A high-voltage transmission tower climbing robot and control method

Abstract

The present invention relates to a high-voltage transmission tower climbing robot and a control method. A high-voltage transmission tower climbing robot includes a frame, a first climbing mechanism, a second climbing mechanism and a controller. The first climbing mechanism includes a first adsorption module and a first claw module. When the first adsorption module adsorbs to the tower wall, the first claw module grabs the iron nail on the tower wall. The second climbing mechanism includes a second adsorption module and a second claw module. When the second adsorption module adsorbs to the tower wall, the second claw module grabs the iron nail on the tower wall. The controller is arranged on the frame, and the controller is electrically connected to the first climbing mechanism and the second climbing mechanism respectively, so that the first climbing mechanism and the second climbing mechanism alternately and stably and efficiently crawl on the high-voltage transmission tower relative to the frame.

Description

Technical Field

[0001] The present invention relates to the technical field of robots for climbing high-voltage transmission towers, and particularly relates to a high-voltage transmission tower climbing robot and a control method therefor. Background Art

[0002] In the prior art, high-voltage transmission towers are generally built manually. With the increasing demand for the construction of high-voltage transmission towers at home and abroad, the demand for construction and inspection is also increasing day by day. However, the harsh working environment and high labor intensity have become an obstacle in the construction and inspection processes, which also leads to the problems of high danger and low efficiency in manually building and inspecting high-voltage transmission towers. Therefore, the automated construction and maintenance of high-voltage transmission towers will become the future development trend. Due to the complex structure of high-voltage transmission towers, existing construction and inspection robots generally have technical problems of poor reliability or low efficiency. Therefore, it is necessary to design a robot that can replace humans to complete the construction and inspection of high-voltage transmission towers and solve the technical problems of poor reliability and low efficiency in building and inspecting high-voltage transmission towers. Summary of the Invention

[0003] The first object of the present invention is to provide a high-voltage transmission tower climbing robot, aiming to solve the technical problems of poor reliability and low efficiency in building and inspecting high-voltage transmission towers.

[0004] To solve the above technical problems, a high-voltage transmission tower climbing robot is provided, which includes a frame, a first climbing mechanism, a second climbing mechanism and a controller; the first climbing mechanism includes a first driving module, a first adsorption module and a first claw module. The first driving module is slidably connected to one side of the frame. The first adsorption module is connected to one end of the first driving module. The first claw module is connected to the same end of the first driving module near the first adsorption module. When the first adsorption module adsorbs to the tower wall, the first claw module grabs the iron nail on the tower wall.

[0005] The second climbing mechanism includes a second driving module, a second adsorption module and a second claw module. The second driving module is slidably connected to the other side of the frame relative to the first driving module. The second adsorption module is connected to one end of the second driving module. The second claw module is connected to the same end of the second driving module near the second adsorption module. When the second adsorption module adsorbs to the tower wall, the second claw module grabs the iron nail on the tower wall.

[0006] The controller is arranged on the frame, and the controller is electrically connected to the first climbing mechanism and the second climbing mechanism respectively, so that the first climbing mechanism and the second climbing mechanism alternately gait-crawl on the high-voltage transmission tower relative to the frame.

[0007] Furthermore, the first gripper module includes a first support base, a first gripper member, and a first torsion spring. The first support base is connected to the end of the first driving module. The first gripper member is rotatably connected to the first support base. The first torsion spring is connected between the first support base and the first gripper member, so that the first gripper member rotates relative to the first support base to avoid colliding with a nail on the tower wall.

[0008] The second gripper module includes a second support base, a second gripper member and a second torsion spring. The second support base is connected to the end of the second driving module. The second gripper member is rotatably connected to the second support base. The second torsion spring is connected between the second support base and the second gripper member so that the second gripper member can rotate relative to the second support base to avoid colliding with the iron nails on the tower wall.

[0009] Furthermore, the first gripper module further includes a first electric lock, the first electric lock including a first lock body and a first telescopic rod, the first lock body being fixed to the first support base, the first telescopic rod being slidably connected to the first lock body and being inserted into or pulled out of the first support base to lock or unlock the rotation of the first gripper relative to the first support base;

[0010] The second gripper module also includes a second electric lock, which includes a second lock body and a second telescopic rod. The second lock body is fixed to the second support base, and the second telescopic rod is slidably connected to the second lock body and inserted into or pulled out of the second support base to lock or unlock the rotation of the second gripper relative to the second support base.

[0011] Furthermore, the first gripping claw is formed with a first guide surface and a first clamping groove, the first guide surface is arranged to be inclined away from the first support seat, and the first clamping groove is connected to the first guide surface, so that the iron nail on the tower wall enters the first clamping groove along the first guide surface;

[0012] The second gripping claw is formed with a second guide surface and a second slot. The second guide surface is tilted away from the second support seat. The second slot is connected to the second guide surface so that the nails on the tower wall enter the second slot along the second guide surface.

[0013] Furthermore, the first adsorption module includes a first connecting member, a first adsorption member, and a first telescopic spring, wherein the first connecting member is connected to the end of the first driving module, the first adsorption member is movably connected to the first connecting member, and the first telescopic spring is connected between the first connecting member and the first adsorption member;

[0014] The second adsorption module includes a second connecting member, a second adsorbent, and a second telescopic spring. The second connecting member is connected to the end of the second driving module. The second adsorbent is movably connected to the second connecting member. The second telescopic spring is connected between the second connecting member and the second adsorbent.

[0015] Further, the first driving module includes a first driving module, a first lead screw, a first sliding block, and a first connecting rod. The first driving module is fixed to one side of the frame. The first lead screw is driven by the first driving module. The first sliding block is in transmission connection with the first lead screw and slides on the frame. The first connecting rod is connected to the first sliding block. The end of the first connecting rod is connected with the first adsorption module and the first gripper module.

[0016] The second driving module includes a second driving module, a second lead screw, a second sliding block, and a second connecting rod. The second driving module is fixed to the other side of the frame. The second lead screw is driven by the second driving module. The second sliding block is in transmission connection with the second lead screw and slides on the frame. The second connecting rod is connected to the second sliding block. The end of the second connecting rod is connected with the second adsorption module and the second gripper module.

[0017] Further, the high-voltage transmission tower climbing robot further includes a limiting module. The limiting module includes a connecting frame and a roller. One end of the connecting frame is connected to the frame. The other end of the connecting frame is connected with the roller. The roller abuts against the tower wall, so that the distance between the frame and the tower wall is constant.

[0018] Further, the high-voltage transmission tower climbing robot further includes a first detection module. The first detection module includes a first sensor and a first shielding piece. At least two first sensors are respectively fixed at both ends of one side of the frame. The first shielding piece is fixed to the first sliding block. The first shielding piece is used to block the first sensor to determine the moving distance of the first driving module relative to the frame.

[0019] The high-voltage transmission tower climbing robot further includes a second detection module. The second detection module includes a second sensor and a second shielding piece. At least two second sensors are respectively fixed at both ends of the other side of the frame. The second shielding piece is fixed to the second sliding block. The second shielding piece is used to block the second sensor to determine the moving distance of the second driving module relative to the frame.

[0020] The second object of the present invention is to provide a control method, aiming to solve the problem of controlling the gait crawling of the high-voltage transmission tower climbing robot.

[0021] To solve the above technical problems, a control method is provided. According to the above-mentioned high-voltage transmission tower climbing robot, it includes a gait control method for climbing upward: after the controller controls the first adsorbent and the second adsorbent to be energized to adsorb the high-voltage transmission tower climbing robot to the tower wall, the controller controls the first adsorbent to be de-energized and controls the first drive module to push the first connecting rod upward by a step distance. The first sensor collects the first in-place signal and feeds it back to the controller. The controller controls the first adsorbent to be energized and the second adsorbent to be de-energized according to the first in-place signal. Then, after controlling the first drive module and the second drive module to push the frame upward by a step distance, the first drive module stops driving, and the second drive module continues to push the second connecting rod upward by a step distance. The second sensor collects the second in-place signal and feeds it back to the controller. The controller controls the first adsorbent to be de-energized and the second adsorbent to be energized according to the second in-place signal. Then, after controlling the first drive module and the second drive module to push the frame upward by a step distance, the second drive module stops driving, and the first drive module continues to push the first connecting rod upward by a step distance, thereby realizing the upward gait crawling of the high-voltage transmission tower climbing robot.

[0022] Furthermore, a gait control method for the high-voltage transmission tower climbing robot to climb downward: after the controller controls the first adsorbent and the second adsorbent to be energized to adsorb the high-voltage transmission tower climbing robot to the tower wall, the controller controls the first adsorbent to be de-energized, the first electric lock to be energized, and controls the first drive module to push the first connecting rod downward by a step distance. The first sensor collects the first in-place signal and feeds it back to the controller. The controller controls the first adsorbent to be energized, the first electric lock to be de-energized, the second electric lock to be energized, and the second adsorbent to be de-energized according to the first in-place signal. Then, after controlling the first drive module and the second drive module to push the frame downward by a step distance, the first drive module stops driving, and the second drive module continues to push the second connecting rod downward by a step distance. The second sensor collects the second in-place signal and feeds it back to the controller. The controller controls the first adsorbent to be de-energized, the second electric lock to be de-energized, and the second adsorbent to be energized according to the second in-place signal. Then, after controlling the first drive module and the second drive module to push the frame downward by a step distance, the second drive module stops driving, and the first drive module continues to push the first connecting rod downward by a step distance, thereby realizing the downward gait crawling of the high-voltage transmission tower climbing robot.

[0023] Implementing the embodiments of the present invention will have the following beneficial effects:

[0024] For the high-voltage transmission tower climbing robot of this embodiment, when the first adsorption module of the first climbing mechanism adsorbs to the tower wall, the first claw module grabs the iron nail on the tower wall; when the second adsorption module of the second climbing mechanism adsorbs to the tower wall, the second claw module grabs the iron nail on the tower wall. Thus, the first climbing mechanism and the second climbing mechanism crawl on the high-voltage transmission tower in an alternating gait relative to the frame, and further realize the alternating gait climbing of the high-voltage transmission tower climbing robot, overcoming the technical problems of poor reliability and low efficiency of the high-voltage transmission tower climbing robot in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0026] Figure 1 Structural schematic diagram of the first climbing state of the high-voltage transmission tower climbing robot according to the embodiment of the present invention;

[0027] Figure 2 Structural schematic diagram of the second climbing state of the high-voltage transmission tower climbing robot according to the embodiment of the present invention;

[0028] Figure 3 Structural schematic diagram of the third climbing state of the high-voltage transmission tower climbing robot according to the embodiment of the present invention;

[0029] Figure 4 Structural schematic diagram of the body of the high-voltage transmission tower climbing robot according to the embodiment of the present invention;

[0030] Figure 5 For Figure 4 Partial enlarged view at A in

[0031] Figure 6 Rear view of the high-voltage transmission tower climbing robot according to the embodiment of the present invention;

[0032] Figure 7 For Figure 6 Partial enlarged view at B in

[0033] Figure 8 Structural schematic diagram of the frame of the high-voltage transmission tower climbing robot according to the embodiment of the present invention;

[0034] Figure 9 Structural schematic diagram of the first climbing mechanism according to the embodiment of the present invention.

[0035] Wherein: 100 is a high-voltage transmission tower climbing robot; 110 is a frame; 120 is a first climbing mechanism; 121 is a first driving module; 1211 is a first driving block; 1212 is a first lead screw; 1213 is a first sliding block; 1214 is a first connecting rod; 122 is a first adsorption module; 1221 is a first connecting member; 1222 is a first adsorbent; 1223 is a first telescopic spring; 123 is a first claw module; 1231 is a first support seat; 1232 is a first claw member; 12321 is a first guiding surface; 12322 is a first clamping groove; 1233 is a first torsion spring; 1234 is a first electric lock; 12341 is a first lock body; 12342 is a first telescopic rod; 130 is a second climbing mechanism; 131 is a second driving module; 1311 is a second driving block; 1312 is a second lead screw; 1313 is a second sliding block; 1314 is a second connecting rod; 132 is a second adsorption module; 1321 is a second connecting member; 1322 is a second adsorbent; 1323 is a second telescopic spring; 133 is a second claw module; 1331 is a second support seat; 1332 is a second claw member; 13321 is a second guiding surface; 13322 is a second clamping groove; 1333 is a second torsion spring; 1334 is a second electric lock; 13341 is a second lock body; 13342 is a second telescopic rod; 140 is a controller; 150 is a limit module; 151 is a connecting frame; 152 is a roller; 160 is a first detection module; 161 is a first sensor; 162 is a first shielding piece; 170 is a second detection module; 171 is a second sensor; 172 is a second shielding piece; 200 is a tower wall; 210 is an iron nail. Detailed implementation manners

[0036] For the convenience of understanding the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. The preferred embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0037] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there may also be a middle element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be a middle element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are only for the purpose of illustration.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terms used in the description of the present invention herein are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0039] Example 1

[0040] Please refer to Figures 1-9, Embodiment 1 of the present invention provides a high-voltage transmission tower climbing robot 100, which includes a frame 110, a first climbing mechanism 120, a second climbing mechanism 130, and a controller 140; the first climbing mechanism 120 includes a first driving module 121, a first adsorption module 122, and a first gripper module 123. The first driving module 121 is slidably connected to one side of the frame 110. The first adsorption module 122 is connected to one end of the first driving module 121. The first gripper module 123 is connected to the same end of the first driving module 121 near the first adsorption module 122. Among them, when the first adsorption module 122 adsorbs to the tower wall 200, the first gripper module 123 grabs the iron nail 210 on the tower wall 200; the second climbing mechanism 130 includes a second driving module 131, a second adsorption module 132, and a second gripper module 133. The second driving module 131 is slidably connected to the other side of the frame 110 relative to the first driving module 121. The second adsorption module 132 is connected to one end of the second driving module 131. The second gripper module 133 is connected to the same end of the second driving module 131 near the second adsorption module 132. Among them, when the second adsorption module 132 adsorbs to the tower wall 200, the second gripper module 133 grabs the iron nail 210 on the tower wall 200; the controller 140 is arranged on the frame 110, and the controller 140 is electrically connected to the first climbing mechanism 120 and the second climbing mechanism 130 respectively, so that the first climbing mechanism 120 and the second climbing mechanism 130 alternately gait crawl on the high-voltage transmission tower relative to the frame 110. In specific applications, after the first adsorption module 122 adsorbs to the tower wall 200, the first gripper module 123 grabs the iron nail 210 on the tower wall 200, which can prevent the first driving module 121 from accidentally falling off the tower wall 200 and improve the reliability of the high-voltage transmission tower climbing robot 100. In addition, at this time, the second adsorption module 132 is disengaged from adsorbing the tower wall 200, so that the second driving module 131 drives the second adsorption module 132 and the second gripper module 133 to move relative to the frame 110 by a step distance, so that the second gripper module 133 grabs the iron nail 210 on the next tower wall 200. When the second adsorption module 132 adsorbs to the tower wall 200 and the second gripper module 133 grabs the iron nail 210 on the tower wall 200, the first adsorption module 122 is disengaged from adsorbing the tower wall 200, so that the first driving module 121 drives the first adsorption module 122 and the first gripper module 123 to move relative to the frame 110 to the next step distance, so that the first gripper module 123 grabs the iron nail 210 on the tower wall 200, and further enables the first climbing mechanism 120 and the second climbing mechanism 130 to alternately gait crawl on the high-voltage transmission tower relative to the frame 110 quickly and efficiently.

[0041] In one possible embodiment, the first gripper module 123 includes a first support base 1231, a first gripper member 1232 and a first torsion spring 1233. The first support base 1231 is connected to the end of the first driving module 121, the first gripper member 1232 is rotatably connected to the first support base 1231, and the first torsion spring 1233 is connected between the first support base 1231 and the first gripper member 1232 so that when the first gripper member 1232 collides with the iron nail 210 on the tower wall 200, it is relatively stable. 1 Rotational avoidance; the second gripper module 133 includes a second support base 1331, a second gripper member 1332, and a second torsion spring 1333. The second support base 1331 is connected to the end of the second driving module 131, the second gripper member 1332 is rotatably connected to the second support base 1331, and the second torsion spring 1333 is connected between the second support base 1331 and the second gripper member 1332. When the second gripper member 1332 collides with the nail 210 on the tower wall 200, it rotates relative to the second support base 1331 to avoid collision. In a specific application, since the first gripping member 1232 will collide with the iron nail 210 on the tower wall 200 when the first gripping member 1233 climbs the iron nail 210 of the high-voltage transmission tower, the first gripping member 1232 is elastically rotatably connected to the first support seat 1231 through the first torsion spring 1233. In this way, when the first gripping member 1232 collides with the iron nail 210 on the tower wall 200, the first gripping member 1232 can rotate relative to the first support seat 1231 to avoid it. After the first gripping member 1232 separates from the iron nail 210 on the tower wall 200, the first gripping member 1232 recovers its deformation under the action of the first torsion spring 1233 and grips the iron nail 210 on the tower wall 200, thereby avoiding the first gripping member 1232 interfering with the upward movement of the first driving module 121, and also allowing the first gripping member 1232 to grip the iron nail 210 on the tower wall 200. In addition, the movement principle of the second gripper module 133 is the same as that of the first gripper module 123 .

[0042] In a possible implementation, the first gripper module 123 further includes a first electric lock 1234. The first electric lock 1234 includes a first lock body 12341 and a first telescopic rod 12342. The first lock body 12341 is fixed to the first support base 1231. The first telescopic rod 12342 is slidably connected to the first lock body 12341 and inserted into or withdrawn from the first support base 1231 to lock or unlock the rotation of the first gripper member 1232 relative to the first support base 1231. The second gripper module 133 further includes a second electric lock 1334. The second electric lock 1334 includes a second lock body 13341 and a second telescopic rod 13342. The second lock body 13341 is fixed to the second support base 1331. The second telescopic rod 13342 is slidably connected to the second lock body 13341 and inserted into or withdrawn from the second support base 1331 to lock or unlock the rotation of the second gripper member 1332 relative to the second support base 1331. In a specific application, since the high-voltage transmission tower climbing robot 100 needs the first gripper member 1232 to rotate relative to the first support base 1231 to pass over the iron nail 210 on the tower wall 200 during the downward climbing process, therefore, before the first gripper member 1232 rotates downward to avoid passing over the iron nail 210, the first electric lock 1234 is powered on, and the first telescopic rod 12342 contracts relative to the first lock body 12341 and is withdrawn from the first support base 1231, so that the rotation of the first gripper member 1232 relative to the first support base 1231 is temporarily unlocked. Before the first gripper member 1232 reaches the next iron nail 210, the first gripper member 1232 is restored under the action of the first torsion spring 1233, and the first telescopic rod 12342 pops out relative to the first lock body 12341 and is inserted into the first support base 1231, so that the rotation of the first gripper member 1232 relative to the first support base 1231 is re-locked, thus preventing the first gripper member 1232 from interfering with the downward movement of the first driving module 121 and also enabling the first gripper member 1232 to grip the iron nail 210 on the tower wall 200. In addition, the movement principle of the second gripper module 133 is the same as that of the first gripper module 123.

[0043] In a possible implementation manner, the first gripper 1232 is formed with a first guiding surface 12321 and a first clamping groove 12322. The first guiding surface 12321 is inclined away from the first support seat 1231, and the first clamping groove 12322 is connected to the first guiding surface 12321, so that the iron nail 210 on the tower wall 200 enters the first clamping groove 12322 along the first guiding surface 12321; the second gripper 1332 is formed with a second guiding surface 13321 and a second clamping groove 13322. The second guiding surface 13321 is inclined away from the second support seat 1331, and the second clamping groove 13322 is connected to the second guiding surface 13321, so that the iron nail 210 on the tower wall 200 enters the second clamping groove 13322 along the second guiding surface 13321. In specific applications, in order to relieve the impact force during the process of the first gripper 1232 gripping the iron nail 210 and reduce the vibration during the climbing movement, the first guiding surface 12321 of the first gripper 1232 is inclined away from the first support seat 1231, and the first clamping groove 12322 is connected to the first guiding surface 12321, so that the iron nail 210 on the tower wall 200 enters the first clamping groove 12322 along the first guiding surface 12321, which can reduce the impact on the high-voltage transmission tower climbing robot 100 when the first gripper 1232 contacts the iron nail 210.

[0044] In a possible implementation manner, the first adsorption module 122 includes a first connecting member 1221, a first adsorbent 1222 and a first telescopic spring 1223. The first connecting member 1221 is connected to the end of the first driving module 121. The first adsorbent 1222 is movably connected to the first connecting member 1221, and the first telescopic spring 1223 is connected between the first connecting member 1221 and the first adsorbent 1222; the second adsorption module 132 includes a second connecting member 1321, a second adsorbent 1322 and a second telescopic spring 1323. The second connecting member 1321 is connected to the end of the second driving module 131. The second adsorbent 1322 is movably connected to the second connecting member 1321, and the second telescopic spring 1323 is connected between the second connecting member 1321 and the second adsorbent 1322. In specific applications, due to the surface unevenness of the tower wall 200 of the high-voltage transmission tower, the first adsorption module 122 needs to have a flexible design when adsorbing the tower wall 200. Therefore, the first connecting member 1221 of the first adsorption module 122 is connected to the end of the first driving module 121, the first adsorbent 1222 is movably connected to the first connecting member 1221, and the first telescopic spring 1223 is connected between the first connecting member 1221 and the first adsorbent 1222. Among them, the first adsorbent 1222 is an electromagnet, which has magnetism when energized and no magnetism when de-energized, and is suitable for adsorbing iron walls with magnetism, etc.

[0045] In a possible implementation, the first driving module 121 includes a first driving module 1211, a first lead screw 1212, a first sliding block 1213, and a first connecting rod 1214. The first driving module 1211 is fixed to one side of the frame 110. The first lead screw 1212 is driven by the first driving module 1211. The first sliding block 1213 is in transmission connection with the first lead screw 1212 and slides on the frame 110. The first connecting rod 1214 is connected to the first sliding block 1213. The end of the first connecting rod 1214 is connected with a first adsorption module 122 and a first gripper module 123. The second driving module 131 includes a second driving module 1311, a second lead screw 1312, a second sliding block 1313, and a second connecting rod 1314. The second driving module 1311 is fixed to the other side of the frame 110. The second lead screw 1312 is driven by the second driving module 1311. The second sliding block 1313 is in transmission connection with the second lead screw 1312 and slides on the frame 110. The second connecting rod 1314 is connected to the second sliding block 1313. The end of the second connecting rod 1314 is connected with a second adsorption module 132 and a second gripper module 133. In specific applications, in order to make the high-voltage transmission tower climbing robot 100 have strong motion stability and high reliability, the first driving module 121 uses lead screw transmission, which can ensure the stability of transmission. The first driving module 1211 is composed of a servo motor or a stepper motor as a driving source module to drive the first lead screw 1212 to rotate. The first sliding block 1213 slides on the frame 110 under the transmission of the first lead screw 1212. Since the first connecting rod 1214 is fixedly connected to the first sliding block 1213, the first connecting rod 1214 can slide relative to the frame 110, thereby smoothly driving the movement of the first adsorption module 122 and the first gripper module 123.

[0046] In a possible implementation, the high-voltage transmission tower climbing robot 100 further includes a limiting module 150. The limiting module 150 includes a connecting frame 151 and a roller 152. One end of the connecting frame 151 is connected to the frame 110, and the other end of the connecting frame 151 is connected with a roller 152. The roller 152 abuts against the tower wall 200, so that the distance between the frame 110 and the tower wall 200 is constant. In specific applications, since the distance change between the adsorption module and the tower wall 200 needs to be basically constant to ensure that the elastic adsorption module can adsorb on the tower wall 200, the high-voltage transmission climbing robot needs the limiting module 150 to limit the distance between the tower wall 200 and the frame 110 to be basically constant. At the same time, the limiting module 150 cannot hinder the movement of the high-voltage transmission tower robot during climbing. Therefore, one end of the connecting frame 151 of the limiting module 150 is connected to the frame 110, and the other end of the connecting frame 151 is connected with a roller 152. The roller 152 abuts against the tower wall 200, so that the distance between the frame 110 and the tower wall 200 is relatively constant.

[0047] In a possible implementation, the high-voltage transmission tower climbing robot 100 further includes a first detection module 160. The first detection module 160 includes a first sensor 161 and a first shielding piece 162. At least two first sensors 161 are respectively fixed at both ends of one side of the frame 110. The first shielding piece 162 is fixed to the first sliding block 1213. The first shielding piece 162 is used to shield the first sensor 161 to determine the moving distance of the first driving module 121 relative to the frame 110. The high-voltage transmission tower climbing robot 100 further includes a second detection module 170. The second detection module 170 includes a second sensor 171 and a second shielding piece 172. At least two second sensors 171 are respectively fixed at both ends of the other side of the frame 110. The second shielding piece 172 is fixed to the second sliding block 1313. The second shielding piece 172 is used to shield the second sensor 171 to determine the moving distance of the second driving module 131 relative to the frame 110. In specific applications, in order to accurately maintain the gait travel distance of the high-voltage transmission tower climbing robot 100 so that the high-voltage transmission tower climbing robot 100 can stably climb on the iron nails 210 of the tower wall 200, a first detection module 160 is provided on the high-voltage transmission tower climbing robot 100 to detect the gait travel distance. Therefore, at least two first sensors 161 of the first detection module 160 are respectively fixed at both ends of one side of the frame 110, and the first shielding piece 162 is fixed to the first sliding block 1213. The first shielding piece 162 is used to shield the first sensor 161 to determine the moving distance of the first driving module 121 relative to the frame 110. In this way, according to the signal changes of the first sensors 161 located at both ends of the frame 110 and the distance between the two first sensors 161, the gait travel distance of the high-voltage transmission tower climbing robot 100 can be maintained, so that the high-voltage transmission tower climbing robot 100 can stably climb on the iron nails 210 of the tower wall 200.

[0048] Embodiment 2

[0049] The subject matter protected in this embodiment is different from that in Embodiment 1. Specifically, the differences are as follows:

[0050] Please refer to Figures 1-9, Embodiment 2 of the present invention provides a control method. Based on the above-mentioned high-voltage transmission tower climbing robot 100, for the gait control method of the high-voltage transmission climbing robot to climb upward, first, after the controller 140 controls the first adsorbing member 1222 and the second adsorbing member 1322 to be energized to adsorb the high-voltage transmission tower climbing robot 100 to the tower wall 200, the controller 140 controls the first adsorbing member 1222 to be de-energized, and then controls the first driving module 1211 to push the first connecting rod 1214 upward by a step distance. At this time, the first connecting rod 1214 exceeds the second connecting rod 1314 by a step distance. The first sensor 161 collects the in-place signal (the first in-place signal) of the first shielding piece 162 and feeds it back to the controller 140. The controller 140 controls the first adsorbing member 1222 to be energized and the second adsorbing member 1322 to be de-energized according to the first in-place signal, and then controls the first driving module 1211 and the second driving module 1311 to push the frame 110 upward by a step distance. Then, the first driving module 1211 stops driving. At this time, the first connecting rod 1214 is flush with the second connecting rod 1314. The second driving module 1311 continues to push the second connecting rod 1314 upward by a step distance. At this time, the second connecting rod 1314 exceeds the first connecting rod 1214 by a step distance. The second sensor 171 collects the in-place signal (the second in-place signal) of the second shielding piece 172 and feeds it back to the controller 140. The controller 140 controls the first adsorbing member 1222 to be de-energized and the second adsorbing member 1322 to be energized according to the second in-place signal, and then controls the first driving module 1211 and the second driving module 1311 to push the frame 110 upward by a step distance. At this time, the first connecting rod 1214 is flush with the second connecting rod 1314 again. The second driving module 1311 stops driving. The first driving module 1211 continues to push the first connecting rod 1214 upward by a step distance. At this time, the first connecting rod 1214 exceeds the second connecting rod 1314 by a step distance again, thereby realizing the upward alternating gait crawling of the high-voltage transmission tower climbing robot 100.

[0051] In a possible implementation manner, for the gait control method of the high-voltage transmission tower climbing robot 100 when climbing downward, first, after the controller 140 controls the first adsorbing member 1222 and the second adsorbing member 1322 to be energized to adsorb the high-voltage transmission tower climbing robot 100 to the tower wall 200, the controller 140 controls the first adsorbing member 1222 to be de-energized, the first electric lock 1234 to be energized, and controls the first driving module 1211 to push the first connecting rod 1214 downward by a step distance. At this time, during the downward movement, the first connecting rod 1214 extends beyond the second connecting rod 1314 by a step distance. The first sensor 161 collects the in-place signal (the first in-place signal) of the first shielding piece 162 and feeds it back to the controller 140. The controller 140 controls the first adsorbing member 1222 to be energized, the first electric lock 1234 to be de-energized, the second electric lock 1334 to be energized, and the second adsorbing member 1322 to be de-energized according to the first in-place signal. Then, after controlling the first driving module 1211 and the second driving module 1311 to push the frame 110 downward by a step distance, at this time, during the downward movement, the first connecting rod 1214 is flush with the second connecting rod 1314. The first driving module 1211 stops driving, and the second driving module 1311 continues to push the second connecting rod 1314 downward by a step distance. At this time, during the downward movement, the second connecting rod 1314 extends beyond the first connecting rod 1214 by a step distance. The second sensor 171 collects the in-place signal (the second in-place signal) of the second shielding piece 172 and feeds it back to the controller 140. The controller 140 controls the first adsorbing member 1222 to be de-energized, the second electric lock 1334 to be de-energized, and the second adsorbing member 1322 to be energized according to the second in-place signal. Then, after controlling the first driving module 1211 and the second driving module 1311 to push the frame 110 downward by a step distance, at this time, during the downward movement, the first connecting rod 12(14) is flush with the second connecting rod 1314 again. The second driving module 1311 stops driving, and the first driving module 1211 continues to push the first connecting rod 1214 downward by a step distance. At this time, during the downward movement, the first connecting rod 1214 extends beyond the second connecting rod 1314 by a step distance again, so as to realize the downward alternating gait crawling of the high-voltage transmission tower climbing robot 100.

[0052] The above-described embodiments merely represent several implementation manners of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation to the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the appended claims.

Claims

1. A high-voltage transmission tower climbing robot, characterized in that, include: frame; a first climbing mechanism, the first climbing mechanism comprising a first driving module, a first adsorption module, and a first gripping module, wherein the first driving module is slidably connected to one side of the frame, the first adsorption module is connected to one end of the first driving module, and the first gripping module is close to the same end of the first adsorption module as the first driving module, wherein when the first adsorption module is adsorbed on the tower wall, the first gripping module grips the nails on the tower wall; a second climbing mechanism, the second climbing mechanism comprising a second driving module, a second adsorption module, and a second gripping module, the second driving module being slidably connected to the other side of the frame relative to the first driving module, the second adsorption module being connected to one end of the second driving module, and the second gripping module being close to the same end of the second adsorption module as the second driving module, wherein when the second adsorption module is adsorbed on the tower wall, the second gripping module grips the nails on the tower wall; a controller, the controller being disposed on the frame and being electrically connected to the first climbing mechanism and the second climbing mechanism, respectively, so as to enable the first climbing mechanism and the second climbing mechanism to crawl on the high-voltage transmission tower in an alternating gait relative to the frame; The first gripper module includes a first support base, a first gripper member, and a first torsion spring. The first support base is connected to the end of the first driving module. The first gripper member is rotatably connected to the first support base. The first torsion spring is connected between the first support base and the first gripper member so that the first gripper member rotates relative to the first support base to avoid colliding with a nail on the tower wall. The second gripper module includes a second support base, a second gripper member, and a second torsion spring. The second support base is connected to the end of the second driving module. The second gripper member is rotatably connected to the second support base. The second torsion spring is connected between the second support base and the second gripper member so that the second gripper member rotates relative to the second support base to avoid colliding with the nails on the tower wall. The first adsorption module includes a first adsorption component, and the second adsorption module includes a second adsorption component. The controller can control the power on and power off of the first adsorption component and the second adsorption component.

2. The high-voltage transmission tower climbing robot according to claim 1, characterized in that, The first gripper module further includes a first electric lock, the first electric lock including a first lock body and a first telescopic rod, the first lock body being fixed to the first support base, the first telescopic rod being slidably connected to the first lock body and being inserted into or pulled out of the first support base to lock or unlock the rotation of the first gripper relative to the first support base; The second gripper module also includes a second electric lock, which includes a second lock body and a second telescopic rod. The second lock body is fixed to the second support base, and the second telescopic rod is slidably connected to the second lock body and inserted into or pulled out of the second support base to lock or unlock the rotation of the second gripper relative to the second support base.

3. The high-voltage transmission tower climbing robot according to claim 2, characterized in that, The first gripper member is formed with a first guiding surface and a first card slot. The first guiding surface is inclined away from the first support base. The first card slot is connected to the first guiding surface, so that the iron nails on the tower wall enter the first card slot along the first guiding surface; The second gripper member is formed with a second guiding surface and a second card slot. The second guiding surface is inclined away from the second support base. The second card slot is connected to the second guiding surface, so that the iron nails on the tower wall enter the second card slot along the second guiding surface.

4. The high-voltage transmission tower climbing robot according to any one of claims 1-3, characterized in that, The first adsorption module further includes a first connecting member and a first telescopic spring. The first connecting member is connected to the end of the first driving module. The first adsorbent is movably connected to the first connecting member. The first telescopic spring is connected between the first connecting member and the first adsorbent; The second adsorption module further includes a second connecting member and a second telescopic spring. The second connecting member is connected to the end of the second driving module. The second adsorbent is movably connected to the second connecting member. The second telescopic spring is connected between the second connecting member and the second adsorbent.

5. The high-voltage transmission tower climbing robot according to claim 4, characterized in that, The first driving module includes a first driving module, a first lead screw, a first sliding block and a first connecting rod. The first driving module is fixed to one side of the frame. The first lead screw is driven by the first driving module. The first sliding block is in transmission connection with the first lead screw and slides on the frame. The first connecting rod is connected to the first sliding block. The end of the first connecting rod is connected with the first adsorption module and the first gripper module; The second driving module includes a second driving module, a second lead screw, a second sliding block and a second connecting rod. The second driving module is fixed to the other side of the frame. The second lead screw is driven by the second driving module. The second sliding block is in transmission connection with the second lead screw and slides on the frame. The second connecting rod is connected to the second sliding block. The end of the second connecting rod is connected with the second adsorption module and the second gripper module.

6. The high-voltage transmission tower climbing robot according to claim 5, characterized in that, The high-voltage transmission tower climbing robot further includes a limiting module. The limiting module includes a connecting frame and a roller. One end of the connecting frame is connected to the frame. The other end of the connecting frame is connected with the roller. The roller abuts against the tower wall, so that the distance between the frame and the tower wall is constant.

7. The high-voltage transmission tower climbing robot according to claim 6, characterized in that, The high-voltage transmission tower climbing robot further includes a first detection module. The first detection module includes a first sensor and a first shielding piece. At least two first sensors are respectively fixed at both ends of one side of the frame. The first shielding piece is fixed to the first sliding block. The first shielding piece is used to shield the first sensor to determine the moving distance of the first driving module relative to the frame; The high-voltage transmission tower climbing robot further includes a second detection module. The second detection module includes a second sensor and a second shielding piece. At least two second sensors are respectively fixed at both ends of the other side of the frame. The second shielding piece is fixed to the second sliding block. The second shielding piece is used to shield the second sensor to determine the moving distance of the second driving module relative to the frame.

8. A control method, according to the high-voltage transmission tower climbing robot as described in claim 7, characterized in that It includes a gait control method for upward climbing: After the controller controls the first adsorber and the second adsorber to be energized to adsorb the high-voltage transmission tower climbing robot on the tower wall, the controller controls the first adsorber to be de-energized and controls the first driving module to push the first connecting rod upward by a step distance. The first sensor collects the first in-place signal and feeds it back to the controller. The controller controls the first adsorber to be energized and the second adsorber to be de-energized according to the first in-place signal. Then, after controlling the first driving module and the second driving module to push the frame upward by a step distance, the first driving module stops driving, and the second driving module continues to push the second connecting rod upward by a step distance. The second sensor collects the second in-place signal and feeds it back to the controller. The controller controls the first adsorber to be de-energized and the second adsorber to be energized according to the second in-place signal. Then, after controlling the first driving module and the second driving module to push the frame upward by a step distance, the second driving module stops driving, and the first driving module continues to push the first connecting rod upward by a step distance, thereby realizing the upward gait crawling of the high-voltage transmission tower climbing robot.

9. The control method according to claim 8, wherein It includes a gait control method for downward climbing: After the controller controls the first adsorber and the second adsorber to be energized to adsorb the high-voltage transmission tower climbing robot on the tower wall, the controller controls the first adsorber to be de-energized, the first electric lock to be energized, and controls the first driving module to push the first connecting rod downward by a step distance. The first sensor collects the first in-place signal and feeds it back to the controller. The controller controls the first adsorber to be energized, the first electric lock to be de-energized, the second electric lock to be energized, and the second adsorber to be de-energized according to the first in-place signal. Then, after controlling the first driving module and the second driving module to push the frame downward by a step distance, the first driving module stops driving, and the second driving module continues to push the second connecting rod downward by a step distance. The second sensor collects the second in-place signal and feeds it back to the controller. The controller controls the first adsorber to be de-energized, the second electric lock to be de-energized, and the second adsorber to be energized according to the second in-place signal. Then, after controlling the first driving module and the second driving module to push the frame downward by a step distance, the second driving module stops driving, and the first driving module continues to push the first connecting rod downward by a step distance, thereby realizing the downward gait crawling of the high-voltage transmission tower climbing robot.

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