WO2022021461A1 - Climbing robot for high voltage transmission tower - Google Patents

Abstract

A climbing robot for a high voltage transmission tower, comprising a synchronous belt mechanism (1), push rod mechanisms (2), raising/lowering arms (3), end grippers (4), a movement gripper (5), and a rotary mechanism (6). The synchronous belt mechanism (1) comprises a synchronous belt track (11). A battery assembly (7) and a control box (8) are fixedly connected to a side end of the synchronous belt track (11) by means of a first support (12). A toolbox is connected on the control box (8); a synchronous belt movement piece (13) is connected to the lower end of the synchronous belt track (11). The synchronous belt movement piece (13) is connected to the movement gripper (5) by means of the rotary mechanism (6). There are two push rod mechanisms (2), and said two push rod mechanisms (2) are arranged symmetrically in mirror image fashion on the upper end of the synchronous belt track (11). The outer end portion of each push rod mechanism (2) connects to an end gripper (4) by means of a raising/lowering arm (3). The climbing robot achieves climbing of a high-voltage transmission tower while also being able to carry objects, and has a novel structure and is very inventive.

Description

A high-voltage transmission tower climbing robot technical field

The invention relates to the field of mechatronics, in particular to a high-voltage power transmission tower climbing robot.

Background technique

As the most widely used clean energy in today's society, electricity provides a guarantee for the healthy operation of the society. Every year, my country transmits electricity through the construction of a large number of high-voltage transmission lines, and power transmission naturally requires a large number of power transmission towers and a large number of high-voltage transmission lines. Tower transmission construction. In the later maintenance work of the high-voltage transmission tower, the maintenance personnel generally climb to the top of the tower, and the workers carry certain tools to work and climb to the high-voltage transmission tower to work. Not only is climbing dangerous, but it is full of Therefore, it is very urgent to design a robot that replaces manual climbing of high-voltage transmission towers for operation.

technical solutions

The purpose of the present invention is to provide a high-voltage power transmission tower climbing robot, which realizes the climbing of the high-voltage power transmission tower and can carry items, and has a novel structure and high creativity.

In order to achieve the above object, the technical solution adopted by the present invention is:

A high-voltage power transmission tower climbing robot includes a timing belt mechanism, a push rod mechanism, a lifting arm, an end gripper, a moving gripper and a rotating mechanism. The timing belt mechanism includes a timing belt track, and the side end of the timing belt track passes through a first The support is fixedly connected with a battery assembly and a control box, and the control box is connected with a tool box; the lower end of the synchronous belt track is connected with a synchronous belt slider, and the synchronous belt slider is connected with the moving hand claw through a rotating mechanism; there are two sets of push rod mechanisms, Two sets of push rod mechanisms are mirror-symmetrically arranged on the upper end of the synchronous belt track, and the outer end of the push rod mechanism is connected to the end claw through the lifting arm.

Preferably, the timing belt track is in the shape of a rectangular block, the first support is fastened to the side surface of the timing belt track by bolts, the battery assembly is connected to the upper end of the first support by bolts, and the control box is located above the battery assembly And connected by the first support of the bolt;

The main control box is connected to the synchronous belt mechanism, the push rod mechanism, the lifting arm, the end gripper, the moving gripper, and the rotating mechanism through lines; the end of the synchronous belt track is connected with a first synchronous belt stepping motor, and the synchronous belt slider is slidingly connected On the lower end of the synchronous belt track, the synchronous belt slider can move back and forth under the driving of the first synchronous belt stepping motor.

Preferably, the rotating mechanism includes a rotating joint motor plate, the left part of the rotating joint motor plate is fixedly connected with the synchronous belt slider by bolts, and the right part of the rotating joint motor plate is connected with a second rotating motor and a rotating motor reducer;

The rotating shaft of the rotary motor reducer is connected to the first driving gear after passing through the right part of the rotary joint motor plate. The bolt is connected with the upper end of the moving gripper.

Preferably, the push rod mechanism includes a first push rod inner positioning base plate and a first push assembly, the first push rod inner positioning base plate is fixedly connected to the upper end of the synchronous belt track by bolts, and the first push assembly includes a first outer positioning cylinder and a first push rod. The second inner putter;

One end of the first outer positioning cylinder is fixedly connected with the first push rod inner positioning bottom plate, and the other end is fixedly connected with the synchronous belt track through the second push rod outer positioning support block; the second inner push rod is connected in the first outer positioning cylinder and It can telescopically slide in the first outer positioning cylinder;

The outer end of the first outer positioning cylinder is sleeved with a front push rod auxiliary cylinder, the lower surface of the front push rod auxiliary cylinder is provided with a U-shaped groove of the auxiliary cylinder, and the upper half of the second push rod outer positioning support block is arranged on the front push rod auxiliary cylinder. In the cylinder, the lower end of the outer positioning support block of the second push rod is fixedly connected to the synchronous belt track by bolts;

The moving end of the second inner push rod is connected with the inner end of the front push rod auxiliary cylinder after passing through the first outer positioning cylinder, and the outer end of the front push rod auxiliary cylinder is connected with the lifting arm.

Preferably, the lift arm comprises a lift arm top plate and a lift positioning assembly, the lower end of the lift arm top plate is connected with two symmetrically arranged lift arm side plates, and the lower end of the lift arm side plate is connected with the end gripper;

The inner wall of the lift arm side plate is connected with a lift rail, and the lift rail is slidably connected with a lift slider; the upper end of the lift arm top plate is connected with a third screw stepping motor, and the lower end of the third screw stepping motor is connected with a Lifting arm screw, the lifting arm screw passes through the lift arm top plate and is located between the two lift arm side plates;

The lifting positioning assembly includes two lifting positioning splints, the lifting positioning splint is fixedly connected with the end of the push rod mechanism, a lead screw lifting block is arranged between the two lifting positioning splints, the lifting positioning splint is connected with the lifting slider, and the screw lifting block is Set on the lifting arm screw;

The third screw stepping motor drives the lifting arm screw to rotate, and the lifting arm screw rotates to drive the screw lifting block to lift and lower, thereby driving the end claw to lift and lower through the lifting arm side plate.

Preferably, the end gripper includes a first claw support plate, a first left clamping mechanism, a first right clamping mechanism and a first electric push rod assembly, and the first claw support plate is in the shape of an inverted U-shaped plate ;

The side end of the first claw support plate is provided with a first connection hole for connecting the first left clamping mechanism and the first right clamping mechanism, and the first left clamping mechanism and the first right clamping mechanism pass through the first connection hole After the inner bolt is connected with the side end of the first claw support plate, a first clamping part that can clamp the L-shaped steel beam is formed;

The first electric push rod assembly includes a first push rod outer cylinder and a first push rod inner shaft inserted in the first push rod outer cylinder, and the first push rod outer cylinder passes through the first outer cylinder support and the first outer support The seat shaft pin is connected with the first left clamping mechanism, and the inner shaft of the first push rod is connected with the first right clamping mechanism through the first inner shaft support and the first inner support shaft pin;

The inner shaft of the first push rod can slide in the outer cylinder of the first push rod, and after sliding, the inner shaft of the first push rod drives the first left clamping mechanism and the first left clamping mechanism through the first outer support shaft pin and the first inner support shaft pin. A right clamping mechanism clamps closed.

Preferably, a first left synchronizing gear assembly and a first right synchronizing gear assembly are arranged in the first claw support plate above the first left clamping mechanism and the first right clamping mechanism, and the first left synchronizing gear assembly and The first right synchronization assembly is connected with the first claw support plate through the rotating shaft;

The first left clamping mechanism includes a first left synchronizing rod, a first left clamping plate and two first left clamping plate connecting rods. The upper end of the left splint connecting rod is rotatably connected with the side end of the first claw support plate through a shaft pin;

The lower end of the first left synchronizing rod is connected with the first left splint through a shaft pin, and the upper end of the first left synchronizing rod is connected with the first left synchronizing gear assembly; The plurality of first left rods on the T-shaped mainboard are connected to the vertical plates, and the inner end face of the first left T-shaped mainboard is a plane.

Preferably, the first right clamping mechanism includes a first right synchronizing rod, a first right clamping plate and two first right clamping plate connecting rods, and the lower end of the first right clamping plate connecting rod is connected to the upper end of the first right clamping plate through a shaft pin Rotationally connected, the upper end of the first right splint connecting rod is rotatably connected with the outer end of the first claw support plate through a shaft pin;

The lower end of the first right synchronizing rod is connected with the first right splint through a shaft pin, and the upper end of the first right synchronizing rod is connected with the first right synchronizing gear assembly; A plurality of first right rods inserted into the main board are connected to the vertical plate, and a first right clamping slot is opened on the inner end surface of the first right inserted into the main board;

The first left synchronization gear assembly includes a first left synchronization rack, the two ends of the first left synchronization rack are connected with a first left circular gear, the first right synchronization gear assembly includes a first right synchronization rack, the first right synchronization Both ends of the gear rod are connected with a first right circular gear; the first left circular gear and the first right circular gear are engaged.

Preferably, the moving hand claw includes a second claw support plate, a second left clamping mechanism, a second right clamping mechanism, a second electric push rod assembly and an electromagnetic adsorption mechanism, and the second claw support plate is an inverted U. in the shape of a plate, the side end of the second claw support plate is provided with a second connection hole for connecting the second left clamping mechanism and the second right clamping mechanism;

After the second left clamping mechanism and the second right clamping mechanism are connected with the side end of the second claw support plate through the bolts in the second connecting hole, a second clamping portion capable of clamping the L-shaped steel beam is formed;

The second electric push rod assembly includes a second push rod outer cylinder and a second push rod inner shaft inserted into the second push rod outer cylinder. The second push rod outer cylinder passes through the second outer cylinder support and the second outer support The seat shaft pin is connected with the second left clamping mechanism, and the inner shaft of the second push rod is connected with the second right clamping mechanism through the second inner shaft support and the second outer support shaft pin;

The inner shaft of the second push rod can slide in the outer cylinder of the second push rod. After sliding, the inner shaft of the second push rod drives the second left clamping mechanism and the second left clamping mechanism through the second outer support shaft pin and the second outer support shaft pin. The second right clamping mechanism is clamped and closed;

The electromagnetic adsorption mechanism includes a first electromagnet and a second electromagnet, a plurality of first electromagnets are connected to the lower part of the second left clamping mechanism, and a plurality of second electromagnets are connected to the lower part of the second right clamping mechanism.

Preferably, a second left synchronizing gear assembly and a second right synchronizing gear assembly are arranged in the second claw support plate above the second left clamping mechanism and the second right clamping mechanism, and the second left synchronizing gear assembly and The second right synchronizing gear assembly is connected with the second claw support plate through the rotating shaft;

The second left clamping mechanism includes a second left synchronization rod, a second left clamp and two second left clamp connecting rods. The lower end of the second left clamp connection rod is rotatably connected to the upper end of the second left clamp through a shaft pin. The upper end of the left splint connecting rod is rotatably connected with the outer end of the second claw support plate through a shaft pin;

The lower end of the second left synchronizing rod is connected to the second left splint through a shaft pin, and the upper end of the second left synchronizing rod is connected to the second left synchronizing gear assembly; the second left splint comprises a second left T-shaped main board and is connected to the second left A plurality of second left rods on the T-shaped mainboard are connected to the vertical plates, the inner end face of the second left T-shaped mainboard is flat; the outer side of the second left T-shaped mainboard is connected with a first magnet positioning plate, and the plurality of first electromagnets are mutually The parallel longitudinal connection is connected to the lower end of the first magnet positioning plate;

The second right clamping mechanism includes a second right synchronization rod, a second right clamping plate and two second right clamping plate connecting rods. The lower end of the second right clamping plate connecting rod is rotatably connected with the upper end of the second right clamping plate through a shaft pin. The upper end of the connecting rod of the right splint is rotatably connected with the outer end of the second claw support plate through a shaft pin;

The lower end of the second right synchronizing rod is connected with the second right splint through a shaft pin, and the upper end of the second right synchronizing rod is connected with the second right synchronizing gear assembly; A plurality of second right rods inserted into the motherboard are connected to the vertical plate, and a second right card slot is opened on the inner end face of the second right inserted into the motherboard;

A second magnet positioning plate is connected to the outer side of the second right clip into the main board, and a plurality of second electromagnets are longitudinally connected to the lower end of the second magnet positioning plate in parallel with each other.

beneficial effect

The beneficial effects of the present invention are:

The climbing robot in the present invention realizes a more stable, smooth and more stable robot by designing a new synchronous belt mechanism, a push rod mechanism, a lifting arm, an end gripper, a moving gripper and a rotating mechanism, and through their coordinated movement. Safe climb. The robot can carry heavier tools, is more stable and reliable when transporting heavier tools and articles, can realize stable disguised transportation, and has a simple and novel structure. The high-voltage power transmission tower climbing robot can replace the manual carrying equipment to climb to the height of the high-voltage power transmission tower to complete the corresponding operation, and liberate the workers from the high-intensity and high-risk operations of climbing the high-voltage power transmission tower.

Description of drawings

In order to clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are the For some embodiments of the invention, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

Figure 1 is a schematic isometric view of the overall structure of a high-voltage transmission tower climbing robot.

Figure 2 is a schematic front view of a high-voltage transmission tower climbing robot.

Figure 3 is a schematic bottom view of a timing belt track connection structure.

Figure 4 is a schematic diagram of the overall structure of the push rod mechanism.

FIG. 5 is a schematic cross-sectional view of the overall structure of the push rod mechanism from a top view.

FIG. 6 is a schematic diagram of the overall structure of the first electric push rod assembly.

Figure 7 is a schematic diagram of the overall structure of the lifting arm.

Figure 8 is a schematic diagram of the overall structure of the end gripper.

Figure 9 is a schematic view of the structure of the end gripper part.

FIG. 10 is a schematic diagram of the overall structure of the moving gripper.

Figure 11 is a schematic bottom view of the overall structure of the rotating mechanism.

Embodiments of the present invention

The present invention provides a high-voltage power transmission tower climbing robot. In order to make the purpose, technical solution and effect of the present invention clearer and clearer, the present invention is further described in detail below. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

The present invention is described in detail below in conjunction with the accompanying drawings:

Example 1

1 to 11 , a high-voltage power transmission tower climbing robot includes a timing belt mechanism 1 , a push rod mechanism 2 , a lifting arm 3 , an end gripper 4 , a moving gripper 5 and a rotation mechanism 6 .

The timing belt mechanism 1 includes a timing belt track 11, the side end of the timing belt track 11 is fixedly connected with the battery assembly 7 and the control box 8 through the first support 12, the control box 8 is connected with a tool box, and the tool box contains tools and Goods that need to be shipped.

A timing belt slider 13 is connected to the lower end of the timing belt track 11 , and the timing belt slider 13 is connected to the moving gripper 5 through the rotating mechanism 6 . There are two sets of push rod mechanisms 2 . The two sets of push rod mechanisms 2 are mirror-symmetrically arranged on the upper end of the synchronous belt track 11 .

The step belt track 1 is in the shape of a rectangular block, the first support 12 is fastened to the side end surface of the timing belt track 11 by bolts, the battery assembly 7 is connected to the upper end of the first support 12 by bolts, and the control box 8 is located in the battery assembly 7 above and connected by bolts to the first support 12 . The battery assembly 7 supplies power to the control box 8, and supplies power to the motors in the timing belt mechanism 1, the push rod mechanism 2, the lifting arm 3, the end gripper 4, the moving gripper 5 and the rotating mechanism 6 to provide driving force. The synchronous belt track 11 in the present invention is relatively long, and the capacity of the battery assembly 7 is large, which can provide sufficient power for the entire robot.

The main control box 8 is connected to the synchronous belt mechanism 1 , the push rod mechanism 2 , the lifting arm 3 , the end gripper 4 , the moving gripper 5 and the rotating mechanism 6 through a line.

The end of the timing belt track 11 is connected with a first timing belt stepping motor 14 , the timing belt slider 13 is slidably connected to the lower end of the timing belt track 11 , and the timing belt slider 13 is driven by the first timing belt stepping motor 14 . Can move back and forth.

 

 

The rotating mechanism 6 includes a rotating joint motor plate 61, the left part of the rotating joint motor plate 61 is fixedly connected with the timing belt slider 13 through bolts, and the right part of the rotating joint motor plate 61 is connected with a second rotating motor 62 and a rotating motor reducer 63.

The rotating shaft of the rotary motor reducer 62 is connected to the first driving gear 64 after passing through the right part of the rotary joint motor plate 61 , and the lower end of the left part of the rotary joint motor plate 61 is connected to the second driven gear 66 through the first rotary bearing 65 . The second driven gear 66 is connected to the upper end of the moving gripper 5 by a bolt.

The push rod mechanism 2 includes a first push rod inner positioning base plate 21 and a first push assembly 22. The first push rod inner positioning base plate 21 is fixedly connected to the upper end of the timing belt track 11 by bolts, and the first push assembly 22 includes a first outer positioning plate 22. The barrel 221 and the second inner push rod 222.

One end of the first outer positioning cylinder 221 is fixedly connected with the first push rod inner positioning bottom plate 21, and the other end is fixedly connected with the timing belt track 11 through the second push rod outer positioning support block 23; the second inner push rod 222 is connected to the first push rod 222. The outer positioning cylinder 221 can be telescopically slid in the first outer positioning cylinder 221 .

The outer end of the first outer positioning cylinder 221 is sleeved with the front push rod auxiliary cylinder 24, the lower surface of the front push rod auxiliary cylinder 24 is provided with an auxiliary cylinder U-shaped groove 241, and the upper half of the second push rod outer positioning support block 23 passes through. After passing through the U-shaped groove 241 of the auxiliary cylinder, it is clamped into the auxiliary cylinder 24 of the front push rod, and the lower end of the outer positioning support block 23 of the second push rod is fixedly connected to the synchronous belt track 11 by bolts.

The moving end of the second inner push rod 222 is connected to the inner end of the front push rod auxiliary cylinder 24 after passing through the first outer positioning cylinder 221 , and the outer end of the front push rod auxiliary cylinder 24 is connected to the lifting arm 3 .

When the second inner push rod 222 extends or contracts, the second inner push rod 222 drives the lift arm 3 and the end grip 4 to extend or contract through the front push rod auxiliary cylinder 24 .

The lift arm 3 includes a lift arm top plate 31 and a lift positioning assembly. The lower end of the lift arm top plate 31 is connected to two symmetrically arranged lift arm side plates 32 , and the lower end of the lift arm side plate 32 is connected to the end grip 4 .

The inner wall of the lift arm side plate 32 is connected with a lift slide rail 33, and the lift slide rail 33 is slidably connected with a lift slide block 34; the upper end of the lift arm top plate 31 is connected with a third lead screw stepping motor 35, the third lead screw step The lower end of the electric motor 35 is connected with a lift arm screw 36 , and the lift arm screw 36 passes through the lift arm top plate 31 and is located between the two lift arm side plates 32 .

The lift positioning assembly includes two lift positioning clamps 37 , the lift positioning clamps 37 are fixedly connected with the end of the push rod mechanism 2 , and the lift positioning clamp 37 is welded to the outer end of the front push rod auxiliary cylinder 24 . A lead screw lifting block 38 is arranged between the two lifting positioning clamps 37 . The outer end surface of the lifting positioning clamping plate 37 is connected with the inner end surface of the lifting slider by bolts.

Since the lift positioning assembly is fixed on the end of the push rod mechanism 2, after the third screw stepper motor 35 works, it drives the lift arm screw 36 to rotate, and the lift arm screw 36 rotates to drive the screw lift block 38 to lift. , so that the end claw 4 is moved up and down by the side plate 32 of the lift arm.

The end gripper 4 includes a first claw support plate 41, a first left clamping mechanism 42, a first right clamping mechanism 43 and a first electric push rod assembly 44. The first claw support plate 41 is an inverted U-shaped plate shape.

The side end of the first claw support plate 41 is provided with a first connecting hole 411 for connecting the first left clamping mechanism 42 and the first right clamping mechanism 43 , the first left clamping mechanism 42 and the first right clamping mechanism 43 is connected with the side end of the first claw portion supporting plate 41 through the bolts in the first connecting hole 411 to form a first clamping portion that can clamp the L-shaped steel beam. The L-shaped steel beam is the main support beam of the high-voltage power line tower. When the climbing robot is climbing, it climbs and crawls along the main support beam.

The first electric push rod assembly 44 includes a first push rod outer cylinder 441 and a first push rod inner shaft 442 inserted into the first push rod outer cylinder 441, and the first push rod outer cylinder 441 passes through the first outer cylinder support 443 and the first outer support shaft pin 444 are connected with the first left clamping mechanism 42, and the first push rod inner shaft 442 is clamped with the first right through the first inner shaft support 445 and the first inner support shaft pin 446 Mechanism 43 is connected.

The first push rod inner shaft 442 can slide in the first push rod outer cylinder 441. After sliding, the first push rod inner shaft 442 drives the first left side through the first outer support shaft pin 444 and the first inner support shaft pin 446. The clamping mechanism 42 and the first right clamping mechanism 43 are clamped and closed.

A first left synchronization gear assembly 45 and a first right synchronization gear assembly 46 are provided in the first claw support plate 41 above the first left clamping mechanism 42 and the first right clamping mechanism 43 , and the first left synchronization gear assembly 45 and the first right synchronization assembly 46 are connected with the first claw support plate 41 through a rotating shaft.

The first left clamping mechanism 42 includes a first left synchronization rod 421, a first left clamping plate 422 and two first left clamping plate connecting rods 423. The lower end of the first left clamping plate connecting rod 423 is connected to the first left clamping plate 422 through a shaft pin. The upper end is rotatably connected, and the upper end of the first left splint connecting rod 423 is rotatably connected with the side end of the first claw support plate 41 through a shaft pin.

The lower end of the first left synchronization rod 421 is connected with the first left clamping plate 422 through a shaft pin, and the upper end of the first left synchronization rod 421 is connected with the first left synchronization gear assembly 45 .

The first left splint 422 includes a first left T-shaped main plate 424 and a plurality of first left rod connecting vertical plates 425 connected to the first left T-shaped main plate 424. The inner end surface of the first left T-shaped main plate 424 is flat.

The first right clamping mechanism 43 includes a first right synchronization rod 431, a first right clamping plate 432 and two first right clamping plate connecting rods 433. The lower end of the first right clamping plate connecting rod 432 is connected to the first right clamping plate 432 through a shaft pin. The upper end is rotatably connected, and the upper end of the first right clamping plate connecting rod 433 is rotatably connected with the outer end of the first claw portion supporting plate 41 through a shaft pin.

The lower end of the first right synchronizing rod 431 is connected with the first right clamping plate 432 through a shaft pin, and the upper end of the first right synchronizing rod 432 is connected with the first right synchronizing gear assembly 46 .

The first right splint 432 includes a first right clip-in mainboard 434 and a plurality of first right-rod connecting vertical plates 435 connected to the first right clip-in mainboard 434. The inner end surface of the first right clip-in mainboard 433 is provided with a first A right card slot 436 .

The first left synchronization gear assembly 45 includes a first left synchronization rack 451, the two ends of the first left synchronization rack 451 are connected with a first left circular gear 452, and the first right synchronization gear assembly 46 includes a first right synchronization rack 461, both ends of the first right synchronizing gear rod 461 are connected with a first right circular gear 462; the first left circular gear 452 and the first right circular gear 462 mesh.

The moving hand claw 5 includes a second claw support plate 51 , a second left clamping mechanism 52 , a second right clamping mechanism 53 , a second electric push rod assembly 54 and an electromagnetic adsorption mechanism 55 . The second claw support plate 51 is in the shape of an inverted U-shaped plate, and a side end of the second claw support plate 51 is provided with a second connection hole 511 for connecting the second left clamping mechanism 52 and the second right clamping mechanism 53 .

After the second left clamping mechanism 52 and the second right clamping mechanism 53 are connected with the side end of the second claw support plate 51 through the bolts in the second connection holes 511, a second clamp capable of clamping the L-shaped steel beam is formed. holding department.

The second electric push rod assembly 54 includes a second push rod outer cylinder 541 and a second push rod inner shaft inserted into the second push rod outer cylinder 541 .

The second push rod outer cylinder 541 is connected to the second left clamping mechanism 52 through the second outer cylinder support and the second outer support shaft pin, and the second push rod inner shaft passes through the second inner shaft support and the second outer support The seat shaft pin is connected to the second right clamping mechanism 53 .

The inner shaft of the second push rod can slide in the outer cylinder 541 of the second push rod. After the inner shaft of the second push rod slides, the second left clamping mechanism 52 is driven by the shaft pin of the second outer support and the shaft pin of the second outer support. . The second right clamping mechanism 53 is clamped and closed.

The electromagnetic adsorption mechanism 55 includes a first electromagnet 551 and a second electromagnet 552. A plurality of first electromagnets 551 are connected to the lower part of the second left clamping mechanism 52, and a plurality of second electromagnets 552 are connected to the second right clamping mechanism. The lower part of the mechanism 53 .

A second left synchronization gear assembly 56 and a second right synchronization gear assembly 57 are provided in the second claw support plate 51 above the second left clamping mechanism 52 and the second right clamping mechanism 53 , and the second left synchronization gear assembly 56 and the second right synchronizing gear assembly 57 are connected with the second claw support plate 51 through a rotating shaft.

The second left clamping mechanism 52 includes a second left synchronization rod 521, a second left clamping plate 522 and two second left clamping plate connecting rods 523. The lower end of the second left clamping plate connecting rod 523 is connected to the second left clamping plate 522 through a shaft pin. The upper end is rotatably connected, and the upper end of the second left clamping plate connecting rod 523 is rotatably connected with the outer end of the second claw portion supporting plate 51 through a shaft pin.

The lower end of the second left synchronizing rod 521 is connected with the second left clamping plate 522 through a shaft pin, and the upper end of the second left synchronizing rod 521 is connected with the second left synchronizing gear assembly 56 .

The second left splint 522 includes a second left T-shaped main board and a plurality of second left rod connecting vertical plates connected to the second left T-shaped main board, and the inner end surface of the second left T-shaped main board is flat. The outer side of the second left T-shaped main board is connected with a first magnet positioning plate 524 , and a plurality of first electromagnets 551 are connected to the lower end of the first magnet positioning plate 524 in the longitudinal direction parallel to each other.

The second right clamping mechanism 53 includes a second right synchronizing rod 531, a second right clamping plate 532 and two second right clamping plate connecting rods 533. The lower end of the second right clamping plate connecting rod 533 is connected to the second right clamping plate 532 through a shaft pin The upper end is rotatably connected, and the upper end of the second right clamping plate connecting rod 533 is rotatably connected with the outer end of the second claw support plate 51 through a shaft pin.

The lower end of the second right synchronizing rod 531 is connected with the second right clamping plate 532 through a shaft pin, and the upper end of the second right synchronizing rod 531 is connected with the second right synchronizing gear assembly 57 . The second right clamping plate 532 includes a second right clamping mainboard and a plurality of second right rod connecting vertical plates connected to the second right clamping mainboard. A second right clamping slot is defined on the inner end surface of the second right clamping mainboard.

A second magnet positioning plate 534 is connected to the outer side of the second right clip into the main board, and a plurality of second electromagnets 552 are longitudinally connected to the lower end of the second magnet positioning plate 534 in parallel with each other.

Example 2

When the above-mentioned high-voltage transmission tower climbing robot is climbing, workers place the climbing robot on the main support beam of the high-voltage transmission tower. The main support beam of the high-voltage transmission tower is an angle steel plate, and the cross-section of the main support beam is L-shaped. . For the structure of the main support beam of the high-voltage transmission tower, a brand new climbing robot is designed in this application. The robot includes a synchronous belt mechanism 1, a push rod mechanism 2, a lifting arm 3, an end gripper 4, a moving gripper 5 and Rotary mechanism 6.

The timing belt mechanism 1 includes a timing belt track 11, the side end of the timing belt track 11 is fixedly connected with the battery assembly 7 and the control box 8 through the first support 12, the control box 8 is connected with a tool box, and the tool box contains tools and Goods that need to be shipped. A timing belt slider 13 is connected to the lower end of the timing belt track 11 , and the timing belt slider 13 is connected to the moving gripper 5 through the rotating mechanism 6 . There are two sets of push rod mechanisms 2 . The two sets of push rod mechanisms 2 are mirror-symmetrically arranged on the upper end of the synchronous belt track 11 .

When the climbing robot climbs, it moves and climbs longitudinally through two end grippers and one moving gripper. When the climbing robot moves longitudinally, the end gripper 4 and the moving gripper 5 move at intervals. When the external claw is connected with the main support beam, the mobile claw is separated from the main support beam. Then, under the action of the lifting arm, the mobile claw and the host are raised, the mobile claw moves forward under the action of the synchronous belt mechanism 1, and then the mobile claw descends and clamps the main support beam.

The end gripper is then separated from the main support beam, and after the end gripper moves forward under the action of the synchronous belt mechanism 1, the end gripper clamps the main support beam. Then the mobile gripper is separated from the main support beam and moves to the next step. Under the step-by-step movement of this turnover, the climbing robot achieves a stable longitudinal movement.

Example 3

When it is necessary to disguise, the mobile claw grasps the longitudinal main support beam, and the first electromagnet and the second electromagnet are energized. When the mobile claw grasps the main support beam, the electromagnet is adsorbed to increase the firmness of the connection. , to prevent the connection of the moving gripper from being loose when turning.

When the mobile claw firmly grasps the main support beam, the end claw is released, and is separated from the main support beam through the lifting arm 3, and then under the action of the rotating mechanism 6, the synchronous belt mechanism 1 and the push rod mechanism 2 The main structure formed by the connection of the lifting arm 3 and the end claw 4 rotates, and then the end claw grasps the rotated transverse support beam. When the end claw is grasped, the moving claw is separated from the vertical main support beam and rotates, moves forward under the action of the synchronous belt mechanism, and then grasps the lateral support beam.

The high-voltage power transmission tower climbing robot in the present invention is equipped with a visual imaging mechanism and a position sensor. The imaging mechanism is connected with the control box 8, and the control box 8 can control the climbing robot to perform automatic climbing, and can also switch to a manual control mode. When switching to manual control mode, the climbing robot can be controlled to move through the matching remote control. The end gripper and moving gripper of the robot adopt a new gripper structure. The left and right gripping mechanisms of the end gripper and moving gripper can be more suitable for grasping the L-shaped plate-shaped main gripper. Support beams to ensure smoother movement of the high-voltage robot.

The climbing robot in the present invention realizes a new synchronous belt mechanism 1, a push rod mechanism 2, a lifting arm 3, an end gripper 4, a moving gripper 5 and a rotating mechanism 6 through the design of a new synchronous belt mechanism The robot is more stable, smoother and safer to climb. The robot can carry heavier tools, is more stable and reliable when transporting heavier tools and articles, can realize stable disguised transportation, and has a simple and novel structure. The high-voltage power transmission tower climbing robot can replace the manual carrying equipment to climb to the height of the high-voltage power transmission tower to complete the corresponding operation, and liberate the workers from the high-intensity and high-risk operations of climbing the high-voltage power transmission tower.

It should be noted that the terminology used herein is for the purpose of describing specific embodiments only, and is not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural as well, furthermore, it is to be understood that when the terms "comprising" and/or "including" are used in this specification, it indicates that There are features, steps, operations, devices, components, and/or combinations thereof.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", etc. are based on those shown in the accompanying drawings The orientation or positional relationship is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

The parts not mentioned in the present invention can be realized by adopting or learning from the prior art.

Of course, the above description is not intended to limit the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by those skilled in the art within the essential scope of the present invention should also belong to the present invention. the scope of protection of the invention.

Claims (10)

1. A high-voltage power transmission tower climbing robot is characterized in that it includes a timing belt mechanism, a push rod mechanism, a lifting arm, an end gripper, a moving gripper and a rotating mechanism, and the timing belt mechanism includes a timing belt track, and the side of the timing belt track is The end is fixedly connected with the battery assembly and the control box through the first support, and the control box is connected with the tool box; the lower end of the synchronous belt track is connected with the synchronous belt slider, and the synchronous belt slider is connected with the moving gripper through the rotating mechanism; the push rod mechanism There are two groups, the two groups of push rod mechanisms are mirror-symmetrically arranged on the upper end of the synchronous belt track, and the outer end of the push rod mechanism is connected to the end claw through the lifting arm.
2. The high-voltage power transmission tower climbing robot according to claim 1, wherein the timing belt track is in the shape of a rectangular block, the first support is fastened to the side end surface of the timing belt track by bolts, and the battery assembly passes through the The bolt is connected to the upper end of the first support, and the control box is located above the battery assembly and is connected to the first support by the bolt;

   The main control box is connected to the synchronous belt mechanism, the push rod mechanism, the lifting arm, the end gripper, the moving gripper, and the rotating mechanism through lines; the end of the synchronous belt track is connected with a first synchronous belt stepping motor, and the synchronous belt slider is slidingly connected On the lower end of the synchronous belt track, the synchronous belt slider can move back and forth under the driving of the first synchronous belt stepping motor.
3. A high-voltage power transmission tower climbing robot according to claim 1, wherein the rotating mechanism comprises a rotating joint motor plate, the left part of the rotating joint motor plate is fixedly connected with the synchronous belt slider by bolts, and the rotating joint motor A second rotary motor and a rotary motor reducer are connected on the right part of the board;

   The rotating shaft of the rotary motor reducer is connected to the first driving gear after passing through the right part of the rotary joint motor plate. The bolt is connected with the upper end of the moving gripper.
4. The high-voltage power transmission tower climbing robot according to claim 1, wherein the push rod mechanism comprises a first push rod inner positioning base plate and a first push assembly, and the first push rod inner positioning base plate is fixedly connected by bolts At the upper end of the synchronous belt track, the first push assembly includes a first outer positioning cylinder and a second inner push rod;

   One end of the first outer positioning cylinder is fixedly connected with the first push rod inner positioning bottom plate, and the other end is fixedly connected with the synchronous belt track through the second push rod outer positioning support block; the second inner push rod is connected in the first outer positioning cylinder and It can telescopically slide in the first outer positioning cylinder;

   The outer end of the first outer positioning cylinder is sleeved with a front push rod auxiliary cylinder, the lower surface of the front push rod auxiliary cylinder is provided with a U-shaped groove of the auxiliary cylinder, and the upper half of the second push rod outer positioning support block is arranged on the front push rod auxiliary cylinder. In the cylinder, the lower end of the outer positioning support block of the second push rod is fixedly connected to the synchronous belt track by bolts;

   The moving end of the second inner push rod is connected with the inner end of the front push rod auxiliary cylinder after passing through the first outer positioning cylinder, and the outer end of the front push rod auxiliary cylinder is connected with the lifting arm.
5. A high-voltage power transmission tower climbing robot according to claim 1, wherein the lifting arm comprises a lifting arm top plate and a lifting positioning assembly, and the lower end of the lifting arm top plate is connected with two symmetrically arranged lifting arm side plates, The lower end of the arm side plate is connected with the end claw;

   The inner wall of the lift arm side plate is connected with a lift rail, and the lift rail is slidably connected with a lift slider; the upper end of the lift arm top plate is connected with a third screw stepping motor, and the lower end of the third screw stepping motor is connected with a Lifting arm screw, the lifting arm screw passes through the lift arm top plate and is located between the two lift arm side plates;

   The lifting positioning assembly includes two lifting positioning splints, the lifting positioning splint is fixedly connected with the end of the push rod mechanism, a lead screw lifting block is arranged between the two lifting positioning splints, the lifting positioning splint is connected with the lifting slider, and the screw lifting block is Set on the lifting arm screw;

   The third screw stepping motor drives the lifting arm screw to rotate, and the lifting arm screw rotates to drive the screw lifting block to lift and lower, thereby driving the end claw to lift and lower through the lifting arm side plate.
6. The high-voltage power transmission tower climbing robot according to claim 1, wherein the end gripper comprises a first gripper support plate, a first left clamping mechanism, a first right clamping mechanism and a first Electric push rod assembly, the first claw support plate is in the shape of an inverted U-shaped plate;

   The side end of the first claw support plate is provided with a first connection hole for connecting the first left clamping mechanism and the first right clamping mechanism, and the first left clamping mechanism and the first right clamping mechanism pass through the first connection hole After the inner bolt is connected with the side end of the first claw support plate, a first clamping part that can clamp the L-shaped steel beam is formed;

   The first electric push rod assembly includes a first push rod outer cylinder and a first push rod inner shaft inserted in the first push rod outer cylinder, and the first push rod outer cylinder passes through the first outer cylinder support and the first outer support The seat shaft pin is connected with the first left clamping mechanism, and the inner shaft of the first push rod is connected with the first right clamping mechanism through the first inner shaft support and the first inner support shaft pin;

   The inner shaft of the first push rod can slide in the outer cylinder of the first push rod, and after sliding, the inner shaft of the first push rod drives the first left clamping mechanism and the first left clamping mechanism through the first outer support shaft pin and the first inner support shaft pin. A right clamping mechanism clamps closed.
7. The high-voltage power transmission tower climbing robot according to claim 6, wherein a first left synchro is provided in the first claw support plate above the first left clamping mechanism and the first right clamping mechanism The gear assembly and the first right synchronizing gear assembly, the first left synchronizing gear assembly and the first right synchronizing assembly are all connected with the first claw support plate through the rotating shaft;

   The first left clamping mechanism includes a first left synchronizing rod, a first left clamping plate and two first left clamping plate connecting rods. The upper end of the left splint connecting rod is rotatably connected with the side end of the first claw support plate through a shaft pin;

   The lower end of the first left synchronizing rod is connected with the first left splint through a shaft pin, and the upper end of the first left synchronizing rod is connected with the first left synchronizing gear assembly; The plurality of first left rods on the T-shaped mainboard are connected to the vertical plates, and the inner end face of the first left T-shaped mainboard is a plane.
8. The high-voltage power transmission tower climbing robot according to claim 7, wherein the first right clamping mechanism comprises a first right synchronization rod, a first right clamping plate and two first right clamping plate connecting rods, the first right clamping mechanism The lower end of a right splint connecting rod is rotatably connected with the upper end of the first right splint through a shaft pin, and the upper end of the first right splint connecting rod is rotatably connected with the outer end of the first claw support plate through a shaft pin;

   The lower end of the first right synchronizing rod is connected with the first right splint through a shaft pin, and the upper end of the first right synchronizing rod is connected with the first right synchronizing gear assembly; A plurality of first right rods inserted into the main board are connected to the vertical plate, and a first right clamping slot is opened on the inner end face of the first right inserted into the main board;

   The first left synchronization gear assembly includes a first left synchronization rack, the two ends of the first left synchronization rack are connected with a first left circular gear, the first right synchronization gear assembly includes a first right synchronization rack, the first right synchronization Both ends of the gear rod are connected with a first right circular gear; the first left circular gear meshes with the first right circular gear.
9. The high-voltage power transmission tower climbing robot according to claim 1, wherein the moving gripper comprises a second claw support plate, a second left clamping mechanism, a second right clamping mechanism, a second electric The push rod assembly and the electromagnetic adsorption mechanism, the second claw support plate is in the shape of an inverted U-shaped plate, and the side end of the second claw support plate is provided with a second left clamping mechanism and a second right clamping mechanism. connection hole;

   After the second left clamping mechanism and the second right clamping mechanism are connected with the side end of the second claw support plate through the bolts in the second connecting hole, a second clamping portion capable of clamping the L-shaped steel beam is formed;

   The second electric push rod assembly includes a second push rod outer cylinder and a second push rod inner shaft inserted into the second push rod outer cylinder. The second push rod outer cylinder passes through the second outer cylinder support and the second outer support The seat shaft pin is connected with the second left clamping mechanism, and the inner shaft of the second push rod is connected with the second right clamping mechanism through the second inner shaft support and the second outer support shaft pin;

   The inner shaft of the second push rod can slide in the outer cylinder of the second push rod. After sliding, the inner shaft of the second push rod drives the second left clamping mechanism and the second left clamping mechanism through the second outer support shaft pin and the second outer support shaft pin. The second right clamping mechanism is clamped and closed;

   The electromagnetic adsorption mechanism includes a first electromagnet and a second electromagnet, a plurality of first electromagnets are connected to the lower part of the second left clamping mechanism, and a plurality of second electromagnets are connected to the lower part of the second right clamping mechanism.
10. The high-voltage power transmission tower climbing robot according to claim 1, wherein a second left synchronization mechanism is provided in the second claw support plate above the second left clamping mechanism and the second right clamping mechanism The gear assembly and the second right synchronizing gear assembly, the second left synchronizing gear assembly and the second right synchronizing gear assembly are all connected with the second claw support plate through the rotating shaft;

    The second left clamping mechanism includes a second left synchronization rod, a second left clamp and two second left clamp connecting rods. The lower end of the second left clamp connection rod is rotatably connected to the upper end of the second left clamp through a shaft pin. The upper end of the left splint connecting rod is rotatably connected with the outer end of the second claw support plate through a shaft pin;

    The lower end of the second left synchronizing rod is connected to the second left splint through a shaft pin, and the upper end of the second left synchronizing rod is connected to the second left synchronizing gear assembly; the second left splint comprises a second left T-shaped main board and is connected to the second left A plurality of second left rods on the T-shaped mainboard are connected to the vertical plates, the inner end face of the second left T-shaped mainboard is flat; the outer side of the second left T-shaped mainboard is connected with a first magnet positioning plate, and the plurality of first electromagnets are mutually The parallel longitudinal direction is connected to the lower end of the first magnet positioning plate;

    The second right clamping mechanism includes a second right synchronization rod, a second right clamping plate and two second right clamping plate connecting rods. The lower end of the second right clamping plate connecting rod is rotatably connected with the upper end of the second right clamping plate through a shaft pin. The upper end of the connecting rod of the right splint is rotatably connected with the outer end of the second claw support plate through a shaft pin;

    The lower end of the second right synchronizing rod is connected with the second right splint through a shaft pin, and the upper end of the second right synchronizing rod is connected with the second right synchronizing gear assembly; A plurality of second right rods inserted into the motherboard are connected to the vertical plate, and a second right card slot is opened on the inner end face of the second right inserted into the motherboard;

    A second magnet positioning plate is connected to the outer side of the second right clip into the main board, and a plurality of second electromagnets are longitudinally connected to the lower end of the second magnet positioning plate in parallel with each other.