Tower cross arm mounting robot

Abstract

The invention belongs to the technical field of tower equipment maintenance, and particularly relates to a tower cross arm mounting robot. Comprising a self-adaptive guide walking mechanism, a ring gear steering mechanism and a magnetic type self-resetting locking device which are sequentially connected from bottom to top, and the self-adaptive guide walking mechanism is used for walking on a tower; the circular ring gear steering mechanism is arranged on the self-adaptive guide walking mechanism, two sets of magnetic attraction type self-resetting locking devices are arranged on the circular ring gear steering mechanism in parallel, the circular ring gear steering mechanism is used for driving the magnetic attraction type self-resetting locking devices to rotate in the circumferential direction, and the two sets of magnetic attraction type self-resetting locking devices are used for fixedly installing the cross arm on a tower. Effective passing of cylindrical rod-shaped building surfaces is achieved through the self-adaptive guide walking mechanism, due to the design of the annular rack, the self-adaptive guide walking mechanism can be well suitable for entering a to-be-operated space, and the self-adaptive guide walking mechanism has the advantages of being good in environmental operation adaptability, stable in design structure, easy in function implementation and the like and is wide in application range.

Description

Technical Field

[0001] The invention belongs to the technical field of pole tower equipment maintenance, and in particular relates to a pole tower cross arm installation robot. Background Art

[0002] Due to the high requirements of the power system for safety and efficiency, high-voltage transmission towers, signal towers, etc. are the arteries of the power system, and their safe operation is directly related to the stability and reliability of power supply. Traditional maintenance methods mainly rely on manual climbing of iron towers, which not only consumes a lot of physical strength and affects work efficiency, but also poses the risk of falling from heights and electric shock. With the continuous construction of high-voltage and ultra-high-voltage transmission lines, the height of towers continues to increase, and the power sector urgently needs an automated equipment that can replace manual inspection and maintenance. Summary of the invention

[0003] In view of the above-mentioned defects of the prior art, the purpose of the present invention is to provide a pole tower crossarm installation robot to solve the problems of difficulty in manually replacing pole tower line crossarms and high risk factors of high-altitude operations, and to improve the efficiency of crossarm replacement operations.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] The invention provides a pole tower crossarm installation robot, comprising an adaptive guide walking mechanism, an annular gear steering mechanism and a magnetic self-resetting locking device, wherein the adaptive guide walking mechanism is used for walking on the pole tower; the annular gear steering mechanism is arranged on the adaptive guide walking mechanism, two groups of magnetic self-resetting locking devices are arranged in parallel on the annular gear steering mechanism, the annular gear steering mechanism is used for driving the magnetic self-resetting locking device to rotate circumferentially, and the two groups of magnetic self-resetting locking devices are used for fixing the crossarm on the pole tower.

[0006] The adaptive guiding walking mechanism includes an annular frame and multiple groups of walking wheel groups arranged on the inner side of the annular frame along the circumferential direction, wherein the annular frame is a detachable split structure; each group of walking wheel groups includes two walking wheels symmetrically arranged up and down and a connecting assembly connecting the two walking wheels, and the connecting assembly can adjust the distance between the two walking wheels.

[0007] The travel wheel comprises a guide rubber wheel, a guide wheel shaft and a guide wheel frame, wherein one end of the guide wheel frame is hinged to the annular frame, and the other end is rotatably mounted with the guide rubber wheel through the guide wheel shaft;

[0008] The connecting assembly includes a tensioning nut and two tensioning hanging ring bolts, wherein one end of the two tensioning hanging ring bolts are respectively threadedly connected to the two ends of the tensioning nut, and the hanging rings at the other ends of the two tensioning hanging ring bolts are hinged to the two guide wheel frames. The wheel center distance of the two guide rubber wheels can be adjusted through the tensioning nut.

[0009] The annular gear steering mechanism includes an annular gear frame, annular gears, guide wheel bearings, a driving gear and a driving servo, wherein the annular gear frame is connected to the adaptive guide travel mechanism through a plurality of stud bolts, the annular gear is rotatably mounted on the annular gear frame, and the inner side is positioned by a plurality of guide wheel bearings circumferentially arranged on the annular gear frame; the driving servo is arranged on the annular gear frame, and a driving gear is provided at the output end, and the driving gear is meshed with the annular gear.

[0010] The magnetic self-resetting locking device comprises an inner hexagon socket I, a worm gear reduction motor, a motor support frame, a slider, a linear slide rail, a locking long bolt, a cross arm support frame, a sleeve support frame, a fixing nut, an inner hexagon socket II and two magnetic locking mechanisms, wherein the cross arm support frame and the linear slide rail are arranged on the annular gear steering mechanism, the motor support frame and the sleeve support frame are slidably connected with the linear slide rail through a slider, the worm gear reduction motor is arranged on the motor support frame, and the output shaft is connected to the inner hexagon socket I; the inner hexagon socket II is arranged on the sleeve support frame, and the inner hexagon socket II is coaxial with the inner hexagon socket I, and the fixing nut is placed in the inner hexagon socket II; one end of the locking long bolt is inserted into the inner hexagon socket I, and the other end is connected to the fixing nut, and the worm gear reduction motor drives the locking long bolt to rotate so that the other end of the locking long bolt is tightened with the fixing nut;

[0011] The two magnetic locking mechanisms are respectively arranged on the linear slide rails, and the two magnetic locking mechanisms are respectively used to lock or release the motor support frame and the sleeve support frame.

[0012] The magnetic locking mechanism includes a slide rail limit block, an electromagnetic locker and a guide release module, wherein the slide rail limit block is fixed on the linear slide rail, the electromagnetic locker is arranged on the side of the slide rail limit block, and is used to lock the side of the motor support frame or the sleeve support frame; the guide release module is arranged on the slide rail limit block, and is used to release and guide the motor support frame or the sleeve support frame after unlocking.

[0013] The electromagnetic lock includes an electromagnetic lock housing and an electromagnetic valve, an electromagnetic spring and an electromagnetic locking pin which are sequentially arranged in the electromagnetic lock housing, wherein the electromagnetic lock housing is fixed on the slide rail limit block, and the electromagnetic locking pin passes through the electromagnetic lock housing to the outside; the electromagnetic valve realizes the compression and extension of the electromagnetic spring by passing discharge, thereby causing the electromagnetic locking pin to retract and retract.

[0014] The guide release module includes a spring and a guide pin, wherein the guide pin is arranged on the slide rail limit block along a direction parallel to the linear slide rail, and the end is inserted into the guide hole on the motor support frame or the sleeve support frame; the spring is sleeved on the guide pin, and the two ends of the spring are respectively abutted against the slide rail limit block and the motor support frame, or the two ends of the spring are respectively abutted against the slide rail limit block and the sleeve support frame.

[0015] The tower cross arm installation robot is towed by an external traction device to walk on the tower and can be fixed on the tower;

[0016] The external traction device includes an inclination self-locking ring fixing mechanism, an unmanned conveyor, an electric conveying winch and a connecting rope, wherein the inclination self-locking ring fixing mechanism is nested on the pole tower and can self-lock in a tilted state; the unmanned conveyor is magnetically fixed to the inclination self-locking ring fixing mechanism, and the unmanned conveyor is used to drive the inclination self-locking ring fixing mechanism to slide along the pole tower to a working position; the electric conveying winch is arranged on the ground at the bottom of the pole tower, one end of the connecting rope is wound around the electric conveying winch, and the other end is connected to the pole tower cross arm installation robot after passing through the inclination self-locking ring fixing mechanism; the pole tower cross arm installation robot is able to walk on the pole tower by retracting and releasing the connecting rope through the electric conveying winch.

[0017] The inclination self-locking circular ring fixing mechanism includes a fixed clamping ring, a connecting rod, a fixed pulley and a fixed beam, wherein there are two fixed clamping rings and two connecting rods, the two connecting rods are arranged in parallel, the two fixed clamping rings are relatively hinged at one end of the two connecting rods, the other ends of the two connecting rods are connected to the fixed beam, and the fixed pulley is arranged on the fixed beam; when the unmanned conveyor releases the inclination self-locking circular ring fixing mechanism, the ends of the two connecting rods tilt downward due to the influence of gravity, so that the two fixed clamping rings clamp the pole tower.

[0018] The advantages and beneficial effects of the present invention compared with the prior art are as follows: a pole tower crossarm installation robot provided by the present invention can effectively pass through the surface of cylindrical pole-shaped buildings through an adaptive guiding walking mechanism. Due to the design of its annular frame, it can be well adapted to enter the space to be operated. The operating mechanism has the advantages of good environmental adaptability, stable design structure and easy function realization, and has a wide range of uses; the annular gear steering mechanism realizes high-precision transmission through the meshing transmission of the servo and the gear, so that the crossarm replacement angle is more accurate and the error of the installation operation is reduced; the magnetic self-resetting locking device performs installation operations through magnetic suction force, without the need for manual intervention, and the operation is stable, firm and responsive, thereby reducing the demand for manual labor and improving efficiency.

[0019] The present invention utilizes the electric winch conveying device body, reduces the power loss inside the robot itself, and saves electric energy. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0021] Figure 1 This is an axonometric diagram of a tower crossarm installation robot according to the present invention;

[0022] Figure 2 A front view of a tower cross arm installation robot according to the present invention;

[0023] Figure 3 It is a structural schematic diagram of the adaptive guiding walking mechanism in the present invention;

[0024] Figure 4 It is a cross-sectional view of the adaptive guiding walking mechanism in the present invention;

[0025] Figure 5 It is a structural schematic diagram of the ring gear steering mechanism in the present invention;

[0026] Figure 6 It is a lower isometric schematic diagram of the ring gear steering mechanism in the present invention;

[0027] Figure 7 is a cross-sectional view of the ring gear steering mechanism of the present invention;

[0028] Figure 8 It is a structural schematic diagram of the magnetic self-resetting locking device in the present invention;

[0029] Fig. 9 It is a cross-sectional view of the magnetic self-resetting locking device of the present invention;

[0030] Fig.10 It is a schematic diagram of the structure of the electromagnetic lock in the present invention;

[0031] Fig.11 It is a structural schematic diagram of the slope self-locking ring fixing device in the present invention;

[0032] Fig.12 This is a schematic diagram of the working state of the tower line cross arm installation robot in the present invention;

[0033] Fig.13 It is a schematic diagram of the tower cross arm after installation in an embodiment of the present invention.

[0034] In the figure: 1-adaptive guide walking mechanism, 2-annular gear steering mechanism, 3-magnetic self-resetting locking device, 4-guide rubber wheel, 5-guide wheel shaft, 6-guide wheel frame, 7-tensioning hanging ring bolt, 8-tensioning nut, 9-annular frame, 10-annular frame limit bolt, 11-stud bolt column, 12-annular gear frame, 13-annular gear, 14-guide wheel shaft, 15-guide wheel bearing, 16-driving gear, 17-driving steering gear, 18-hexagon socket I, 19-worm gear reduction motor, 20-motor support frame, 21-slider, 22-linear slide rail, 23-locking Long bolt, 24-cross arm support frame, 25-sleeve support frame, 26-slide rail limit block, 27-spring, 28-electromagnetic lock, 281-solenoid valve, 282-electromagnetic spring, 283-electromagnetic locking pin, 284-magnetic lock housing, 29-guide pin, 30-fixing nut, 31-fixing clamp, 32-connecting rod, 33-fixed pulley, 34-fixed crossbeam, 35-inclined self-locking ring fixing mechanism, 36-unmanned conveyor, 37-electric conveying winch, 39-hexagonal socket II, 40-connecting rope, 41-cement pole, 42-cross arm, 43-cross arm fixing ring frame. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] See also Figures 1 to 9 As shown, the present invention provides a pole tower crossarm installation robot, including an adaptive guiding walking mechanism 1, an annular gear steering mechanism 2 and a magnetic self-resetting locking device 3, wherein the adaptive guiding walking mechanism 1 is used for walking on the pole tower, the annular gear steering mechanism 2 is arranged on the adaptive guiding walking mechanism 1, two groups of magnetic self-resetting locking devices 3 are arranged in parallel on the annular gear steering mechanism 2, the annular gear steering mechanism 2 is used for driving the magnetic self-resetting locking device 3 to rotate circumferentially, and the two groups of magnetic self-resetting locking devices 3 are used for fixing the crossarm on the pole tower.

[0037] See also Figure 3 , Figure 4 As shown, in an embodiment of the present invention, the adaptive guiding walking mechanism 1 includes an annular frame 9 and a plurality of walking wheel groups circumferentially arranged on the inner side of the annular frame 9, wherein the annular frame 9 is a detachable split structure; the walking wheel group includes two walking wheels symmetrically arranged up and down and a connecting assembly connecting the two walking wheels, and the connecting assembly can adjust the distance between the two walking wheels.

[0038] In the embodiment of the present invention, the walking wheel includes a guide rubber wheel 4, a guide wheel shaft 5 and a guide wheel frame 6, wherein one end of the guide wheel frame 6 is hinged to the annular frame 9, and the other end is rotatably mounted on the guide rubber wheel 4 through the guide wheel shaft 5, and the guide rubber wheel 4 can roll in the wheel groove. The connecting assembly includes a tensioning nut 8 and two tensioning hanging ring bolts 7, wherein one end of the two tensioning hanging ring bolts 7 are respectively threadedly connected to the two ends of the tensioning nut 8, and the hanging rings at the other ends of the two tensioning hanging ring bolts 7 are hinged to the two guide wheel frames 6, and the wheel center distance of the two guide rubber wheels 4 can be adjusted by screwing the tensioning nut 8, and the walking radius of the robot body can be changed.

[0039] Specifically, the annular frame 9 includes a left frame and a right frame, and the two ends of the left frame and the right frame are connected and fixed by the annular frame limit bolts 10 after being plugged into each other. Four sets of walking wheel groups are evenly distributed inside the annular frame 9, and a card slot is provided on the annular frame 9. The guide wheel frame 6 is stuck in the card slot of the annular frame 9 and can rotate flexibly.

[0040] See also Figure 2 , Figures 5 to 7 As shown, in the embodiment of the present invention, the annular gear steering mechanism 2 includes an annular gear frame 12, an annular gear 13, a guide wheel bearing 15, a driving gear 16 and a driving steering gear 17, wherein the annular gear frame 12 is connected to the annular frame 9 in the adaptive guide travel mechanism 1 through a plurality of stud bolts 11, and a space is left between the annular gear frame 12 and the annular frame 9 to facilitate the placement of the driving steering gear 17. The annular gear 13 is rotatably mounted on the annular gear frame 12, and the inner side is positioned by a plurality of guide wheel bearings 15 arranged circumferentially on the annular gear frame 12; specifically, the guide wheel shaft 14 is placed in the corresponding holes arranged on the inner circumference of the annular gear frame 12, and the upper and lower ends of the guide wheel shaft 14 pass through the annular gear frame 12 and are respectively installed with the guide wheel bearings 15, and the annular gear 13 is tangentially mounted above the annular gear frame 12 with all the guide wheel bearings 15. Two driving servos 17 are symmetrically arranged at the bottom of the ring gear frame 12, and the output ends of the two driving servos 17 pass through the ring gear frame 12 and are connected to two driving gears 16, and the two driving gears 16 are meshed with the annular gear 13. The driving servos 17 drive the driving gears 16 to rotate, thereby driving the annular gear 13 to rotate. The magnetic self-resetting locking device 3 is installed on the annular gear 13 and rotates together with the annular gear 13.

[0041] See also Figure 8 , Fig. 9As shown, in an embodiment of the present invention, the magnetic self-resetting locking device 3 includes a hexagon socket I 18, a worm gear reduction motor 19, a motor support frame 20, a slider 21, a linear slide rail 22, a locking long bolt 23, a cross arm support frame 24, a sleeve support frame 25, a fixing nut 30, a hexagon socket II 39 and a magnetic locking mechanism, wherein the cross arm support frame 24 and the linear slide rail 22 are arranged on the annular gear 13 in the annular gear steering mechanism 2, and can rotate with the annular gear 13, and the cross arm support frame 24 is used to support the cross arm. The motor support frame 20 and the sleeve support frame 25 are slidably connected to the linear slide rail 22 through the slider 21, and the worm gear reduction motor 19 is arranged on the motor support frame 20, and the output shaft is connected to the hexagon socket Ⅰ18; the hexagon socket Ⅱ39 is installed on the sleeve support frame 25, and the hexagon socket Ⅱ39 is coaxial with the hexagon socket Ⅰ18, and the hexagon socket Ⅱ39 is used to place the fixing nut 30; the bolt head of the locking long bolt 23 is connected to the hexagon socket Ⅰ18, and the threaded end of the locking long bolt 23 corresponds to the fixing nut 30, and the worm gear reduction motor 19 drives the locking long bolt 23 to rotate, so that the other end of the locking long bolt 23 is tightened with the fixing nut 30, and the cross arm is fixed at a specified height; since the cross arm needs to be fixed to the replacement position, the bolt locking method is adopted to make the connection more secure.

[0042] Furthermore, the linear slide rail 22 is provided with two magnetic locking mechanisms which are respectively located on the inner sides of the motor support frame 20 and the sleeve support frame 25 , and the two magnetic locking mechanisms are respectively used for locking and releasing the motor support frame 20 and the sleeve support frame 25 .

[0043] See also Figure 8 , Fig. 9 As shown, in an embodiment of the present invention, the magnetic locking mechanism includes a slide rail limit block 26, an electromagnetic locker 28 and a guide release module, wherein the slide rail limit block 26 is fixed on the linear slide rail 22 and close to the inner side of the annular gear frame 12 to limit the initial movement position of the slider 21; the electromagnetic locker 28 is arranged on the side of the slide rail limit block 26 for locking the side of the motor support frame 20 or the sleeve support frame 25; the guide release module is arranged on the slide rail limit block 26 for releasing and guiding the unlocked motor support frame 20 or the sleeve support frame 25.

[0044] In an embodiment of the present invention, the guide release module includes a spring 27 and a guide pin 29, wherein the guide pin 29 is arranged on the slide rail limit block 26 along a direction parallel to the linear slide rail 22, and the end is inserted into the guide hole on the motor support frame 20 or the sleeve support frame 25; the spring 27 is sleeved on the guide pin 29, and the two ends of the spring 27 are respectively abutted against the slide rail limit block 26 and the motor support frame 20, or the two ends of the spring 27 are respectively abutted against the slide rail limit block 26 and the sleeve support frame 25.

[0045] See also Fig.10 As shown, in the embodiment of the present invention, the electromagnetic lock 28 includes an electromagnetic lock housing 284 and an electromagnetic valve 281, an electromagnetic spring 282 and an electromagnetic locking pin 283 which are sequentially arranged in the electromagnetic lock housing 284, wherein the electromagnetic lock housing 284 is fixed on the slide rail limit block 26, and the electromagnetic locking pin 283 is passed out of the electromagnetic lock housing 284 to the outside; the electromagnetic valve 281 realizes the compression and extension of the electromagnetic spring 282 by passing through and discharging, so that the electromagnetic locking pin 283 is retracted and retracted, thereby realizing the locking and release of the motor support frame 20 or the sleeve support frame 25. When the electromagnetic locking pin 283 passes through the corresponding locking hole of the motor support frame 20 or the sleeve support frame 25, the relative position of the motor support frame 20 and the sleeve support frame 25 and the slide rail limit block 26 is locked. When the electromagnetic valve 281 is not energized, the electromagnetic spring 282 maintains the existing state.

[0046] In the embodiment of the present invention, the pole tower cross arm installation robot is towed by an external towing device to move up and down along the pole tower and can be fixed on the pole tower. Fig.12 As shown, the external traction device includes an inclination self-locking ring fixing mechanism 35, an unmanned conveyor 36, an electric conveying winch 37 and a connecting rope 40, wherein the inclination self-locking ring fixing mechanism 35 is nested on the pole tower and can self-lock in a tilted state; the unmanned conveyor 36 is magnetically fixed to the inclination self-locking ring fixing mechanism 35, and can drive the inclination self-locking ring fixing mechanism 35 to move upward along the pole tower to a working position; the electric conveying winch 37 is arranged on the ground at the bottom of the pole tower, one end of the connecting rope 40 is wound around the electric conveying winch 37, and the other end is connected to the pole tower cross arm installation robot after passing through the inclination self-locking ring fixing mechanism 35; the electric conveying winch 37 is used to retract and release the connecting rope 40 to realize the up and down movement of the pole tower cross arm installation robot.

[0047] See also Fig.11 As shown, in the embodiment of the present invention, the slope self-locking ring fixing mechanism 35 includes a fixed snap ring 31, a connecting rod 32, a fixed pulley 33 and a fixed crossbeam 34, wherein the fixed snap ring 31 and the connecting rod 32 are both two, the two connecting rods 32 are arranged in parallel, the two fixed snap rings 31 are relatively hinged at one end of the two connecting rods 32, and the two fixed snap rings 31 move inside the fixing holes of the connecting rods 32 to wrap the pole tower. The other ends of the two connecting rods 32 are connected to the fixed crossbeam 34, the fixed pulley 33 is arranged at the middle position of the fixed crossbeam 34, and the connecting rope 40 is guided through the fixed pulley 33; when the unmanned conveyor 36 releases the slope self-locking ring fixing mechanism 35, the ends of the two connecting rods 32 are tilted downward under the influence of gravity, so that the two fixed snap rings 31 clamp the pole tower.

[0048] In the embodiment of the present invention, the adaptive guide walking mechanism 1 can provide basic support and structural stability for the entire robot body, and the guide rubber wheels 4 arranged symmetrically up and down can meet the two-way movement of the robot. The ring gear steering mechanism 2 is installed on the adaptive guide walking mechanism 1 through the stud bolt column 11, and the magnetic self-resetting locking device 3 is placed on the ring gear 13 in the ring gear steering mechanism 2. Through the rotation of the ring gear 13, an installation position of any angle is provided for placing the cross arm.

[0049] The working principle of the embodiment of the present invention is as follows:

[0050] The robot body and the slope self-locking ring fixing mechanism 35 are nested outside the pole tower, and the connecting rope 40 of the electric conveying winch 37 is connected to the robot body through the fixed pulley 33. The unmanned conveyor 36 attracts the two fixed clamps 31 of the slope self-locking ring fixing mechanism 35 through the electromagnet, and smoothly brings the slope self-locking ring fixing mechanism 35 to the working position. At the same time, the electric conveying winch 37 rotates the conveying connecting rope 40. When arriving at the working position, the unmanned conveyor 36 releases the slope self-locking ring fixing mechanism 35, and the end of the connecting rod 32 tilts downward under the influence of gravity, and the two fixed clamps 31 clamp the pole tower. The electric conveying winch 37 rotates to tighten the connecting rope 40, and the robot body moves upward under the traction of the connecting rope 40. When it reaches the working position, the electric conveying winch 37 stops rotating and fixes the robot body on the pole tower. At the same time, the steering engine 17 is driven to output power, and the driving gear 16 meshes with the annular gear 13 and starts to rotate, thereby driving the cross arm 42 above the annular gear 13 to rotate until the cross arm 42 reaches the preset position and stops rotating. Then, the worm gear reduction motor 19 in the magnetic self-resetting locking device 3 outputs torque to drive the hexagon socket I 18 connected to the output shaft to rotate, and the locking long bolt 23 is tightened to the fixing nut 30 in the hexagon socket II 39 at the other end, fixing the cross arm 42 at a specified height. At the same time, the solenoid valve 281 is energized, the electromagnetic spring 282 on the side of the slide rail limit block 26 is compressed, driving the electromagnetic locking pin 283 to be pulled out, releasing the locking state between the motor support frame 20 and the sleeve support frame 25 and the corresponding slide rail limit block 26, and the spring 27 on the slide rail limit block 26 pushes the motor support frame 20 and the sleeve support frame 25 to both sides through elastic force, so that the hexagon socket I18 and the hexagon socket II39 are away from the cross arm 42 and do not contact each other, and the replacement operation is completed.

[0051] See also Fig.13 As shown, in this embodiment, the pole tower is a cement pole 41, and the inner sides of the two cross arms 40 are in contact with the cement pole 41 through two cross arm fixing ring frames 39 respectively. The two cross arms 42 are fixed to the cement pole 41 from both sides by tightening two locking long bolts 23 and two fixing nuts 30.

[0052] The present invention provides a pole tower crossarm installation robot, which can effectively pass through the surface of cylindrical pole-shaped buildings through an adaptive guiding walking mechanism. Due to the design of its annular frame, it can be well adapted to enter the space to be operated. The operating mechanism has the advantages of good environmental adaptability, stable design structure and easy function realization, and has a wide range of uses. The annular gear steering mechanism realizes high-precision transmission through the meshing transmission of the steering gear and the gear, so that the crossarm replacement angle is more accurate and the error of the installation operation is reduced. The magnetic self-resetting locking device performs installation operations through magnetic suction force, without the need for manual intervention, and the operation is stable, firm and responsive, reducing the demand for manual labor and improving efficiency. The present invention utilizes the main body of the electric winch conveying device to reduce the power loss inside the robot itself and save electric energy. The present invention realizes the automated installation of crossarms, improves operation efficiency and reduces labor costs.

[0053] The above description is only an embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A tower cross arm installation robot, characterized in that: The invention comprises an adaptive guiding walking mechanism (1), a circular gear steering mechanism (2) and a magnetic self-resetting locking device (3), wherein the adaptive guiding walking mechanism (1) is used for walking on a pole tower; the circular gear steering mechanism (2) is arranged on the adaptive guiding walking mechanism (1), two groups of magnetic self-resetting locking devices (3) are arranged in parallel on the circular gear steering mechanism (2), the circular gear steering mechanism (2) is used for driving the magnetic self-resetting locking device (3) to rotate in a circumferential direction, and the two groups of magnetic self-resetting locking devices (3) are used for fixing a cross arm on the pole tower.

2. The tower cross arm installation robot according to claim 1, characterized in that: The adaptive guiding walking mechanism (1) comprises an annular frame (9) and a plurality of walking wheel groups arranged circumferentially on the inner side of the annular frame (9), wherein the annular frame (9) is a detachable split structure; each walking wheel group comprises two walking wheels symmetrically arranged up and down and a connecting assembly connecting the two walking wheels, and the connecting assembly can adjust the distance between the two walking wheels.

3. The tower cross arm installation robot according to claim 2, characterized in that: The travel wheel comprises a guide rubber wheel (4), a guide wheel shaft (5) and a guide wheel frame (6), wherein one end of the guide wheel frame (6) is hinged to the annular frame (9), and the other end is rotatably mounted on the guide rubber wheel (4) via the guide wheel shaft (5); The connection assembly comprises a tensioning nut (8) and two tensioning hanging ring bolts (7), wherein one end of the two tensioning hanging ring bolts (7) are respectively threadedly connected to the two ends of the tensioning nut (8), and the hanging rings at the other ends of the two tensioning hanging ring bolts (7) are hinged to the two guide wheel frames (6), and the wheel center distance of the two guide rubber wheels (4) can be adjusted through the tensioning nut (8).

4. The tower cross arm installation robot according to claim 1, characterized in that: The annular gear steering mechanism (2) comprises an annular gear frame (12), an annular gear (13), a guide wheel bearing (15), a driving gear (16) and a driving steering gear (17), wherein the annular gear frame (12) is connected to the adaptive guide travel mechanism (1) via a plurality of stud bolts (11), the annular gear (13) is rotatably mounted on the annular gear frame (12), and the inner side is positioned by a plurality of guide wheel bearings (15) circumferentially arranged on the annular gear frame (12); the driving steering gear (17) is arranged on the annular gear frame (12), and a driving gear (16) is arranged at the output end, and the driving gear (16) is meshed with the annular gear (13).

5. The tower cross arm installation robot according to claim 1, characterized in that: The magnetic self-resetting locking device (3) comprises an inner hexagon socket I (18), a worm gear reduction motor (19), a motor support frame (20), a slider (21), a linear slide rail (22), a locking long bolt (23), a cross arm support frame (24), a sleeve support frame (25), a fixing nut (30), an inner hexagon socket II (39) and two magnetic locking mechanisms, wherein the cross arm support frame (24) and the linear slide rail (22) are arranged on the annular gear steering mechanism (2), the motor support frame (20) and the sleeve support frame (25) are slidably connected to the linear slide rail (22) via the slider (21), and the worm gear reduction motor (19) is connected to the motor support frame (20), the slider (21), and the linear slide rail (22) is connected to the motor support frame (20). The worm gear reduction motor (19) is arranged on the motor support frame (20), and the output shaft is connected to the hexagon socket I (18); the hexagon socket II (39) is arranged on the socket support frame (25), and the hexagon socket II (39) is coaxial with the hexagon socket I (18), and the fixing nut (30) is placed in the hexagon socket II (39); one end of the locking long bolt (23) is inserted into the hexagon socket I (18), and the other end is connected to the fixing nut (30), and the worm gear reduction motor (19) drives the locking long bolt (23) to rotate, so that the other end of the locking long bolt (23) is tightened with the fixing nut (30); The two magnetic locking mechanisms are respectively arranged on the linear slide rail (22), and the two magnetic locking mechanisms are respectively used to lock or release the motor support frame (20) and the sleeve support frame (25).

6. The tower cross arm installation robot according to claim 5, characterized in that: The magnetic locking mechanism comprises a slide rail limit block (26), an electromagnetic locker (28) and a guide release module, wherein the slide rail limit block (26) is fixed on the linear slide rail (22), the electromagnetic locker (28) is arranged on the side of the slide rail limit block (26) and is used to lock the side of the motor support frame (20) or the sleeve support frame (25); the guide release module is arranged on the slide rail limit block (26) and is used to release and guide the motor support frame (20) or the sleeve support frame (25) after being unlocked.

7. The tower cross arm installation robot according to claim 6, characterized in that: The electromagnetic lock (28) comprises an electromagnetic lock housing (284) and an electromagnetic valve (281), an electromagnetic spring (282) and an electromagnetic locking pin (283) which are sequentially arranged in the electromagnetic lock housing (284), wherein the electromagnetic lock housing (284) is fixed on the slide rail limit block (26), and the electromagnetic locking pin (283) passes through the electromagnetic lock housing (284) to the outside; the electromagnetic valve (281) realizes compression and extension of the electromagnetic spring (282) by discharge, thereby causing the electromagnetic locking pin (283) to retract and retract.

8. The tower cross arm installation robot according to claim 6, characterized in that: The guide release module comprises a spring (27) and a guide pin (29), wherein the guide pin (29) is arranged on the slide rail limit block (26) in a direction parallel to the linear slide rail (22), and the end is inserted into the guide hole on the motor support frame (20) or the sleeve support frame (25); the spring (27) is sleeved on the guide pin (29), and the two ends of the spring (27) are respectively abutted against the slide rail limit block (26) and the motor support frame (20), or the two ends of the spring (27) are respectively abutted against the slide rail limit block (26) and the sleeve support frame (25).

9. The tower cross arm installation robot according to claim 1, characterized in that: The tower cross arm installation robot is towed by an external traction device to walk on the tower and can be fixed on the tower; The external traction device comprises an inclination self-locking ring fixing mechanism (35), an unmanned conveyor (36), an electric conveying winch (37) and a connecting rope (40), wherein the inclination self-locking ring fixing mechanism (35) is nested on the pole tower and can self-lock in an inclined state; the unmanned conveyor (36) is fixed to the inclination self-locking ring fixing mechanism (35) by magnetic attraction, and the unmanned conveyor (36) is used to drive the inclination self-locking ring fixing mechanism (35) to slide along the pole tower to a working position; the electric conveying winch (37) is arranged on the ground at the bottom of the pole tower, one end of the connecting rope (40) is wound around the electric conveying winch (37), and the other end is connected to the pole tower cross arm installation robot after passing through the inclination self-locking ring fixing mechanism (35); the pole tower cross arm installation robot is enabled to walk on the pole tower by retracting and releasing the connecting rope (40) by the electric conveying winch (37).

10. The tower cross arm installation robot according to claim 9, characterized in that: The slope self-locking circular ring fixing mechanism (35) comprises a fixed snap ring (31), a connecting rod (32), a fixed pulley (33) and a fixed crossbeam (34), wherein there are two fixed snap rings (31) and two connecting rods (32), the two connecting rods (32) are arranged in parallel, the two fixed snap rings (31) are relatively hinged at one end of the two connecting rods (32), the other ends of the two connecting rods (32) are connected to the fixed crossbeam (34), and the fixed pulley (33) is arranged on the fixed crossbeam (34); when the unmanned conveyor (36) releases the slope self-locking circular ring fixing mechanism (35), the ends of the two connecting rods (32) are tilted downward under the influence of gravity, so that the two fixed snap rings (31) clamp the pole tower.

Images