Power transmission tower climbing robot

Abstract

This invention relates to the field of climbing robots, specifically disclosing a power transmission tower climbing robot, comprising a main body assembly, a drive assembly, and a clamping assembly. The main body assembly includes an upper arm, a lower arm, and a drive motor. One end of the upper arm is hinged to the lower arm via a pivot. The drive motor is fixed to the lower arm, and its output end is connected to the pivot. One end of each of the upper and lower arms is connected to a clamping assembly via a drive assembly. The advantages of this invention are that by utilizing a climbing robot and mounting detection equipment on its body, it can replace manual labor in inspecting power transmission towers. The climbing robot can complete tasks through multi-robot collaboration and automated inspection, significantly reducing manual labor, lowering inspection costs, and shortening the inspection cycle.

Description

Technical Field

[0001] This invention relates to the field of climbing robots, and in particular to robots for climbing power transmission towers. Background Technology

[0002] Electricity, as a crucial component of current energy, plays an irreplaceable role in the national economy. The power industry is a key and pioneering sector in national strategic development. As a clean secondary energy source, electricity can be converted into other energy sources; therefore, it has permeated all sectors of society, becoming a necessity in modern society. From generation to use, electricity requires long-distance transmission, and iron towers constructed from angle steel serve as vital support points in transmission lines. The materials used in my country's transmission towers are mainly Q235 and Q345 steel. These towers are constructed from main materials, auxiliary materials, crossarms, diagonal braces, connectors, and fasteners, possessing high strength. Transmission towers are often located in outdoor environments, exposed to various meteorological conditions and atmospheric corrosion, leading to varying degrees of corrosion and rust. Fasteners may fail or even fall off, ultimately causing tower collapse and resulting in direct and indirect economic losses. To ensure the safety of these towers, regular inspections are necessary to identify any safety issues. Currently, the inspection of power transmission towers mainly relies on manual labor. Inspectors use safety ropes to ensure their own safety as they climb up the towers along foot spikes fixed to them, which is time-consuming and laborious. Manual inspection is greatly affected by weather conditions and has drawbacks such as low safety, low efficiency, and high cost. Therefore, there is an urgent need for a climbing robot to replace manual labor in inspecting power transmission towers constructed of angle steel. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a power transmission tower climbing robot.

[0004] The objective of this invention is achieved through the following technical solution: a power transmission tower climbing robot, comprising a main body assembly, a drive assembly, and a clamping assembly. The main body assembly includes an upper arm, a lower arm, and a drive motor. One end of the upper arm is hinged to the lower arm via a rotating shaft. The drive motor is fixed on the lower arm, and the output end of the drive motor is connected to the rotating shaft. One end of the upper arm and the lower arm are respectively connected to a clamping assembly via a drive assembly.

[0005] Specifically, the drive assembly includes a second drive motor, a housing, and a U-shaped frame. A worm and a worm wheel are rotatably disposed inside the housing. The worm meshes with the worm wheel, and the worm wheel is rotatably disposed inside the housing via a worm shaft. The output shaft of the second drive motor is connected to the worm. The U-shaped frame is connected to the worm wheel shaft. The upper arm and lower arm are connected to the housing of the corresponding drive assembly.

[0006] Specifically, the clamping assembly includes a bracket, a third drive motor, a second link, a third link, a fourth link, and a fifth link. The third drive motor is fixed to the bracket, and the two fifth links are fixed to a mounting frame. The two fifth links have a V-shaped structure. The mounting frame is provided with a lead screw nut, and the lead screw nut is threadedly connected to a lead screw. One end of the lead screw is connected to the third drive motor. One end of each of the two second links is hinged to both sides of the bracket, and the other end of each second link is hinged to a third link. One end of each third link is hinged to a fourth link, and one end of the fourth link is hinged to one end of the corresponding fifth link.

[0007] Specifically, the drive motor is fixed to the bracket via a motor bracket.

[0008] Specifically, it also includes a first link, with a first link hinged to both ends of the mounting bracket, and the other end of the first link hinged to the corresponding fifth link.

[0009] Specifically, each of the two second connecting rods has a sliding groove on its opposite side, and each of the two fifth connecting rods has a mounting block on its opposite side. The mounting block is equipped with a ball bearing, and the mounting block is slidably connected to the sliding groove via the ball bearing.

[0010] Specifically, rubber pads are provided on the opposing surfaces of the two fifth links.

[0011] Specifically, the fourth link is Z-shaped.

[0012] The present invention has the following advantages:

[0013] To better fulfill the functional requirements of the climbing robot, this invention adopts a modular structure design, dividing the climbing robot into three parts: a clamping component, a main body component, and a drive component. The clamping component utilizes a linkage mechanism, driving a trapezoidal lead screw nut via a DC geared motor to convert rotational motion into linear motion, thus driving the opening and closing of the linkage. The main body component is directly driven by a DC geared motor, and the drive component is a DC geared motor driving a worm gear to complete the rotational motion. The DC geared motor, worm gear, and trapezoidal lead screw nut have a self-locking function. Climbing can be achieved through the cooperation of the clamping component, main body component, and drive component. The climbing robot can complete tasks using multi-machine collaboration and automatic inspection, significantly reducing manual labor, lowering inspection costs, and shortening the inspection cycle. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the robot of the present invention;

[0015] Figure 2 This is a schematic diagram of the clamping component structure of the present invention;

[0016] Figure 3 This is a schematic diagram of the drive component structure of the present invention;

[0017] Figure 4 This is a schematic diagram of the main component structure of the present invention;

[0018] In the diagram: 1-Clamping assembly, 2-Main body assembly, 3-Drive assembly, 4-Lead screw nut, 5-First connecting rod, 6-Second connecting rod, 7-Fifth connecting rod, 8-Setting screw, 9-Pin, 10-Third connecting rod, 11-Fourth connecting rod, 12-Rubber gasket, 13-Ball bearing, 14-Lead screw, 15-Bracket, 16-Motor bracket, 17-Third drive motor, 18-U-shaped frame, 19-Worm gear, 20-Key, 21-Wheeler shaft, 22-Housing, 23-Angular contact ball bearing, 24-Worm gear, 25-Motor connecting plate, 26-Second drive motor, 31-Lower arm, 32-Shaft, 33-Deep groove ball bearing, 34-Hole circlip, 35-Upper arm, 36-Shaft circlip, 37-Drive motor, 38-Coupling. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the invention and are not intended to limit the invention; that is, the described embodiments are merely some embodiments of the invention, and not all embodiments. The components of the embodiments of the invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0020] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0021] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0022] The present invention will be further described below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the following description.

[0023] like Figures 1-4As shown, the power transmission tower climbing robot includes a main body component 2, a drive component 3, and a clamping component 1. The main body component 2 includes an upper arm 35, a lower arm 31, and a drive motor 37. One end of the upper arm 35 is hinged to the lower arm 31 via a rotating shaft 32. The drive motor 37 is fixed on the lower arm 31, and the output end of the drive motor 37 is connected to the rotating shaft 32. One end of the upper arm 35 and the lower arm 31 are respectively connected to a clamping component 1 via a drive component 3. The power transmission tower climbing robot in this embodiment is used to climb power transmission towers. During use, the main body component 2 drives the two drive components 3 to change their distance. Then, the two drive components 3 respectively drive the two clamping components 1 to move, thus performing the climbing. Specifically, when the clamping component 1 connected to the lower arm 31 clamps onto the power transmission tower, the clamping component 1 on the upper arm 35 releases from the tower. At this time, the drive motor 37 of the main body component 2 rotates, causing the drive motor 37 to drive the rotating shaft 32 to rotate, thereby increasing the angle between the upper arm 35 and the lower arm 31, causing the clamping component 1 on the upper arm 35 to move upwards. Simultaneously, the corresponding drive component 3 drives the clamping component 1 to rotate, changing the angle between the clamping component 1 and the corresponding upper arm 35 and lower arm 31. This allows the clamping component 1 on the upper arm 35 to clamp onto the transmission tower. After the clamping component 1 on the upper arm 35 is clamped onto the transmission tower, the clamping component 1 on the lower arm 31 releases from the transmission tower. Then, the drive motor 37 rotates, driving the rotating shaft 32 to rotate, thereby reducing the angle between the upper arm 35 and the lower arm 31. This causes the clamping component 1 on the lower arm 31 to move closer to the clamping component 1 on the upper arm 35. The corresponding drive component 3 also drives the clamping component 1 to rotate, changing the angle. The angle between the clamping component 1 and the corresponding upper arm 35 and lower arm 31 is adjusted to facilitate the clamping component 1 on the lower arm 31 to clamp the power transmission tower. After the clamping component 1 on the lower arm 31 clamps the power transmission tower, the clamping component 1 on the upper arm 35 releases the power transmission tower and moves upward under the drive of the drive motor 37. This repeated operation allows the power transmission tower climbing robot to climb the power transmission tower upward. When encountering obstacles during the upward climb, the angle between the upper arm 35 and the corresponding clamping component 1 can be changed by the drive component 3, so that the clamping component 1 completely detaches from the power transmission tower and clamps the tower after bypassing the obstacle. On the power transmission tower, the drive assembly 3 connected to the lower arm 31 drives the corresponding clamping assembly 1 to change the angle with the lower arm 31 to avoid obstacles, and crosses the obstacles under the drive of the main body assembly 2. The overall structure of the power transmission tower climbing robot is symmetrical. The main body assembly 2 and the clamping assembly 1 are connected by the drive assembly 3. The main body assembly 2 has one degree of freedom, and the drive assembly 3 also has one degree of freedom. Due to the symmetry of the overall structure of the power transmission tower climbing robot, the robot as a whole has three degrees of freedom except for the clamping assembly 1, thus enabling it to perform inchworm-like movements. Each clamping assembly 1 of the power transmission tower climbing robot has one degree of freedom, so the robot as a whole has five degrees of freedom. Each part of the robot is driven by a DC geared motor, and the climbing movement of the robot is completed by the coordinated cooperation of the various motors.

[0024] The two ends of the rotating shaft 32 are rotatably connected to the lower arm 31 through deep groove ball bearings 33. The deep groove ball bearings are limited in the hole of the lower arm 31 by the hole retainer 34. The rotating shaft 32 is a stepped shaft. The upper arm 35 is sleeved on the rotating shaft 32 and fixedly connected to it. The upper arm 35 is limited to the rotating shaft 32 by the step cooperation between the shaft retainer and the rotating shaft 32.

[0025] Furthermore, the drive assembly 3 includes a second drive motor 26, a housing 22, and a U-shaped frame 18. A worm gear 24 and a worm wheel 19 are rotatably disposed inside the housing 22. The worm gear 24 meshes with the worm wheel 19. The worm wheel 19 is rotatably disposed inside the housing 22 via a worm shaft 21. The output shaft of the second drive motor 26 is connected to the worm gear 24. The U-shaped frame 18 is connected to the worm wheel shaft 21. The upper arm 35 and the lower arm 31 are connected to the housing 22 of the corresponding drive assembly 3. In this embodiment, the drive assembly 3 utilizes the worm gear principle. Because the worm gear has the advantages of large reduction ratio, low vibration, low noise, and self-locking, when the second drive motor 26 stops driving, the drive assembly 3 can still maintain its original posture and will not fail due to the overall load of the robot, while reducing energy consumption. The worm wheel 19 is connected to the worm wheel shaft 21 by a key 20. The two ends of the worm wheel shaft 21 are rotatably connected to the outer shell 22 by angular contact ball bearings 23. The output shaft of the second drive motor 26 is engaged with the connection hole of the worm wheel shaft 21. The second drive motor 26 is fixed to the outer shell 22 by a motor connecting plate 25. The worm wheel 19 is fixed to the turbine shaft 21. The two ends of the turbine shaft 21 are rotatably connected to the outer shell 22 by deep groove ball bearings. The two sides of the U-shaped frame 18 are fixed to the two ends of the turbine shaft 21. The U-shaped frame 18 is fixedly connected to the clamping assembly 1. In this way, the rotation of the second drive motor 26 can drive the U-shaped frame 18 to rotate, thereby changing the angle between the clamping assembly 1 and the upper arm 35 and the lower arm 31.

[0026] Furthermore, the clamping assembly 1 includes a bracket 15, a third drive motor 17, a second connecting rod 6, a third connecting rod 10, a fourth connecting rod 11, and a fifth connecting rod 7. The third drive motor 17 is fixed on the bracket 15. The two fifth connecting rods 7 are fixed on the mounting frame and are V-shaped. The mounting frame is provided with a lead screw nut 4, which is threadedly connected to a lead screw 14. One end of the lead screw 14 is connected to the output end of the third drive motor 17. One end of each of the two second connecting rods 6 is hinged to both sides of the bracket 15. The other end of each second connecting rod 6 is hinged to a third connecting rod 10. One end of each third connecting rod 10 is hinged to a fourth connecting rod 11. One end of the fourth connecting rod 11 is hinged to one end of the corresponding fifth connecting rod 7. The assembly also includes a first connecting rod 5. One first connecting rod 5 is hinged to both sides of the mounting frame. The other end of the first connecting rod 5 is hinged to the corresponding fifth connecting rod 7. The fourth connecting rod 11 is Z-shaped. In this embodiment, clamping component 1 is used to clamp the transmission tower, which is constructed of angle steel. The clamping component 1 clamps the angle steel, which consists of two mutually perpendicular steel bars. The included angle of the two fifth connecting rods 7 is 90°, and the angle of the two fifth connecting rods 7 is fixed. During clamping, they respectively adhere to the two sides of the angle steel. A clearance groove is provided at the intersection of the two fifth connecting rods 7, so that the right angle of the angle steel can be placed within the clearance groove during clamping, ensuring a tight fit between the fifth connecting rod 7 and the two sides of the angle steel. Specifically… The output end of the third drive motor 17 is connected to the lead screw 14 via a coupling 38. The lead screw 14 is a trapezoidal lead screw, and the lead screw nut 4 is also a trapezoidal lead screw nut. This type of lead screw nut has the advantages of high load-bearing capacity, precise positioning, and self-locking, ensuring the reliability of the clamping part. When the clamping part is clamped, due to the self-locking performance of the lead screw nut, the motor does not need to continuously provide power, thus improving the motor's lifespan and reducing energy consumption. The rotation of the third drive motor 17 drives the lead screw nut 4 to move along the lead screw 14. When clamping, the third drive motor 17 drives the lead screw nut 4 away from the third drive motor 17, thus moving the mounting frame. The two sides of the mounting frame are hinged to the second link 6 via the first link 5. One end of the second link 6 is hinged to the bracket 15. When the mounting frame moves, the first link 5 pulls the second link 6, causing the two second links 6 on both sides of the mounting frame to move closer together and reduce the included angle. This causes the end of the second link 6 connected to the third link 10 to move closer to the fifth link 7, which in turn pushes the fourth link 11 to rotate around one end of the fifth link 7 via the third link 10. This reduces the included angle between the fourth link 11 and the fifth link 7, allowing it to cooperate with the fifth link 7 to clamp the edge of the angle steel, thus achieving stable clamping. When releasing, the third drive motor 17 drives the mounting frame to move, causing the two second links 6 to move away from each other. This causes the second link 6 to pull the fourth link 11, increasing the included angle between the fourth link 11 and the fifth link 7, thus releasing the angle steel. Each link is hinged via a pin and a set screw.

[0027] Furthermore, the drive motor 37 is fixed to the bracket 15 by the motor bracket 16.

[0028] Furthermore, each of the two second connecting rods 6 has a sliding groove on its opposite side, and each of the two fifth connecting rods 7 has a mounting block on its opposite side. The mounting block has a ball bearing 13, and the mounting block is slidably connected to the sliding groove via the ball bearing 13. In this embodiment, when the two second connecting rods 6 approach each other, the mounting block can extend into the sliding groove, causing the ball bearing 13 to slide into the groove. This ensures the clamping assembly 1 maintains its clamping posture, prevents rotational movement of the fifth connecting rod 7, and alleviates the stress on the front end of the fifth connecting rod 7.

[0029] Furthermore, rubber pads 12 are provided on the opposing surfaces of the two fifth connecting rods 7. In this embodiment, rubber pads 12 are arranged at the contact ends of the fifth connecting rod 7 and the angle steel, so that there is a large friction between the fifth connecting rod 7 and the angle steel, and at the same time, the rigid collision caused by the contact between the fifth connecting rod 7 and the angle steel is alleviated.

[0030] The above description is merely a preferred embodiment of the present invention and does not constitute any limitation on the present invention. Any person skilled in the art can make many possible variations and modifications to the technical solution of the present invention, or modify it into equivalent embodiments, without departing from the scope of the present invention. Therefore, any modifications, equivalent changes, and alterations made to the above embodiments based on the technology of the present invention without departing from the scope of the present invention are within the protection scope of the present invention.

Claims

1. A power transmission tower climbing robot, characterized in that: The utility model provides a kind of multi-axis linkage type automatic clamping device, including main body component (2), drive component (3) and clamping component (1), the main body component (2) includes upper arm (35), lower arm (31) and drive motor (37), one end of the upper arm (35) is hinged with lower arm (31) by pivot (32), the drive motor (37) is fixed on lower arm (31), and the output end of the drive motor (37) is connected with pivot (32), one end of the upper arm (35) and lower arm (31) is respectively connected with a clamping component (1) by a drive component (3); The clamping component (1) includes a bracket (15), a third drive motor (17), a second connecting rod (6), a third connecting rod (10), a fourth connecting rod (11), and a fifth connecting rod (7). The third drive motor (17) is fixed on the bracket (15). Two fifth connecting rods (7) are fixed on a mounting bracket and are in a V-shaped structure. A screw nut (4) is arranged on the mounting bracket. The screw nut (4) is threadedly connected with a lead screw (14). One end of the lead screw (14) is connected with the output end of the third drive motor (17). One end of each second connecting rod (6) is hinged on the two sides of the bracket (15). The other end of each second connecting rod (6) is hinged with a third connecting rod (10). One end of each third connecting rod (10) is hinged with a fourth connecting rod (11). One end of each fourth connecting rod (11) is hinged with one end of a corresponding fifth connecting rod (7).

2. The power transmission tower climbing robot of claim 1, wherein: The drive component (3) includes a second drive motor (26), a housing (22), and a U-shaped bracket (18). A worm (24) and a worm gear (19) are rotatably arranged in the housing (22). The worm (24) is engaged with the worm gear (19). The worm gear (19) is rotatably arranged in the housing (22) through a worm shaft (21). The output shaft of the second drive motor (26) is connected with the worm (24). The U-shaped bracket (18) is connected with the worm shaft (21). The upper arm (35) and the lower arm (31) are connected with the housing (22) of the corresponding drive component (3).

3. The power transmission tower climbing robot of claim 1, wherein: The third drive motor (17) is fixed on the bracket (15) through a motor bracket (16).

4. The power transmission tower climbing robot of claim 1, wherein: A first connecting rod (5) is hinged on the two sides of the mounting bracket. The other end of the first connecting rod (5) is hinged with a corresponding fifth connecting rod (7).

5. The electric transmission tower climbing robot according to claim 1, wherein: The opposite sides of the two second connecting rods (6) are each provided with a sliding groove. The opposite sides of the two fifth connecting rods (7) are each provided with a mounting block. The mounting block is provided with a ball (13). The mounting block is slidably connected with the sliding groove through the ball (13).

6. The electric transmission tower climbing robot according to claim 1, wherein: Rubber pads (12) are arranged on the opposite faces of the two fifth connecting rods (7).

7. The electric transmission tower climbing robot according to claim 1, wherein: The fourth connecting rod (11) is in a Z-shaped structure.

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