A climbing robot for a power steel pipe tower

Abstract

The present invention provides a climbing robot for a power steel pipe tower, which includes a climbing main body and a robotic arm arranged on the climbing main body; the climbing main body includes a plurality of driving devices and a joint device connecting two adjacent driving devices; in the present invention, the joint device drives the adjacent driving devices to rotate over the obstacles on the outer surface of the power steel pipe tower, enabling the climbing robot to move upward smoothly and realizing obstacle-crossing climbing operation; the first motor of the driving device drives the wheel body unit to rotate, and the climbing robot is fixed on the power steel pipe tower through the annular electromagnet and the anti-slip sleeve of the wheel body unit, realizing the rapid vertical climbing of the climbing robot on the outer surface of the power steel pipe tower; the lower parts of the wheel body units of the two traveling components are close to each other, and the upper parts are far from each other, enabling the wheel body unit to better fit the curved outer surface of the power steel pipe tower and improving the adsorption force of the climbing robot.

Description

Technical Field

[0001] The present invention relates to the technical field of climbing robots, and specifically to a climbing robot for electric steel pipe towers. Background Art

[0002] At present, in the power field, it is often necessary to regularly inspect electric steel pipe towers. Maintenance personnel climb onto the electric steel pipe towers to check whether the porcelain gourds and cables are damaged and need to be replaced. Due to the high height of the electric steel pipe towers, climbing operations consume a large amount of physical strength and time of the maintenance personnel, and are also relatively dangerous. This problem urgently needs to be solved.

[0003] Publication No. CN108436964A discloses an electric tower climbing robot, belonging to the technical field of robots. It includes: a climbing main body, and leg frames and robotic arms respectively arranged on the climbing main body; the climbing main body includes a plurality of connecting rods and rotating joints, the rotating joints include a deflection mechanism, a pitching mechanism and a cross steering shaft, the vertical shaft of the cross steering shaft is connected to the deflection mechanism, the horizontal shaft of the cross steering shaft is connected to the pitching mechanism, and the deflection mechanism and the pitching mechanism are respectively installed on two adjacent connecting rods; the leg frame includes a head frame, a tail frame and a middle frame, the head frame and the tail frame are respectively connected to the connecting rods at the head and tail of the climbing main body, and the middle frame is arranged at the rotating joint and connected to the vertical shaft of the cross steering shaft. This electric tower climbing robot drives the climbing main body to walk on the electric tower through the leg frame, and all the climbing main bodies need to execute an action for each step, which will result in too slow climbing speed and more prone to component damage. Summary of the Invention

[0004] Aiming at the above-mentioned existing technical deficiencies, the purpose of the present invention is to provide a climbing robot for electric steel pipe towers to achieve rapid vertical obstacle-crossing climbing of electric steel pipe towers.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions:

[0006] A power steel pipe tower climbing robot includes a climbing main body and a robotic arm arranged on the climbing main body; the climbing main body includes a plurality of driving devices and joint devices connecting two adjacent driving devices; the driving device includes a driving bracket, a control box, and two traveling components symmetrically arranged on the driving bracket; the traveling component includes a rotating shaft, a wheel body unit, a first driven gear, a first motor, and a first driving gear; the rotating shaft is rotatably arranged on the driving bracket, the wheel body unit is fixed on the rotating shaft, and the axis of the wheel body unit coincides with the axis of the rotating shaft; the first motor is fixed on the driving bracket, the first driving gear is connected to the shaft of the first motor, the first driven gear is connected to the rotating shaft on the side close to the first motor, and the first driving gear and the first driven gear are in meshing transmission; the wheel body unit includes a hub, an annular electromagnet, and an anti-slip sleeve; the anti-slip sleeve is fixedly sleeved on the hub, an annular groove is arranged on the anti-slip sleeve, and the annular electromagnet is fixed in the annular groove; the joint device includes a first joint bracket, a second joint bracket, a shaft rod, a second driving gear, a second motor, and a second driven gear; the first joint bracket and the second joint bracket are respectively fixedly connected to the driving brackets of two adjacent driving devices; the shaft rod is rotatably arranged on the first joint bracket, and both ends of the shaft rod respectively pass through the first joint bracket and extend outwards; the second joint bracket is arranged outside the first joint bracket and is fixedly connected to the shaft rod; the second driven gear is fixed on the shaft rod; the second motor is fixed on the first joint bracket, the second driving gear is fixed on the shaft of the second motor and is in meshing transmission with the first driving gear; a vision sensor is fixed on the robotic arm; the robotic arm, the vision sensor, the first motor, the second motor, and the annular electromagnet are respectively electrically connected to the control box; the control boxes of a plurality of the driving devices are electrically connected to each other.

[0007] Preferably, the rotating shaft of the traveling component is obliquely arranged on the driving bracket; the lower parts of the wheel body units of the two traveling components are close to each other, and the upper parts are far from each other.

[0008] Preferably, at least four joint devices are configured.

[0009] Preferably, one end of the robotic arm is fixed on the driving bracket.

[0010] Preferably, a first receiving groove is arranged on the inner side surface of the first joint bracket, and a second receiving groove is arranged on the inner side surface of the second joint bracket; a connecting plate adapted to the first receiving groove and the second receiving groove is integrally arranged at the position where the driving bracket is connected to the joint device; the connecting plate is movably clamped in the first receiving groove and the second receiving groove; the first joint bracket and the second joint bracket are respectively fixedly connected to the driving bracket by bolts.

[0011] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0012] 1. In the present invention, the adjacent driving device is driven by the joint device to rotate over the obstacles on the outer surface of the electric power steel pipe tower, enabling the climbing robot to move upward smoothly and realizing the obstacle-crossing climbing operation.

[0013] 2. In the present invention, the first motor of the driving device drives the wheel body unit to rotate, and the climbing robot is fixed on the electric power steel pipe tower through the annular electromagnet and the anti-slip sleeve of the wheel body unit, realizing the rapid vertical climbing of the climbing robot on the outer surface of the electric power steel pipe tower.

[0014] 3. In the present invention, the lower parts of the wheel body units of the two traveling components are close to each other, and the upper parts are far from each other, enabling the wheel body units to better fit the arc-shaped outer surface of the electric power steel pipe tower and improving the adsorption force of the climbing robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic structural diagram of the present invention;

[0016] Figure 2 is a schematic structural diagram of the driving device in the present invention;

[0017] Figure 3 is a schematic structural diagram of the joint device of the driving device in the present invention.

[0018] Wherein:

[0019] 1. Visual sensor; 2. Manipulator; 3. Driving device; 31. Driving bracket; 32. First motor; 33. First driving gear; 34. Annular electromagnet; 35. Anti-slip sleeve; 36. First driven gear; 37. Hub; 38. Rotating shaft; 39. Control box; 4. Joint device; 41. First joint bracket; 42. Second driven gear; 43. Shaft rod; 44. Second driving gear; 45. Second motor; 46. Second joint bracket. DETAILED DESCRIPTION OF THE INVENTION

[0020] The present invention will be further described below with reference to the accompanying drawings.

[0021] As Figures 1 to 3As shown in the figure, a climbing robot for a power steel pipe tower includes a climbing main body and a robotic arm 2 arranged on the climbing main body; the climbing main body includes a plurality of driving devices 3 and a joint device 4 connecting two adjacent driving devices 3; the driving device 3 includes a driving bracket 31, a control box 39, and two traveling components symmetrically arranged on the driving bracket 31; the driving bracket 31 includes two side plates and a cross beam connecting the two side plates, and a support box is fixed on the cross beam, and the control box 39 is arranged inside the support box; the traveling component includes a rotating shaft 38, a wheel body unit, a first driven gear 36, a first motor 32, and a first driving gear 33; bearing seats are respectively arranged on the side plates and the support box of the driving bracket 31, and the rotating shaft 38 is rotatably arranged on the driving bracket 31 through the bearing seats, the wheel body unit is fixed on the rotating shaft 38, and the axis of the wheel body unit coincides with the axis of the rotating shaft 38, specifically, the wheel body unit rotates at a position between the side plate and the support box; the first motor 32 is fixed on the support box of the driving bracket 31, the first driving gear 33 is connected to the shaft of the first motor 32, the first driven gear 36 is connected to one side of the rotating shaft 38 close to the first motor 32, and the first driving gear 33 and the first driven gear 36 are meshed and driven, so as to drive the wheel body unit to rotate through the first motor 32; the wheel body unit includes a wheel hub 37, an annular electromagnet 34, and an anti-slip sleeve 35; the anti-slip sleeve 35 is fixedly sleeved on the wheel hub 37, an annular groove is arranged on the anti-slip sleeve 35, the annular electromagnet 34 is fixed in the annular groove, the anti-slip sleeve 35 is made of rubber material, and after the annular electromagnet 34 is embedded in the annular groove, the anti-slip sleeve 35 on both sides of the annular electromagnet 34 protrudes from the annular electromagnet 34, that is, the outer diameter of the annular electromagnet 34 is smaller than the outer diameter of the anti-slip sleeve 35 on both sides thereof. When the annular electromagnet 34 is energized, the wheel body unit is adsorbed on the power steel pipe tower, and the anti-slip sleeve 35 on both sides of the annular electromagnet 34 contacts the surface of the power steel pipe tower, and the driving device 3 stays on the power steel pipe tower through the friction between the anti-slip sleeve 35 and the power steel pipe tower; the joint device 4 includes a first joint bracket 41, a second joint bracket 46, a shaft rod 43, a second driving gear 44, a second motor 45, and a second driven gear 42; the first joint bracket 41 includes two relatively arranged inner plates and a connecting rod connecting the two inner plates; the second joint bracket 46 includes two relatively arranged outer plates; the first joint bracket 41 and the second joint bracket 46 are respectively fixedly connected to the driving brackets 31 of two adjacent driving devices 3, that is, the inner plates of the first joint bracket 41 are fixedly connected to the side plates of the previous driving device 3, and the outer plates of the second joint bracket 46 are fixedly connected to the side plates of the subsequent driving device 3; bearings are respectively arranged on the two inner plates of the first joint bracket 41, the shaft rod 43 is rotatably arranged on the two inner plates of the first joint bracket 41 through the bearings, and both ends of the shaft rod 43 respectively pass through the two inner plates of the first joint bracket 41 and extend outwards;The second joint bracket 46 is arranged on the outer side of the first joint bracket 41 and fixedly connected to the shaft rod 43. That is, the two outer plates of the second joint bracket 46 are respectively arranged on the outer sides of the two inner plates of the first joint bracket 41; the second driven gear 42 is fixed on the shaft rod 43; the second motor 45 is fixed on the first joint bracket 41, and the second driving gear 44 is fixed on the shaft of the second motor 45 and meshes with the first driving gear 33 for transmission. The second motor 45 drives the second driving gear 44 to rotate. Through the meshing transmission of the second driving gear 44 and the second driven gear 42, the shaft rod 43 is driven to rotate. Furthermore, the two outer plates are driven by the shaft rod 43 to rotate around the axis of the shaft rod 43, so as to generate a certain included angle between the driving devices 3 on both sides of the joint device 4, which is used to cross obstacles such as flange plates on the electric steel pipe tower; a vision sensor 1 is fixed on the robotic arm 2, which is used to identify obstacles, porcelain hoists, cables, etc.; the robotic arm 2, the vision sensor 1, the first motor 32, the second motor 45, and the annular electromagnet 34 are respectively electrically connected to the control box 39; the control boxes 39 of multiple driving devices 3 are electrically connected to each other; the control box 39 is configured with a wireless communication module, which is used for wireless transmission of data and remote control with ground personnel.

[0022] Further, the rotating shaft 38 of the traveling assembly is obliquely arranged on the driving bracket 31; the lower parts of the wheel body units of the two traveling assemblies are close to each other, and the upper parts are far from each other; the outer surface of the electric steel pipe tower has a certain curvature, and the annular electromagnet 34 and the anti-slip sleeve 35 of the wheel body unit fit better with the outer surface of the electric steel pipe tower.

[0023] Further, at least four joint devices 4 are configured, and correspondingly at least five driving devices 3 are configured, which is the minimum number for realizing the obstacle crossing function.

[0024] Further, one end of the robotic arm 2 is fixed on the driving bracket 31, and ground personnel remotely control the robotic arm 2 to perform simple actions, such as pushing the porcelain hoist, cable, etc. to check if there is looseness.

[0025] Further, a first receiving groove is arranged on the inner side surface of the first joint bracket 41, and a second receiving groove is arranged on the inner side surface of the second joint bracket 46; a connecting plate adapted to the first receiving groove and the second receiving groove is integrally arranged at the position where the driving bracket 31 is connected to the joint device 4; the connecting plate is movably clamped in the first receiving groove and the second receiving groove; the first joint bracket 41 and the second joint bracket 46 are respectively fixedly connected to the driving bracket 31 through bolts.

[0026] During use, after the ring electromagnet 34 is energized, it generates magnetism and adsorbs on the outer surface of the electric power steel pipe tower. The frictional force between the anti-slip sleeve 35 and the electric power steel pipe tower prevents the climbing robot from sliding down the electric power steel pipe tower. The first motor 32 drives the wheel unit to rotate, enabling the climbing robot to walk upward along the outer surface of the electric power steel pipe tower. The visual sensor 1 is used to observe the condition of the traveling route in real time. When obstacles such as flange plates appear on the traveling route, when the climbing robot reaches the flange plate position, the ring electromagnet 34 of the first driving device 3 is powered off, and the first joint device 4 drives the first driving device 3 to rotate, causing the first driving device 3 to move away from the electric power steel pipe tower. The climbing robot continues to walk to a position where the first joint device 4 is close to the flange plate. The ring electromagnet 34 of the second driving device 3 is powered off, and the second joint device 4 drives the second driving device 3 to rotate, causing the second driving device 3 to move away from the electric power steel pipe tower. Move in this way until the third joint device 4 is close to the flange plate. At this time, the first joint device 4 drives the first driving device 3 to rotate, and the second joint device 4 drives the second driving device 3 to rotate, causing the wheel unit of the first driving device 3 to contact the electric power steel pipe tower and activate the corresponding ring electromagnet 34, enabling the first driving device 3 to adsorb on the electric power steel pipe tower. Then, in the above-mentioned manner, the second driving device 3, the third driving device 3, the fourth driving device 3, and the fifth driving device 3 pass through the flange plate in sequence to complete obstacle crossing and continue climbing.

Claims

1. A climbing robot for a power steel pipe tower, characterized in that, it includes a climbing main body and a robotic arm (2) arranged on the climbing main body; the climbing main body includes a plurality of driving devices (3) and a joint device (4) connecting two adjacent driving devices (3); the driving device (3) includes a driving bracket (31), a control box (39) and two traveling components symmetrically arranged on the driving bracket (31); the traveling component includes a rotating shaft (38), a wheel body unit, a first driven gear (36), a first motor (32), and a first driving gear (33); the rotating shaft (38) is rotatably arranged on the driving bracket (31), the wheel body unit is fixed on the rotating shaft (38), and the axis of the wheel body unit coincides with the axis of the rotating shaft (38); the first motor (32) is fixed on the driving bracket (31), the first driving gear (33) is connected to the shaft of the first motor (32), the first driven gear (36) is connected to the rotating shaft (38) on the side close to the first motor (32), and the first driving gear (33) and the first driven gear (36) are engaged for transmission; the wheel body unit includes a hub (37), an annular electromagnet (34), and an anti-slip sleeve (35); the anti-slip sleeve (35) is fixedly sleeved on the hub (37), an annular groove is arranged on the anti-slip sleeve (35), and the annular electromagnet (34) is fixed in the annular groove; the joint device (4) includes a first joint bracket (41), a second joint bracket (46), a shaft rod (43), a second driving gear (44), a second motor (45), and a second driven gear (42); the first joint bracket (41) and the second joint bracket (46) are respectively fixedly connected to the driving brackets (31) of two adjacent driving devices (3); the shaft rod (43) is rotatably arranged on the first joint bracket (41), and both ends of the shaft rod (43) pass through the first joint bracket (41) and extend outwards; the second joint bracket (46) is arranged outside the first joint bracket (41) and is fixedly connected to the shaft rod (43); the second driven gear (42) is fixed on the shaft rod (43); the second motor (45) is fixed on the first joint bracket (41), the second driving gear (44) is fixed on the shaft of the second motor (45) and is engaged with the first driving gear (33) for transmission; a vision sensor (1) is fixed on the robotic arm (2); the robotic arm (2), the vision sensor (1), the first motor (32), the second motor (45), and the annular electromagnet (34) are respectively electrically connected to the control box (39); the control boxes (39) of the plurality of driving devices (3) are electrically connected to each other.

2. The climbing robot for a power steel pipe tower according to claim 1, characterized in that, the rotating shaft (38) of the traveling component is obliquely arranged on the driving bracket (31); the lower parts of the wheel body units of the two traveling components are close to each other, and the upper parts are far from each other.

3. The climbing robot for a power steel pipe tower according to claim 1, characterized in that, the joint device (4) is configured with at least four.

4. A climbing robot for a power steel pipe tower according to any one of claims 1 to 3, characterized in that, one end of the robotic arm (2) is fixed to the driving bracket (31).

5. A climbing robot for a power steel pipe tower according to claim 1, characterized in that, a first receiving groove is provided on the inner side of the first joint bracket (41), and a second receiving groove is provided on the inner side of the second joint bracket (46); a connecting plate adapted to the first receiving groove and the second receiving groove is integrally provided at the position where the joint device (4) is connected to the driving bracket (31); the connecting plate is movably clamped in the first receiving groove and the second receiving groove; the first joint bracket (41) and the second joint bracket (46) are respectively fixedly connected to the driving bracket (31) by bolts.

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