steering motor; 14. a protective cover; 15. a handle; 16. a mounting groove; 17. and (5) installing a barrel.
Detailed Description
The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model.
Referring to fig. 1 to 3, in the embodiment of the utility model, a climbing robot for a high-voltage transmission tower climbs a obstacle surmounting device, which comprises two chucks 1, two rotating arms 2 and two swinging arms 3, wherein one ends of the two swinging arms 3 are rotationally connected, the other ends of the swinging arms 3 are rotationally connected with one ends of the rotating arms 2, the other ends of the rotating arms 2 are rotationally connected with the chucks 1 through bearings, a swinging motor 4 is installed at the connecting position of the two swinging arms 3, the swinging motor 4 is fixedly connected on the outer wall of one of the swinging arms 3 through bolts, an output shaft of the swinging motor 4 is fixedly connected with the end part of the other swinging arm 3, in actual use, through the arrangement of the swinging motor 4, the two swinging arms 3 are relatively rotated, a rotating motor 5 is arranged at the connecting position of the swinging arms 3 and the rotating arms 2, the rotating motor 5 is fixedly connected on the outer wall of the swinging arms 3 through bolts, and the output shaft of the rotating motor 5 is fixedly connected with the end part of the rotating arms 2, so that the rotating arms 2 and the swinging arms 3 relatively rotate through the rotating motor 5.
In actual work, one clamping head 1 is clamped on a power transmission tower, the other clamping head 1 is in an anti-loosening state, at the moment, the two swinging arms 3 are relatively rotated through the swinging of the swinging motor 4, so that the distance between the two clamping heads 1 is adjusted, the angles of the clamping heads 1 are adjusted and aligned to the power transmission tower through the arrangement of the rotating motor 5, then the original anti-loosening clamping head 1 is clamped and fixed on the power transmission tower, the original clamping head 1 clamped on the power transmission tower is anti-loosening, and then the swinging motor 4 reversely rotates to control the two swinging arms 3 to relatively rotate, so that one walking process is completed.
By means of the structural design of the high-voltage power transmission tower, the clamping head 1 is provided with the rotation freedom degree, the two ends of the swinging rod are provided with the vertical rotation freedom degrees, the whole device is provided with nine degrees in total, so that when a robot crawls on the high-voltage power transmission tower, the robot can easily cross various barriers such as the outer wrapping angle steel and bolts on the main material, the node plates at the fixedly connected positions of the inclined material and the main material, the vertical edges of the inclined material and the like, the high-voltage power transmission tower has excellent crawling obstacle crossing capability, and the clamping mechanism is required to have the capability of clamping angle steels of different types, so that the practicability and the flexibility of the high-voltage power transmission tower are greatly improved.
The chuck 1 includes C shape frame 6 and sets up two sliding plates 8 in C shape frame 6, C shape frame 6 rotates with the rotor arm 2 to be connected, sliding plate 8 sliding connection is on the inner wall of C shape frame 6, and sliding plate 8 orientation C shape frame 6 horizontal segment one side and first pneumatic telescopic link 10 one end fixed connection, first pneumatic telescopic link 10 and the inner wall fixed connection of C shape frame 6 horizontal segment, sliding plate 8 orientation C shape frame 6 outer one end lateral wall and the second pneumatic telescopic link 12 one end fixed connection of level setting, the equal fixedly connected with right angle clamping jaw 11 of the other end of second pneumatic telescopic link 12, and two right angle clamping jaw 11 relative settings.
By arranging the clamping head 1, the right-angle clamping jaw 11 can be buckled on power transmission tower trusses or section steel with different specifications, so that the stability of clamping the clamping head 1 on the power transmission tower is effectively improved.
The bottom surface of the C-shaped frame 6 is fixedly connected with a pneumatic control box 9, the expansion work of the first pneumatic expansion link 10 and the second pneumatic expansion link 12 is controlled by the pneumatic control box 9, and the technology of controlling the operation of the pneumatic rods by the pneumatic system is the prior art and will not be described in detail herein.
The through hole is formed in the joint of the C-shaped frame 6 and the rotating arm 2, a circular groove is formed in one end, facing the C-shaped frame 6, of the rotating arm 2, an installation cylinder 17 is fixedly connected to the outer wall of the C-shaped frame 6 at the through hole, the outer diameter of the installation cylinder 17 is identical to the inner diameter of the circular groove, a steering motor 13 is fixedly connected to the inside of the circular groove, an output shaft of the steering motor 13 is fixedly connected with the rotating arm 2, and in actual use, the rotating arm 2 is driven to rotate by the steering motor 13.
The rotary motor 5, the swing motor 4 and the steering motor 13 are all 540 motors.
The mounting groove 16 is formed in the inner wall of the C-shaped frame 6, the protective cover 14 is connected with the mounting groove 16 in a threaded mode, the steering motor 13 is protected through the arrangement of the protective cover 14, and the steering motor 13 is conveniently disassembled, assembled and overhauled after the protective cover 14 is opened.
The outer wall of the protective cover 14 is provided with a handle groove, a handle 15 is fixedly connected in the handle groove, and the protective cover 14 is conveniently rotated through the handle 15, so that the protective cover 14 is detached.
The top of the C-shaped frame 6 is fixedly connected with a camera 7, and the position of the chuck 1 is captured through the camera 7.
It should be noted that, in the swing arm 3 of the present utility model, a controller is built in, the camera 7 is electrically connected with the controller, the camera 7 captures position information, and the technology of controlling each electric component through the controller is the prior art, which is not described herein, and the swing arm 3 is built in with a mobile power supply, through which power is supplied to each electric component.
Although the present utility model has been described with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements and changes may be made without departing from the spirit and principles of the present utility model.
Claims (7)
1. The utility model provides a high tension transmission tower climbing robot climbs obstacle crossing device, includes two chucks (1), two rotating arms (2) and two swing arms (3), its characterized in that, two the one end rotation of swing arm (3) is connected, the other end of swing arm (3) is connected with the one end rotation of rotating arm (2), the other end of rotating arm (2) is connected with chuck (1) through the bearing rotation, and swing motor (4) are installed in the junction of two swing arms (3), swing motor (4) pass through bolt fixed connection on the outer wall of one of them swing arm (3), and the output shaft of swing motor (4) is equipped with rotating motor (5) with the junction of another swing arm (3), rotating motor (5) are through bolt fixed connection on the outer wall of swing arm (3), and the output shaft of rotating motor (5) and the tip fixed connection of rotating arm (2).
2. The climbing robot climbing obstacle surmounting device for the high-voltage transmission tower according to claim 1, wherein the clamping head (1) comprises a C-shaped frame (6) and two sliding plates (8) arranged in the C-shaped frame (6), the C-shaped frame (6) is rotationally connected with the rotating arm (2), the sliding plates (8) are slidingly connected on the inner wall of the C-shaped frame (6), one side of the sliding plates (8) facing the horizontal section of the C-shaped frame (6) is fixedly connected with one end of a first pneumatic telescopic rod (10), the first pneumatic telescopic rod (10) is fixedly connected with the inner wall of the horizontal section of the C-shaped frame (6), one end side wall of the sliding plates (8) facing the outside of the C-shaped frame (6) is fixedly connected with one end of a second pneumatic telescopic rod (12) which is horizontally arranged, the other ends of the second pneumatic telescopic rod (12) are fixedly connected with right-angle clamping jaws (11), and the two right-angle clamping jaws (11) are oppositely arranged.
3. The crawling obstacle surmounting device for the high-voltage transmission tower climbing robot according to claim 2, wherein the bottom surface of the C-shaped frame (6) is fixedly connected with a pneumatic control box (9).
4. The climbing robot climbing obstacle detouring device for the high-voltage transmission tower according to claim 2, wherein a through hole is formed in the joint of the C-shaped frame (6) and the rotating arm (2), a circular groove is formed in one end, facing the C-shaped frame (6), of the rotating arm (2), an installation cylinder (17) is fixedly connected to the outer wall of the C-shaped frame (6) at the through hole, the outer diameter of the installation cylinder (17) is identical to the inner diameter of the circular groove, a steering motor (13) is fixedly connected to the inner portion of the circular groove, and an output shaft of the steering motor (13) is fixedly connected with the rotating arm (2).
5. The crawling obstacle detouring device for the pylon climbing robot according to claim 4, wherein the inner wall of the C-shaped frame (6) is provided with a mounting groove (16), and the mounting groove (16) is internally connected with a protective cover (14) in a threaded manner.
6. The crawling obstacle surmounting device for the high-voltage transmission tower climbing robot according to claim 5, wherein a handle groove is formed in the outer wall of the protective cover (14), and a handle (15) is fixedly connected in the handle groove.
7. The climbing robot crawling obstacle surmounting device for the high-voltage transmission tower according to claim 2, wherein a camera (7) is fixedly connected to the top of the C-shaped frame (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321255031.2U CN220243408U (en) | 2023-05-23 | 2023-05-23 | Climbing robot crawling obstacle-surmounting device for high-voltage transmission tower |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321255031.2U CN220243408U (en) | 2023-05-23 | 2023-05-23 | Climbing robot crawling obstacle-surmounting device for high-voltage transmission tower |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220243408U true CN220243408U (en) | 2023-12-26 |
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ID=89268250
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321255031.2U Active CN220243408U (en) | 2023-05-23 | 2023-05-23 | Climbing robot crawling obstacle-surmounting device for high-voltage transmission tower |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220243408U (en) |
-
2023
- 2023-05-23 CN CN202321255031.2U patent/CN220243408U/en active Active
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