Iron tower climbing inspection robot
A technology for inspection robots and iron towers, applied in the field of robots, can solve the problems of complex overall structure and limited application scope.
Active Publication Date: 2016-05-18
STATE GRID CORP OF CHINA +1
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Problems solved by technology
[0005] The number and length of the arms involved in the climbing device in the first application need to have a strict matching relationship with the climbing object, so the scope of application is greatly limited
[0006] In the second application, the arms are simplified into a pair and are symmetrical about the central axis. Under this condition, an additional hugging device is often needed to assist to avoid the robot from falling, and the upper and lower climbing arms exist in the angular phase. A phase difference, so the synchronous drive of the upper and lower climbing arm shafts is required, and the overall structure is relatively complicated
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[0031] The iron tower is often a cone-shaped structure with a small top and a large bottom, and the sides usually have various connecting structures, which can be used as climbing supports. The tapered structure has a certain slope on its side, and depending on the slope, the robot can be supported and suspended to prevent the robot from falling.
[0032] The up and down in this case are based on the climbing direction up as a reference, and the advancing direction is up, which should be understood by those skilled in the art. Furthermore, the left and right directions are the left and right with reference to the upper and lower directions.
[0033] Regarding the climbing surface, it can be understood as the side surface of an iron tower. Although the side surface of the iron tower is not a panel structure, it can be understood by those skilled in the art academically.
[0034] See the instructions attached Figure 1 to 3 A kind of iron tower climbing inspection robot shown, its ba...
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A transmission tower climbing inspection robot, comprising: a carrier (1) for carrying a detection device; an upper climbing part having a pair of upper arms (2) hingedly connected to the upper end of the carrier (1) and controlled to rotate at a rotation angle around a corresponding hinged shaft, and hand claws (3) connected to the non-hinged end of the upper arms (2), the top of the hand claw (3) being an upward arching portion; and a lower climbing part having a pair of lower arms (6) hingedly connected to the lower end of the carrier (1) and controlled to rotate at a rotation angle around the corresponding hinged shaft, and foot claws (7) connected to the non-hinged end of the lower arms (6), the lower portion of the foot claw (7) being an upward arching portion; both the upper arms (2) and the lower arms (6) have a retractable structure, being equipped with corresponding drive devices to enable the upper arms (2) and the lower arms (6) to extend and retract alternately. The robot has a compact structure, and facilitates reliable climbing on the transmission tower.
Description
Technical field [0001] The invention relates to a robot used for climbing an iron tower on power equipment. Background technique [0002] After the installation of the line tower and its ancillary equipment is completed, the supervisor needs to inspect the installation quality and process. Usually the inspection of the tower is mainly to arrange the climbers to climb the tower for inspection. Not only there are personnel safety issues, but there are also few observation points and manpower. The problem of high cost. [0003] With regard to line inspection, more and more robots are used for inspection. The robots used for inspection are differentiated in structure according to the specific inspection objects. However, inspection robots all have a certain basic structure, which usually includes a vehicle to carry various types of inspection equipment. It is also necessary to set up a climbing device, where the climbing device determines the classification of the inspection robot du...
Claims
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IPC IPC(8): B62D57/024B25J11/00
CPCB25J11/00
Inventor 汪先涛郭峰段晓明姜兆庆刘辉陈永辉张勇王昆仑张兴张震王钦朱毅李山
Owner STATE GRID CORP OF CHINA