Clamping mechanism of power transmission tower climbing robot and climbing robot

Abstract

The invention discloses a clamping mechanism of a power transmission tower climbing robot and a climbing robot. A problem that climbing in the prior art is mainly targeted for tubular structures is solved; and the clamping mechanism of the power transmission tower climbing robot has the beneficial effects that the structure is compact, the flexible degree is high, the clamping mechanism of the power transmission tower climbing robot can adapt to the changing of an angle of angle iron in a power transmission tower and a clamping claw is kept parallel to the angle iron surface. The technical scheme is that the clamping mechanism of the power transmission tower climbing robot comprises manipulators used for clamping the tower and a mounting plate, wherein the manipulators comprise clamping claws; the clamping claws can be opened or closed to clamp one side of a tower; the manipulators can advance or retreat relative to the side part of the tower; the mounting plate is supported by a basebottom plate; the mounting plate is arranged at the end parts of the manipulators; the manipulators realize swinging motion through mechanical arm pitching supporting mechanisms; the manipulators swing with vertical central axes of the two manipulators as central lines to adjust angles of the manipulators relative to the mounting plate so as to realize centering clamping of the clamping claws to the angle iron of the tower.

Description

technical field [0001] The invention relates to the field of climbing robots, in particular to a clamping mechanism for a power transmission tower climbing robot and a climbing robot. Background technique [0002] At this stage, the rapid development of my country's economy has driven a large demand for power resources, and the national economy and residents' lives mostly depend on the effective operation of high-voltage transmission lines. The high-voltage transmission line plays an important role in the operation of the power system. It is mainly responsible for the transmission of electric energy and the dispatching of electric energy, and also plays the role of connecting generators and related transformation facilities. Therefore, the maintenance of high-voltage transmission lines is fundamental to maintaining the safe transmission of electric energy. At present, most of the maintenance work of high-voltage transmission lines is still manual work. The most important th...

AI Technical Summary

Problems solved by technology

At present, most of the maintenance work of high-voltage transmission lines is still manual work. The most important thing is the special environment of the high-altitude transmission towers, and the transmission towers are not easy to provide safety belt hanging points. The operators transfer work on the upper and lower towers and cross arms. Due to limited conditions, there may be situations where the safety belt is out of protection, which is more likely to bring safety risks to daily maintenance work.

However, due to the complex structure of transmission towers and numerous cross arms, robot operations are not as flexible and convenient as manual operations, and the robot technology at this stage cannot meet the requirements for large-scale application to climbing poles and towers. Therefore, in order to improve the safety awareness of operators At the same time, it is very necessary to provide a reliable safety measure to improve the safety protection conditions of operators.

[0003] At present, there are many domestic research and inventions on climbing robots, but the inventors found that most of the climbing types are tubular structural objects, and there is no need to cross obstacles during the climbing process, while there are some crossarms, The appearance of obstacles such as foot spikes will hinder the progress of the robot

In addition, the direction of this type of tubular structure does not change, and the structure of the transmission tower we want to climb has the situation that the installation angle of the angle steel changes. If the installation angle of the angle steel is changed, the angle steel surface and the clip The deviation of the angle between the holding surfaces will lead to the reduction of the contact area between the rubber block and the angle steel, from the original surface contact to line contact or point contact, which may cause the motor to stall or even clamp. Insufficient strength, resulting in a series of safety hazards

[0004] Therefore, developing a clamping mechanism for a transmission tower climbing robot to solve the problem of vertical alignment between the manipulator and the angle steel after the angle of the clamped angle steel changes is the main problem currently facing

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