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Telescopic mechanism for power transmission line iron tower body climbing robot

A technology of transmission line iron towers and telescopic mechanisms, applied in the field of telescopic mechanisms, can solve problems such as imperfections, inconvenient robot operations, and complex structures

Pending Publication Date: 2021-04-30
CHINA ELECTRIC POWER RES INST +3
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0016] In the prior art, the reversing telescopic mechanism of the robot is not perfect enough, and the structure used is relatively complicated, and the operation of the robot is not easy

Method used

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  • Telescopic mechanism for power transmission line iron tower body climbing robot
  • Telescopic mechanism for power transmission line iron tower body climbing robot
  • Telescopic mechanism for power transmission line iron tower body climbing robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0077] Embodiment 1, combining figure 1 The present invention provides a kind of telescopic mechanism that is used for the tower body climbing robot of power transmission line, comprises robot frame, the intermediate mechanism 7 that is arranged on the same side as robot frame and clamping mechanism 1; frame connection;

[0078] The intermediate mechanism 7 includes a push rod assembly;

[0079] Robot framework comprises track 5 and the cross bar that is vertically arranged with track 5;

[0080] The push rod assembly pushes the cross bar to slide along the track 2.

[0081] The crossbar includes a main crossbar with linkage gears installed at both ends, an auxiliary crossbar arranged parallel to the main crossbar, and a stepper motor installed at one end of the crossbar;

[0082] The axis between the main crossbar and the auxiliary crossbar is perpendicular to the axis of the track on the same vertical plane, and the end point on one side of the main crossbar is connected ...

Embodiment 2

[0098] In order to realize a robot technology and product capable of autonomous climbing, tower body attachment and working position locking, bolt identification, positioning and fully automatic fastening operations, the present invention mainly solves the following technical problems:

[0099] (1 the structural form of existing climbing robot can't adapt to the rigid structure climbing of this kind of angle steel tower with complex surface obstacle.

[0100] (2 the existing iron tower climbing robot can't realize the effective attachment and locking at any part of the angle steel tower body, and carry out the operation of the tower body with tools.

[0101] (3 The foot structure of the existing iron tower climbing robot is complex and difficult to control, and it is impossible to realize effective clamping at the position where there are obstacles on the surface of the angle steel tower, such as the connecting plate and the foot nail, and the mechanical self-locking property is ...

Embodiment 3

[0121] In the present invention, the front foot moving crossbar 3, the rear foot moving crossbar 6 and the middle moving crossbar 4 are arranged on the track 2, so that the three crossbars can move on the track 2;

[0122] The track 2 includes: a track plug 201, a rack 202, a slide rail 203, the rack 202 and the slide rail 203 are axially connected in parallel and the axis is in a vertical plane, and the track plug 201 is arranged at both ends of the slide rail 203;

[0123] The forefoot moving crossbar 3 includes: the forefoot moving crossbar linkage gear 301, the forefoot auxiliary moving crossbar 302, the forefoot keyway connection part 303, the front foot main moving crossbar stepper motor 304, the forefoot moving crossbar chute 305, the forefoot moving crossbar The lug 306, the main cross bar and the auxiliary cross bar are arranged in parallel, and the two ends are sequentially connected to the front foot mobile cross bar linkage gear 301, the front foot mobile cross bar ...

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Abstract

The invention relates to a telescopic mechanism for a power transmission line iron tower body climbing robot. The telescopic mechanism comprises a robot framework, a middle mechanism (7) and a clamping mechanism (1), wherein the middle mechanism and the robot framework are arranged on the same side. The clamping mechanism (1) is connected with a robot framework through a middle mechanism (7), the middle mechanism (7) comprises a push rod assembly, the robot framework comprises a rail (5) and a cross rod perpendicular to the rail (5), and the push rod assembly pushes the cross rod to slide along the rail (5). A thrust is applied to the cross rod through the push rod assembly of the middle mechanism, reversing type stretching and retracting are conducted, and the robot can climb along the angle steel tower automatically.

Description

technical field [0001] The invention relates to a mechanical structure and its control technology, in particular to a telescopic mechanism used for a climbing robot of a power transmission line iron tower body. Background technique [0002] As one of the main sub-projects in the construction of transmission line projects, tower assembly construction requires heavy bolt tightening workload and high torque accuracy requirements after the tower materials are hoisted in place. The fastness of the main material bolts of the angle steel tower plays an important role in the anti-vibration performance and overall structural stability of the iron tower. [0003] At present, the fastening of angle steel tower bolts mainly relies on manual operation with the help of simple tools or electric wrenches; after the line is put into operation, it is necessary to regularly monitor the tightening torque of the main material bolts of angle steel towers, so as to loosen nuts with unqualified tor...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/024B23P19/06
CPCB23P19/06B62D57/024
Inventor 万建成胡春华江明赵飞李勇杰李吉文陈先勇朱聪
Owner CHINA ELECTRIC POWER RES INST
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