A pole-climbing robot with a liftable working platform

Abstract

The present invention belongs to the field of automated climbing machinery, and specifically relates to a pole-climbing robot with a liftable work platform. The robot comprises: a climbing mechanism comprising a climbing frame and at least four wheel hub motors, the wheel hub motors being symmetrically arranged in two groups on either side of the bottom of the climbing frame, the two groups of wheel hub motors being connected by telescopic rods; a lifting platform located below the climbing mechanism and comprising two symmetrically arranged work platforms and horizontally movable pedals, the work platforms being detachably fixedly connected, the pedals passing through the bottom of the work platforms, and winding mechanisms being fixed to the lower inner portions of the work platforms, the winding mechanisms being connected to both sides of the climbing frame by ropes; and a controller electrically connected to the wheel hub motors, telescopic rods, and winding mechanisms. The present invention can automatically raise and lower a manned work platform. The climbing mechanism and lifting platform are operated in two parts, making on-site installation flexible, convenient, safe, and reliable.

Description

Technical Field

[0001] The invention belongs to the field of automated climbing machinery, and in particular relates to a pole-climbing robot with a liftable working platform. Background Art

[0002] To meet users' needs for reliable power supply, live work on distribution networks is becoming increasingly common. Currently, maintenance workers either climb line towers using tools like foot clips or use insulating ladders or live work vehicles. However, these methods all have drawbacks.

[0003] (1) When climbing by oneself or using an insulated ladder, only one person can normally work on the tower. This is not applicable when two or more people are required to work together.

[0004] (2) Live working vehicles can be operated by multiple people, but the equipment is large in size and the distribution network lines are generally complex. There is no space around many towers to install large equipment.

[0005] Therefore, there is an urgent need for a lightweight and easy-to-use mechanism that can carry one or more people and automatically climb distribution line towers, which can greatly reduce the difficulty of the construction workers' work. Summary of the Invention

[0006] The purpose of the present invention is to provide a pole-climbing robot with a liftable working platform, which can carry one or more people and can automatically climb distribution line towers. Construction personnel can control the lifting and lowering of the mechanism to achieve live operations, thereby solving the problems in the background technology.

[0007] The present invention provides the following specific technical solutions:

[0008] A pole-climbing robot with a liftable working platform, comprising:

[0009] A climbing mechanism comprising a climbing frame and at least four wheel hub motors, wherein the wheel hub motors are symmetrically arranged in two groups on both sides of the bottom of the climbing frame, and the two groups of wheel hub motors are connected by a telescopic rod;

[0010] A lifting platform is located below the climbing mechanism and includes two groups of symmetrically arranged working platforms and horizontally movable pedals. The working platforms are detachably fixedly connected to each other, and the pedals pass through the bottom of the working platforms. A winding mechanism is fixed to the lower inner side of each working platform, and the winding mechanism is connected to both sides of the climbing frame through a rope;

[0011] A controller is electrically connected to the hub motors, the telescopic rods and the winding mechanism. The controller controls the two groups of hub motors to rotate in opposite directions for climbing, and controls the winding mechanism to wind and retract the rope to raise and lower the working platform.

[0012] Furthermore, the climbing frame includes a bracket seat and two sets of rotatably connected wheel axle brackets, the motor shaft of the hub motor is rotatably fixed on the wheel axle bracket, the bracket seats are respectively fixed to the outer sides of the ends of the wheel axle brackets and are arranged parallel to the motor shaft of the hub motor, and the rope is fixed in the middle of the bracket seat.

[0013] Furthermore, three hub motors are fixed on a single set of wheel axle brackets, and the diameters of the hub motors at both ends are the same and larger than the diameter of the hub motor in the middle.

[0014] Furthermore, a limiting block is fixed to one end of the pedal extending out of the working platform, and the limiting block is connected to the outer side of the working platform via a tension spring.

[0015] Furthermore, the working platform includes a vertically installed fence board and two limit clamps horizontally arranged at the bottom of the fence board, and the pedal moves horizontally in opposite directions between the two limit clamps.

[0016] Furthermore, a semicircular notch is provided on each of the adjacent sides of the pedals, and the diameter of the semicircular notch is larger than the maximum outer diameter of the electric pole.

[0017] Furthermore, the winding mechanism is a winch, an electric winch, or a drum motor.

[0018] Furthermore, it also includes a limit sensor, which is installed on one side of the telescopic rod and is used to detect the wheelbase of the two groups of hub motors.

[0019] Furthermore, it also includes a manual control panel, a remote controller and a motor driver. The manual control panel is fixed on the fence panel, the remote controller communicates wirelessly with the controller, and the manual control panel and the motor driver are electrically connected to the controller.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. A pole-climbing robot with a liftable working platform according to the present invention has the following rotation directions of the wheel hub motors when climbing a pole. During the climbing process, the tilt angle can automatically adjust the length of the telescopic rod according to the radial change of the pole-shaped object, ensuring that the running wheels of the wheel hub motor always fit tightly with the pole shape under any circumstances, providing sufficient friction for the entire device; the opposite-side wheel groups of the climbing mechanism form an embracing shape, fit the surface of the pole, realize positive pressure, and rise by friction; after the mechanism is locked and positioned by utilizing the locking function of the climbing mechanism itself, the lifting mechanism lifts the working platform to the working position.

[0022] 2. The present invention provides a pole-climbing robot with a liftable working platform. The mounting part of the climbing mechanism is the outer side of the hub motor shaft. The load passing through the hub motor shaft will generate a certain magnitude of component force acting on the surface of the pole, thereby increasing the friction and further improving its reliability. The multiple hub motors for climbing use different diameters, which can better fit the surface of the pole.

[0023] 3. The pole-climbing robot with a liftable working platform of the present invention adopts a winding mechanism in conjunction with a rope to realize the raising and lowering and stopping of the lifting platform. Before this step, the climbing mechanism first climbs to the specified height and then uses the telescopic rod tightening function to realize the positioning of the pole-climbing robot, and then the working platform is lifted. This can greatly improve the structural stability of the climbing robot and avoid safety accidents caused by shaking of the working platform during the climbing or descending movement of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] For ease of explanation, the present invention is described in detail with reference to the following specific embodiments and accompanying drawings.

[0025] Figure 1 This is a schematic diagram of the overall structure of the pole-climbing robot with a liftable working platform of the present invention;

[0026] Figure 2 This is a schematic diagram of the overall structure of the pole-climbing robot with a liftable working platform in the bottom direction of the present invention;

[0027] Figure 3 A top view of the overall structure of the pole-climbing robot with a liftable working platform of the present invention with its pedals opened;

[0028] Figure 4 Schematic diagram of the structure of another embodiment of the climbing mechanism of the pole-climbing robot with a liftable working platform of the present invention;

[0029] Figure 5 This is a schematic diagram of the working principle of the pole climbing robot controller with a liftable working platform of the present invention;

[0030] The reference numerals are as follows:

[0031] 10. Climbing mechanism; 11. Climbing frame; 111. Axle bracket; 112. Bracket seat; 12. Hub motor; 13. Telescopic rod; 14. Winding mechanism; 15. Rope; 20. Lifting platform; 21. Working platform; 211. Fence board; 212. Limiting splint; 22. Pedal; 23. Limiting block; 24. Tension spring; 30. Controller; 31. Limit sensor. DETAILED DESCRIPTION

[0032] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0033] It should be noted that when an element is referred to as being "fixed," "mounted," "connected," or "disposed" with another element, it may be directly on the other element or indirectly on the other element. It should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inside," "outside," and the like, indicating positions or location relationships, are based on the positions or location relationships shown in the accompanying drawings and are intended only to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the device or element referred to must have a specific orientation, be constructed, or operate in a specific orientation as described in the specification. Therefore, they should not be understood as limiting the present invention.

[0034] Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be understood to indicate or imply relative importance or to implicitly indicate the quantity of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features.

[0035] The present invention will be further described below with reference to the embodiments shown in the accompanying drawings:

[0036] Reference Figure 1-4 A pole-climbing robot with a liftable working platform includes a climbing mechanism 10, a lifting platform 20 and a controller 30.

[0037] The climbing mechanism 10 includes a climbing frame 11 and at least four hub motors 12. The hub motors 12 are symmetrically arranged in two groups on both sides of the bottom of the climbing frame 11. The two groups of hub motors 12 are connected by a telescopic rod 13. In this embodiment, the telescopic rod 13 can be a hydraulic rod or an electric lead screw to achieve telescopic extension. When the telescopic rod 13 contracts, it drives the hub motors 12 on both sides closer. The telescopic rod 13 extends or contracts according to the direction of movement and the change of the rod diameter. The climbing mechanism 10 has a tightening function to achieve close contact with the rod surface and realize reliable climbing.

[0038] The lifting platform 20 includes two groups of symmetrically arranged working platforms 21 and horizontally movable pedals 22. The lifting platform 20 is located below the climbing mechanism 10. The working platforms 21 are detachably fixedly connected to each other. A winding mechanism 14 is fixed to the lower inner part of the working platform 21. The winding mechanism 14 is connected to both sides of the climbing frame 11 through a rope 15.

[0039] The controller 30 is electrically connected to the hub motors 12 , the telescopic rods 13 and the winding mechanism 14 . The controller 30 controls the two groups of hub motors 12 to rotate in opposite directions for climbing, and controls the winding mechanism 14 to wind and release the rope to raise and lower the working platform 21 .

[0040] In some embodiments of the present invention, Figure 1-2 As shown, the climbing frame 11 includes a bracket seat 112 and two sets of rotatably connected wheel axle brackets 111. The motor shaft of the hub motor 12 is rotatably fixed on the wheel axle bracket 111. The bracket seats 112 are respectively fixed to the outer sides of the ends of the wheel axle bracket 111 and are arranged parallel to the motor shaft of the hub motor 12. The rope 15 is fixed in the middle of the bracket seat 112.

[0041] In this embodiment, the number of wheel hub motors 12 is selected as 4, which are symmetrically arranged on both sides of the utility pole. The wheel axle bracket 111 is an "I"-shaped bracket made of 4 rods welded together. The ends of the two groups of "I"-shaped brackets are connected by rotating connectors such as bolts or pins. The middle support rod of the "I"-shaped bracket serves as the support rod of the wheel hub motor 12 and is coaxially connected to the motor shaft of the wheel hub motor 12. The bracket seat 112 is two separate load-bearing rods, which are respectively arranged at the outer ends of the "I"-shaped bracket as the mounting part of the lifting platform 20. The load passes through the motor shaft of the wheel hub motor 12 and generates a certain magnitude of component force acting on the surface of the utility pole, thereby increasing the friction and further improving its reliability.

[0042] In other embodiments of the present invention, Figure 4 As shown, three hub motors 12 are fixed to a single set of wheel axle brackets 111. The diameters of the hub motors 12 at both ends are the same and larger than the diameter of the hub motor 12 in the middle. During climbing, the multiple hub motors 12 use different diameters to better fit the surface of the pole.

[0043] In this embodiment, a limit block 23 is fixed to the end of the pedal 22 that extends outside the work platform 21. The limit block 23 is connected to the outer side of the work platform 21 via a tension spring 24. Since the pedal 22 is freely movable in the horizontal direction, for safety reasons, it is necessary to avoid excessive clearance between the pedal 22 and the utility pole, which could pose a safety hazard. By providing the tension spring 24 on the outside, the pedal 22 is constantly retracted inwards by the tension of the tension spring 24 during the raising and lowering of the climbing mechanism 10, so as to be as close to the outside of the utility pole as possible.

[0044] In some embodiments of the present invention, the work platform 21 includes a vertically mounted fence panel 211 and two limiting cleats 212 horizontally disposed at the bottom of the fence panel 211. The pedal 22 moves horizontally in opposite directions between the two limiting cleats 212. The limiting cleats 212 ensure the load-bearing capacity of the pedal 22, provide a temporary stepping area for the operator, and provide a fixed location for the winding mechanism 14.

[0045] In some embodiments of the present invention, the pedals 22 are each provided with a semicircular notch on the facing side thereof, wherein the diameter of the semicircular notch is larger than the maximum outer diameter of the utility pole. The provision of such notches allows the pedals 22 on either side of the utility pole to be as close as possible while ensuring that the pedals 22 do not interfere with the utility pole and hinder the raising and lowering of the lifting platform 20.

[0046] In some embodiments of the present invention, the winding mechanism 14 is a hoist, electric winch, or drum motor. The controller 30 controls the winding mechanism 14 to wind and release the rope to raise or lower the work platform 21. Using an electric winch as an example, the electric winch is secured to the work platform 21, and the upper end of the steel wire rope 15 is secured to the mounting portion of the climbing mechanism 10. The controller 30 controls the winch's rotation to tighten the steel wire rope 15, raising the work platform 21. The winch stops when it reaches the working position. When the winch reverses, the work platform 21 descends until it reaches the ground.

[0047] In this embodiment, a winch can also be used to simultaneously retract and release the steel ropes 15 on both sides to achieve synchronous lifting of both sides; two winches can also be used to lift the working platform 21 on their side respectively, and the working platforms 21 on both sides can work independently.

[0048] In some embodiments of the present invention, a limit sensor 31 is further included. The limit sensor 31 is installed on one side of the telescopic rod 13 and is used to detect the wheelbase of the two groups of the hub motors 12.

[0049] In some embodiments of the present invention, a manual control panel, a remote controller and a motor driver are further included. The manual control panel is fixed on the fence panel 211, the remote controller wirelessly communicates with the controller 30, and the manual control panel and the motor driver are electrically connected to the controller 30.

[0050] The controller 30 is mainly composed of a PLC. The PLC works automatically according to the workflow according to the instructions received from the control panel buttons or the remote control, so as to realize the automatic lifting of the working platform.

[0051] The climbing mechanism 10 is equipped with an ultrasonic distance sensor on top. This sensor measures the distance between the climbing mechanism and the pole top when the climbing mechanism approaches the line at the pole's top. When the distance is sufficiently close to meet the safety distance, the PLC automatically stops the climbing mechanism's ascent. The PLC also controls a proximity sensor between the climbing mechanism 10 and the lifting platform 20 to detect relative position, thereby controlling the operation of the winding mechanism 14 and ensuring safety limit protection for the entire mechanism.

[0052] The specific working principle of the present invention is as follows:

[0053] First, the climbing mechanism 10 is connected into a whole, and the hub motor 12 of the climbing mechanism 10 is started to climb up the utility pole. When the climbing mechanism 10 rises to the top of the pole or a specified height, the controller 30 automatically controls the telescopic rod 13 to lock, thereby achieving the positioning and fixing of the climbing mechanism 10.

[0054] Then the lifting platform 20 is assembled into a whole. Since the rope 15 is fixed to both sides of the climbing frame 11 of the climbing mechanism 10 in advance, it is only necessary to control the winding mechanism 14 to start, raise the working platform 21 to the working position and then stop, and the on-site construction personnel can start work.

[0055] After the work is completed, the winding mechanism 14 is controlled to reverse, unwinding the rope 15 and lowering the working platform 21 from the working position to the ground. The telescopic rod 13 is then controlled to adaptively extend to unlock the climbing mechanism 10. Simultaneously, under the action of gravity, the hub motor 12 automatically rolls down along the outer surface of the utility pole until the climbing mechanism 10 reaches the ground.

[0056] In the present invention, the power source is a common storage battery, which can be installed inside the climbing frame or work platform. The specific structure is not shown in the figure. The present invention has a simple structure, easy operation, practicality and reliability, and can be applied to climbing various poles, not limited to utility poles.

[0057] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which shall fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A pole-climbing robot with a liftable working platform, characterized in that: include: A climbing mechanism comprising a climbing frame and at least four wheel hub motors, wherein the wheel hub motors are symmetrically arranged in two groups on both sides of the bottom of the climbing frame, and the two groups of wheel hub motors are connected by a telescopic rod; A lifting platform is located below the climbing mechanism and includes two groups of symmetrically arranged working platforms and horizontally movable pedals. The working platforms are detachably fixedly connected to each other, and the pedals pass through the bottom of the working platforms. Winding mechanisms are fixed to the lower inner sides of the working platforms, and the winding mechanisms are connected to both sides of the climbing frame through ropes. A limit block is fixed to one end of the pedal extending outside the working platform, and the limit block is connected to the outer side of the working platform through a tension spring. a controller electrically connected to the wheel hub motors, the telescopic rods, and the winding mechanism, the controller controlling the two sets of wheel hub motors to rotate in opposite directions for climbing, and controlling the winding mechanism to wind and retract the rope to raise and lower the work platform; The climbing frame includes a bracket seat and two sets of rotatably connected wheel axle brackets. The motor shaft of the hub motor is rotatably fixed on the wheel axle bracket. The bracket seats are respectively fixed to the outer sides of the ends of the wheel axle brackets and are arranged parallel to the motor shaft of the hub motor. The rope is fixed in the middle of the bracket seat.

2. A pole-climbing robot with a liftable working platform as claimed in claim 1, characterized in that: Three hub motors are fixed on a single set of wheel axle brackets. The diameters of the hub motors at both ends are the same and larger than the diameter of the hub motor in the middle.

3. A pole-climbing robot with a liftable working platform as claimed in claim 1, characterized in that: The winding mechanism is a winch, an electric winch or a drum motor.

4. A pole-climbing robot with a liftable working platform according to any one of claims 1 to 3, characterized in that: The working platform includes a vertically installed fence plate and two limit clamps horizontally arranged at the bottom of the fence plate, and the pedal moves horizontally in opposite directions between the two limit clamps.

5. A pole-climbing robot with a liftable working platform as claimed in claim 4, characterized in that: Semicircular notches are provided on the adjacent sides of the pedals, and the diameter of the semicircular notches is larger than the maximum outer diameter of the electric pole.

6. A pole-climbing robot with a liftable working platform as claimed in claim 5, characterized in that: It also includes a limit sensor, which is installed on one side of the telescopic rod and is used to detect the wheelbase of the two groups of hub motors.

7. A pole-climbing robot with a liftable working platform as claimed in claim 6, characterized in that: It also includes a manual control panel, a remote controller and a motor driver. The manual control panel is fixed on the fence panel. The remote controller communicates wirelessly with the controller. The manual control panel and the motor driver are electrically connected to the controller.

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