Pole-climbing robot

Abstract

A pole-climbing robot belongs to the technical field of power system robots. It includes an upper clamping mechanism, a lower clamping mechanism, and a telescopic device. The upper clamping mechanism and the lower clamping mechanism are connected by the telescopic device. Both the upper clamping mechanism and the lower clamping mechanism are provided with telescopic mechanisms. When the push rod of the cylinder expands and contracts, it drives the piston to move up or down in the sealed cylinder, so as to discharge the fluid in the upper sealed cavity into the telescopic mechanism of the upper clamping mechanism or discharge the fluid in the lower sealed cavity into the telescopic mechanism of the lower clamping mechanism, thereby realizing the opening and closing of the upper clamping mechanism or the lower clamping mechanism. The present invention realizes the pole-climbing action through the mutual cooperation of the upper clamping mechanism, the lower clamping mechanism, and the telescopic device, replacing manual pole-climbing and improving safety; by using the cylinder to adjust the distance between the upper clamping mechanism and the lower clamping mechanism and using the cylinder to realize the opening and closing of the upper clamping mechanism and the lower clamping mechanism, that is, only one power source is used to realize the pole-climbing action, saving the cost of the pole-climbing robot.

Description

Technical Field

[0001] The invention belongs to the technical field of power system robots, and particularly relates to a pole-climbing robot. Background Art

[0002] In distribution network work, in order to maintain the cables at the upper end of the utility pole, electricians need to climb the utility pole with the help of pole-climbing tools. The existing method is that the electrician fixes the pole-climbing tools on both feet, and then holds the utility pole with both hands. With the help of the pushing force of both feet and the supporting force of both hands, the electrician slowly climbs on the utility pole. This kind of pole-climbing method is time-consuming and laborious, and has low safety.

[0003] The existing pole-climbing robot consists of two clamping mechanisms and a telescopic mechanism. The telescopic mechanism is connected between the two clamping mechanisms. The opening and closing actions of the two clamping mechanisms and the telescopic action of the telescopic mechanism are respectively driven by separate driving motors. The climbing action of the pole-climbing robot is realized by respectively controlling the motor of the telescopic mechanism and alternately controlling the motors of the two clamping mechanisms. The production cost of this pole-climbing robot is relatively high. Summary of the Invention

[0004] In view of this, the invention provides a pole-climbing robot that can achieve the pole-climbing action by using one power source, saving the production cost of the pole-climbing robot.

[0005] The technical solution adopted by the invention to solve its technical problems is as follows:

[0006] A pole-climbing robot includes an upper clamping mechanism, a lower clamping mechanism and a telescopic device. The upper clamping mechanism and the lower clamping mechanism are connected by the telescopic device, and the relative distance between the upper clamping mechanism and the lower clamping mechanism is adjusted by the telescopic device; both the upper clamping mechanism and the lower clamping mechanism are provided with telescopic mechanisms. After the telescopic mechanisms are filled with fluid, they elongate, and after the fluid is discharged, they contract. The opening and closing of the upper clamping mechanism or the lower clamping mechanism are controlled by controlling the telescopic degree of the telescopic mechanisms; the telescopic device includes a sealing cylinder, a cylinder and a piston. The sealing cylinder is fixedly arranged at the bottom of the upper clamping mechanism. The piston is arranged in the sealing cylinder. The upper end of the piston is fixedly connected with the push rod of the cylinder, and the lower end of the piston is fixedly connected with the lower clamping mechanism through a sliding rod. The piston divides the inner cavity of the sealing cylinder into an upper sealing cavity and a lower sealing cavity. The upper sealing cavity and the lower sealing cavity are respectively connected with the telescopic mechanisms of the upper clamping mechanism and the lower clamping mechanism through air pipes. The telescopic movement of the cylinder push rod drives the piston to move up and down in the sealing cylinder, so as to discharge the fluid in the upper sealing cavity into the telescopic mechanism of the upper clamping mechanism or discharge the fluid in the lower sealing cavity into the telescopic mechanism of the lower clamping mechanism.

[0007] Preferably, the upper clamping mechanism and the lower clamping mechanism have the same structure, and both include the telescopic mechanism, the clamping arms and the support plate. The clamping arms are symmetrically arranged on the support plate, and a telescopic mechanism is connected between the clamping arms. The opening and closing of the upper clamping mechanism or the lower clamping mechanism are controlled by controlling the telescopic degree of the telescopic mechanism.

[0008] Preferably, the telescopic mechanism includes a rotating shaft, a connecting member and a telescopic member. Connecting members are provided at both ends of the telescopic member, and the connecting members are pivotally connected to the rotating shaft. An activity groove is provided at the connecting end of the clamping arm, and the rotating shaft is pivotally connected to the activity groove. After the telescopic member is filled with fluid, it is stretched to squeeze the connecting ends of the two clamping arms, so that the connecting ends of the two clamping arms rotate towards each other around the rotating shaft, thereby driving the free ends of the clamping arms to approach each other.

[0009] Preferably, the telescopic device further includes a spring. One end of the spring is connected to the piston, and the other end of the spring is connected to the sealed cylinder.

[0010] Preferably, the free ends of the clamping arms are arc-shaped.

[0011] Preferably, an elastic layer is provided on the inner side of the clamping arm, and concave and convex patterns are processed on the surface of the elastic layer.

[0012] Preferably, the telescopic member is any one of a sealed airbag or a hydraulic cylinder.

[0013] As can be seen from the above technical solutions, the present invention provides a pole-climbing robot. Compared with the prior art, its beneficial effects are as follows: it includes an upper clamping mechanism, a lower clamping mechanism and a telescopic device. The upper clamping mechanism and the lower clamping mechanism are connected by the telescopic device. Both the upper clamping mechanism and the lower clamping mechanism are provided with a telescopic mechanism. When the push rod of the air cylinder expands and contracts, it drives the piston to move up or down in the sealed cylinder, so as to discharge the fluid in the upper sealed cavity into the telescopic mechanism of the upper clamping mechanism or discharge the fluid in the lower sealed cavity into the telescopic mechanism of the lower clamping mechanism, thereby realizing the opening and closing of the upper clamping mechanism or the lower clamping mechanism. At the same time, the relative distance between the upper clamping mechanism and the lower clamping mechanism is adjusted by the telescopic movement of the air cylinder push rod, and the clamping mechanism and the lower clamping mechanism alternately climb; through the mutual cooperation of the upper clamping mechanism, the lower clamping mechanism and the telescopic device, the present invention realizes the pole-climbing action, replaces manual pole-climbing, and improves safety; in addition, by using the air cylinder to adjust the distance between the upper clamping mechanism and the lower clamping mechanism, and using the air cylinder to realize the opening and closing of the upper clamping mechanism and the lower clamping mechanism, that is, only one power source is used to realize the pole-climbing action, saving the cost of the pole-climbing robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a schematic structural diagram of the pole-climbing robot.

[0015] Figure 2 is a schematic structural diagram of the upper clamping mechanism.

[0016] Figure 3 It is a working state diagram of a pole-climbing robot.

[0017] In the figure: pole-climbing robot 100, upper clamping mechanism 10, telescopic mechanism 11, rotating shaft 111, connecting piece 112, telescopic member 113, clamping arm 12, movable groove 121, support plate 13, lower clamping mechanism 20, telescopic device 30, sealing cylinder 31, air pipe 311, air cylinder 32, push rod 321, piston 33, sliding rod 34, spring 35, utility pole 200. Specific implementation manner

[0018] The technical solutions and technical effects of the embodiments of the present invention will be further elaborated in detail below in conjunction with the drawings of the present invention.

[0019] Please refer to Figures 1 to 3 , the present invention provides a pole-climbing robot 100, including an upper clamping mechanism 10, a lower clamping mechanism 20 and a telescopic device 30. The upper clamping mechanism 10 and the lower clamping mechanism 20 are connected by the telescopic device 30, and the relative distance between the upper clamping mechanism 10 and the lower clamping mechanism 20 is adjusted by the telescopic device 30; both the upper clamping mechanism 10 and the lower clamping mechanism 20 are provided with a telescopic mechanism 11. After the telescopic mechanism 11 is filled with fluid, it elongates, and after the fluid is discharged, it contracts. The opening and closing of the upper clamping mechanism 10 or the lower clamping mechanism 20 are controlled by controlling the telescopic degree of the telescopic mechanism 11; the telescopic device 30 includes a sealing cylinder 31, an air cylinder 32 and a piston 33. The sealing cylinder 31 is fixedly arranged at the bottom of the upper clamping mechanism 10. The piston 33 is arranged in the sealing cylinder 31. The upper end of the piston 33 is fixedly connected to the push rod 321 of the air cylinder 32, and the lower end of the piston 33 is fixedly connected to the lower clamping mechanism 20 through a sliding rod 34. The piston 33 divides the inner cavity of the sealing cylinder 31 into an upper sealing cavity and a lower sealing cavity. The upper sealing cavity and the lower sealing cavity are respectively connected to the telescopic mechanisms 11 of the upper clamping mechanism 10 and the lower clamping mechanism 20 through air pipes 311. The telescopic movement of the push rod 321 of the air cylinder 32 is used to drive the piston 33 to move up and down in the sealing cylinder 31, so as to discharge the fluid in the upper sealing cavity into the telescopic mechanism 11 of the upper clamping mechanism 10 or discharge the fluid in the lower sealing cavity into the telescopic mechanism 11 of the lower clamping mechanism 20.

[0020] In this embodiment, the upper clamping mechanism 10 and the lower clamping mechanism 20 have the same structure, both including the telescopic mechanism 11, the clamping arms 12 and the support plate 13. The clamping arms 12 are symmetrically arranged on the support plate 13, and a telescopic mechanism 11 is connected between the clamping arms 12. After the telescopic mechanism 11 is filled with fluid, it elongates, and after discharging the fluid, it contracts. By controlling the degree of expansion and contraction of the telescopic mechanism 11, the opening and closing of the upper clamping mechanism 10 or the lower clamping mechanism 20 are controlled. The sealing cylinder 31 is fixedly connected to the support plate 13 of the upper clamping mechanism 10 through a connecting plate, and the fixed end of the cylinder 32 is fixedly connected to the bottom of the support plate 13 of the upper clamping mechanism 10; the telescopic mechanism 11 includes a rotating shaft 111, a connecting member 112 and a telescopic member 113. Connecting members 112 are provided at both ends of the telescopic member 113, and the connecting members 112 are pivotally connected to the rotating shaft 111. An activity groove 121 is provided at the connecting end of the clamping arm 12, and the rotating shaft 111 is pivotally connected to the activity groove 121. After the telescopic member 113 is filled with fluid, it is stretched to squeeze the connecting ends of the two clamping arms 12, so that the connecting ends of the two clamping arms 12 rotate towards each other around the rotating shaft 111, thereby driving the free ends of the clamping arms 12 to approach each other and tightly hold the electric pole 200; after the telescopic member 113 discharges the fluid, it contracts and its length decreases. At this time, since the telescopic member 113 no longer squeezes the connecting ends of the clamping arms 12, the connecting ends of the clamping arms 12 rotate towards each other around the rotating shaft 111 and return to their original positions, and the clamping arms 12 release the electric pole.

[0021] Further, the telescopic device 30 further includes a spring 35. One end of the spring 35 is connected to the piston 33, and the other end of the spring 35 is connected to the sealing cylinder 31.

[0022] Further, the free ends of the clamping arms 12 are arc-shaped to increase the contact area between the clamping arms 12 and the electric pole 200.

[0023] Further, an elastic layer is provided on the inner side of the clamping arm 12, and concave and convex patterns are processed on the surface of the elastic layer to increase the friction between the clamping arm 12 and the side wall of the electric pole 200, thereby enhancing the clamping force.

[0024] Further, the telescopic member 113 is any one of a sealed airbag or a hydraulic cylinder.

[0025] The working process of the pole climbing robot 100 is as follows:

[0026] In the initial state, both the upper clamping mechanism 10 and the lower clamping mechanism 20 tightly hold the electric pole 200. In the initial state, the clamping force just ensures that the pole climbing robot 100 is in a "floating" state relative to the electric pole 200.

[0027] Start the cylinder 32. The push rod 321 of the cylinder 32 extends. The push rod 321 of the cylinder 32 will push the piston 33 in the sealing cylinder 31 to move downward. The volume of the upper sealing chamber increases. The telescopic mechanism 11 of the upper clamping mechanism 10 contracts and no longer squeezes the connecting end of the clamping arm 12, causing the connecting end of the clamping arm 12 to rotate back to its original position around the rotating shaft 111. The clamping arm 12 releases the electric pole 200. At the same time, the volume of the lower sealing chamber decreases. The telescopic mechanism 11 of the lower clamping mechanism 30 is stretched due to the influx of fluid. When the telescopic mechanism 11 extends, it will continuously squeeze the clamping arm 12 of the lower clamping mechanism 30, causing the connecting end of the clamping arm 12 to rotate around the rotating shaft 111, and at the same time, the free ends of the clamping arms 12 approach each other to make the lower clamping mechanism 20 clamp the electric pole 200 tightly. At the same time, the cylinder 32 pushes the upper clamping mechanism 10 to rise relative to the lower clamping mechanism 20; the cylinder releases pressure and contracts, and the piston 33 moves upward. The volume of the upper sealing chamber decreases. The telescopic mechanism 11 of the upper clamping mechanism 10 is stretched due to the influx of fluid. When the telescopic mechanism 11 extends, it will continuously squeeze the clamping arm 12 of the upper clamping mechanism 10, causing the connecting end of the clamping arm 12 to rotate around the rotating shaft 111, and at the same time, the free ends of the clamping arms 12 approach each other to make the upper clamping mechanism 10 clamp the electric pole 200 tightly. At the same time, the volume of the lower sealing chamber increases. The telescopic mechanism 11 of the lower clamping mechanism 20 contracts and no longer squeezes the connecting end of the clamping arm 12, causing the connecting end of the clamping arm 12 to rotate back to its original position around the rotating shaft 111. The clamping arm 12 of the lower clamping mechanism 20 releases the electric pole. At the same time, the cylinder 32 drives the lower clamping mechanism 20 to rise relative to the upper clamping mechanism 10. Repeat the above actions multiple times to complete the work of climbing the entire electric pole 200.

[0028] Through the mutual cooperation of the upper clamping mechanism 10, the lower clamping mechanism 20 and the telescopic device 30, the present invention realizes the pole climbing action, replaces manual pole climbing, avoids short-distance contact between humans and live equipment, and improves the safety of operation; in addition, by using the cylinder 32 to adjust the distance between the upper clamping mechanism 10 and the lower clamping mechanism 20, and using the cylinder 32 to realize the opening and closing of the upper clamping mechanism 10 and the lower clamping mechanism 20, that is, only one power source can be used to realize the pole climbing action, saving the cost of the pole climbing robot.

[0029] In another embodiment, another set of air pipes is added. The lower sealing cavity is connected to the inner cavity of the telescopic mechanism 11 located in the upper clamping mechanism 10 through an air pipe, and the upper sealing cavity is connected to the inner cavity of the telescopic mechanism 11 of the lower clamping mechanism 20 through an air pipe. The two sets of air pipes are switched and used by a solenoid valve to realize the descent of the electric pole inspection robot.

[0030] In another embodiment, two exchange holes are provided on the piston 33, and a one-way valve is installed on each exchange hole. The two exchange holes correspond to the one-way valves with opposite flow directions. The one-way valve can be opened only when the pressures on both sides of the piston 33 are unequal. Specifically, the one-way valve is an elastic cover plate, one side of the elastic cover plate is connected to the piston 33, and the other side of the elastic cover plate is not connected to the piston 33. For the same exchange hole, when the pressure on the side where the elastic cover plate is installed is less than the pressure on the side where the elastic cover plate is not installed, the exchange hole is connected; when the pressure on the side where the elastic cover plate is installed is greater than or equal to the pressure on the side where the elastic cover plate is not installed, the exchange hole is connected.

[0031] What is disclosed above is only a preferred embodiment of the present invention, which certainly cannot be used to limit the scope of rights of the present invention. A person skilled in the art can understand that all or part of the processes of the above embodiments and equivalent changes made according to the claims of the present invention still fall within the scope of the invention.

Claims

1. A pole-climbing robot, characterized in that: It includes an upper clamping mechanism, a lower clamping mechanism and a telescopic device. The upper clamping mechanism and the lower clamping mechanism are connected by the telescopic device, and the relative distance between the upper clamping mechanism and the lower clamping mechanism is adjusted by the telescopic device. Both the upper clamping mechanism and the lower clamping mechanism are provided with a telescopic mechanism. After the telescopic mechanism is filled with fluid, it elongates, and after the fluid is discharged, it contracts. The opening and closing of the upper clamping mechanism or the lower clamping mechanism are controlled by controlling the telescopic degree of the telescopic mechanism. The telescopic device includes a sealing cylinder, a cylinder and a piston. The sealing cylinder is fixedly arranged at the bottom of the upper clamping mechanism. The piston is arranged in the sealing cylinder. The upper end of the piston is fixedly connected to the push rod of the cylinder, and the lower end of the piston is fixedly connected to the lower clamping mechanism through a slide rod. The piston divides the inner cavity of the sealing cylinder into an upper sealing cavity and a lower sealing cavity. The upper sealing cavity and the lower sealing cavity are respectively connected to the telescopic mechanisms of the upper clamping mechanism and the lower clamping mechanism through air pipes. The telescopic movement of the cylinder push rod drives the piston to move up and down in the sealing cylinder, so as to discharge the fluid in the upper sealing cavity into the telescopic mechanism of the upper clamping mechanism or discharge the fluid in the lower sealing cavity into the telescopic mechanism of the lower clamping mechanism. The upper clamping mechanism and the lower clamping mechanism have the same structure, and both include the telescopic mechanism, clamping arms and a support plate. The clamping arms are symmetrically arranged on the support plate, and a telescopic mechanism is connected between the clamping arms. The opening and closing of the upper clamping mechanism or the lower clamping mechanism are controlled by controlling the telescopic degree of the telescopic mechanism.

2. The pole-climbing robot according to claim 1, characterized in that: The upper clamping mechanism and the lower clamping mechanism have the same structure, and both include the telescopic mechanism, clamping arms and a support plate. The clamping arms are symmetrically arranged on the support plate, and a telescopic mechanism is connected between the clamping arms. The opening and closing of the upper clamping mechanism or the lower clamping mechanism are controlled by controlling the telescopic degree of the telescopic mechanism.

3. The pole-climbing robot according to claim 2, characterized in that: The telescopic mechanism includes a rotating shaft, a connecting piece and a telescopic member. Connecting pieces are provided at both ends of the telescopic member. The connecting pieces are pivotally connected to the rotating shaft. An activity groove is provided at the connecting end of the clamping arm. The rotating shaft is pivotally connected to the activity groove. After the telescopic member is filled with fluid, it is stretched to squeeze the connecting ends of the two clamping arms, so that the connecting ends of the two clamping arms rotate towards each other around the rotating shaft, thereby driving the free ends of the clamping arms to approach each other.

4. The pole-climbing robot according to claim 1, characterized in that: The telescopic device further includes a spring. One end of the spring is connected to the piston, and the other end of the spring is connected to the sealing cylinder.

5. The pole-climbing robot according to claim 2, characterized in that: The free ends of the clamping arms are arc-shaped.

6. The pole-climbing robot according to claim 2, characterized in that: An elastic layer is provided on the inner side of the clamping arm, and uneven patterns are processed on the surface of the elastic layer.

7. The pole-climbing robot according to claim 3, characterized in that: The telescopic member is any one of a sealed airbag or a hydraulic cylinder.

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