A climbing pole tower arrangement temporary anti-falling rope imitative insect crawling robot device

Abstract

The application discloses a climbing pole tower arrangement temporary anti-falling rope imitative insect climbing robot device, aiming to provide an imitative insect climbing robot device which uses a robot to replace a work personnel to climb a pole tower and hang a temporary anti-falling rope on the top of the pole tower, thereby reducing the work intensity of the work personnel and effectively solving the problem that the work personnel who first climbs the pole tower climbs the pole tower manually without safety protection measures. It comprises a climbing mechanism, a driving mechanism for driving the upper mechanical arm or the lower mechanical arm to rotate around the hinge shaft, an upper moving seat and a lower moving seat, wherein one of the moving seats is hinged to the end of the upper mechanical arm, and the other moving seat is hinged to the end of the lower mechanical arm, a balance component corresponding to the moving seat, the balance component comprising two vertical balance plates or vertical balance rods arranged on the corresponding moving seat, and a clamping jaw mechanism corresponding to the moving seat.

Description

Technical Field

[0001] This invention relates to the field of safety measures for power construction, and specifically to an insect-inspired crawling robot device for installing temporary fall protection ropes on climbing towers. Background Technology

[0002] Currently, when climbing steel pipe poles without fall arresters (the poles are equipped with foot spikes), temporary fall arresters are required to ascend and descend the tower. The temporary fall arresters need to be carried to the top of the tower for installation, meaning workers must climb the tower to carry the rope. Therefore, the first worker to climb the tower without any safety precautions is at high risk of falling. Furthermore, the first worker to climb the tower needs to carry the heavy temporary fall arrester, making the work time-consuming and laborious; and the workload is high, limiting the number of towers that can be climbed daily. Summary of the Invention

[0003] The purpose of this invention is to provide an insect-inspired crawling robot device that uses a robot to climb a tower and install a temporary fall arrest rope at the top of the tower, thereby reducing the workload of workers and effectively solving the problem that the first worker to climb the tower by hand without safety protection measures is prone to falling from a height.

[0004] The technical solution of this invention is:

[0005] An insect-inspired crawling robot device for deploying temporary fall arrest ropes on climbing poles includes:

[0006] A crawling mechanism, comprising an upper robotic arm and a lower robotic arm hinged together by a hinge axis, and a crawling drive mechanism for driving the upper robotic arm or the lower robotic arm to rotate about the hinge axis.

[0007] There are two movable seats, one of which is hinged to the end of the upper robotic arm and the other is hinged to the end of the lower robotic arm.

[0008] The elastic element connects the lower robotic arm to the movable seat at the end of the lower robotic arm;

[0009] The balancing components correspond one-to-one with the moving bases. The balancing components include two vertical balancing plates or vertical balancing rods set on the corresponding moving bases.

[0010] The gripper mechanism corresponds one-to-one with the movable base. Each gripper mechanism includes two clamping handles mounted on the corresponding movable base and a clamping drive mechanism that opens or closes the two clamping handles. This insect-inspired crawling robot device for installing temporary fall arrest ropes on climbing towers can replace manual laborers in climbing towers and attaching the temporary fall arrest ropes to the top of the tower. This reduces the workload of workers and effectively solves the problem of the risk of falls when the first worker climbs the tower without safety protection.

[0011] Preferably, after the two gripping handles of the gripper mechanism close, allowing the gripper mechanism to hold the steel pipe pole, the two vertical balancing plates or vertical balancing rods of the corresponding balancing component engage with the foot spikes on the steel pipe pole to prevent the moving seat containing the balancing component from rotating around the steel pipe pole. Thus, during the climbing process of the insect-like crawling robot device with a temporary fall arrest rope, the engagement of the two vertical balancing plates or vertical balancing rods with the foot spikes on the steel pipe pole prevents the moving seat containing the balancing component from rotating around the steel pipe pole, allowing the insect-like crawling robot device to climb the tower smoothly.

[0012] Preferably, a locking device is also included, which includes:

[0013] Mounting base, located above the movable base at the end of the upper robotic arm;

[0014] The mounting seat lifting mechanism is connected to the movable seat at the end of the upper robotic arm, driving the mounting seat to move up and down.

[0015] A handcuff mechanism, comprising a handcuff ring drive mechanism and two handcuff rings hinged together, wherein one handcuff ring is fixed on a mounting base and the handcuff ring drive mechanism drives the other handcuff ring to rotate;

[0016] Fall arrestor rope hanger: The fall arrestor rope hanger is installed on the mounting base and is used to hang temporary fall arrestor ropes.

[0017] The locking device in this solution is used as follows: the temporary fall arrest rope is attached to the fall arrest rope mounting bracket. During the insect-like crawling robot's ascent of the tower, the shackle drive mechanism drives another shackle to rotate, opening the two hinged shackles to avoid interfering with the robot's ascent. Once the robot reaches the top of the tower, the shackle drive mechanism drives another shackle to rotate, closing the two hinged shackles and securing them to the steel pipe pole. Then, the mounting base lifting mechanism lowers the mounting base and locking mechanism, pressing the two shackles firmly against the foot spikes on the steel pipe pole. This reliably secures the temporary fall arrest rope to the top of the tower, effectively preventing the temporary fall arrest rope from becoming unstable or falling midway due to the gripper mechanism not holding the steel pipe pole securely after the robot has climbed to the top.

[0018] Preferably, the locking device also includes a camera mounted on the mounting base for filming the locking mechanism. Thus, after the insect-like crawling robot climbs to the top of the tower, the camera can be used to observe whether the two handcuffs are gripping the steel pipe pole, improving the safety of the temporary fall arrest rope.

[0019] Preferably, the mounting seat lifting mechanism is a vertically distributed electric push rod or lead screw motor, and the handcuff drive mechanism is an electric push rod or lead screw motor.

[0020] Preferably, the movable base is equipped with a stop block that cooperates with the steel pipe rod. The side of the stop block facing the steel pipe rod is an arc surface, and the stop block is located between the left and right vertical balance plates or vertical balance bars of the corresponding balance component. In this way, after the two clamping grippers of the gripper mechanism hold the steel pipe rod, the steel pipe rod will be pressed against the arc surface, thereby further improving the stability of the gripper mechanism in holding the steel pipe rod.

[0021] Preferably, the two clamping grippers of the gripper mechanism are symmetrically distributed on both sides of the movable base, and the clamping grippers are hinged to the movable base. The clamping drive mechanism includes two electric push rods or lead screw motors that correspond one-to-one with the clamping grippers. These electric push rods or lead screw motors drive the corresponding clamping grippers to rotate. In this way, the two clamping grippers can be opened or closed by driving the corresponding clamping grippers to rotate.

[0022] Preferably, the clamping grippers are provided with arc-shaped claws at their ends. In this way, after the clamping drive mechanism drives the two clamping grippers to close, the arc-shaped claws at the ends of the two clamping grippers can be staggered, thus more reliably gripping the steel pipe rod.

[0023] Preferably, the elastic element is a tension spring.

[0024] Preferably, the crawling drive mechanism includes:

[0025] The active link and the driven link are hinged together. The end of the active link is hinged to one of the upper and lower robotic arms, and the end of the driven link is hinged to the other of the upper and lower robotic arms.

[0026] The drive motor drives the active connecting rod to rotate.

[0027] The beneficial effects of this invention are: by using a robot to replace workers in climbing the tower and hanging a temporary fall arrest rope at the top of the tower, the workload of workers is reduced, and the problem of the first worker climbing the tower by hand without safety protection measures, which is prone to falling from height, is effectively solved. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of a structure of an insect-inspired crawling robot device for deploying temporary fall protection ropes on climbing poles, according to the present invention.

[0029] Figure 2 This is a schematic diagram of the crawling mechanism of an insect-inspired crawling robot device for arranging temporary fall protection ropes on climbing poles, according to the present invention.

[0030] Figure 3 This is a top view of an insect-inspired crawling robot device for deploying temporary fall arrest ropes on climbing poles, according to the present invention.

[0031] Figure 4 This is a top view of the locking device of an insect-inspired crawling robot device for arranging temporary fall arrest ropes on climbing poles, according to the present invention.

[0032] In the picture:

[0033] Crawling mechanism 1, hinge shaft 1.0, upper robotic arm 1.1, lower robotic arm 1.2, driving link 1.3, driven link 1.4, drive motor 1.5;

[0034] Movable seat 2;

[0035] Elastic element 3;

[0036] Balancing component 4, vertical balancing plate 4.1;

[0037] Gripper mechanism 5, clamping gripper 5.1, clamping drive mechanism 5.2, arc-shaped hook 5.3;

[0038] Locking device 6, mounting base 6.0, mounting base lifting mechanism 6.1, handcuff mechanism 6.2, handcuff ring 6.21, handcuff ring drive mechanism 6.22, anti-fall rope hanging component 6.3;

[0039] Temporary fall arrest rope attachment 7;

[0040] 8 steel pipe poles, 8.1 foot nails. Detailed Implementation

[0041] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0042] Specific Implementation Example 1, such as Figure 1 , Figure 2 , Figure 3 As shown, an insect-inspired crawling robot device for deploying temporary fall arrest ropes on climbing poles includes a crawling mechanism 1, two movable seats 2, an elastic element 3, a balancing component 4, and a gripper mechanism 5. The crawling mechanism 1 includes an upper robotic arm 1.1 and a lower robotic arm 1.2 hinged together by a hinge shaft 1.0, and a crawling drive mechanism that drives the upper or lower robotic arm to rotate around the hinge shaft. The upper and lower robotic arms are arranged in a V-shape.

[0043] One of the two movable seats 2 is hinged to the end of the upper robotic arm, and the other movable seat is hinged to the end of the lower robotic arm.

[0044] The elastic element 3 is a tension spring. The tension spring connects the lower robotic arm 1.2 to the movable seat 2 at the end of the lower robotic arm. The connection point between the tension spring and the movable seat is located above the hinge axis between the lower robotic arm and the movable seat.

[0045] The balancing component 4 corresponds one-to-one with the movable base 2. The balancing component 4 includes two vertical balancing plates or vertical balancing rods disposed on the corresponding movable base. In this embodiment, the balancing component is composed of two vertical balancing plates 4.1 disposed on the corresponding movable base. The vertical balancing plates are parallel to the hinge axis between the upper and lower robotic arms.

[0046] The gripper mechanism 5 corresponds one-to-one with the movable seat 2. The gripper mechanism includes two clamping grippers 5.1 mounted on the corresponding movable seat and a clamping drive mechanism 5.2 that drives the two clamping grippers to open or close. When the two clamping grippers of the gripper mechanism close, so that the gripper mechanism holds the steel pipe rod, the left and right vertical balance plates or vertical balance rods of the corresponding balance component cooperate with the foot pins on the steel pipe rod to prevent the movable seat where the balance component is located from rotating around the steel pipe rod.

[0047] In one embodiment of this example, such as Figure 1 , Figure 2 , Figure 3 As shown, the crawling drive mechanism includes a hinged active link 1.3 and a driven link 1.4, and a drive motor 1.5. The end of the active link is hinged to the lower robotic arm, and the end of the driven link is hinged to the upper robotic arm. The drive motor is mounted on the lower robotic arm. The drive motor drives the active link to rotate. In this embodiment, the hinge shaft connecting the active link and the lower robotic arm, and the drive motor are connected via a chain drive mechanism or a synchronous belt drive mechanism. Thus, the drive motor drives the active link to rotate, which in turn drives the upper or lower robotic arm to rotate around the hinge shaft via the driven link.

[0048] In another embodiment of this invention, the crawling drive mechanism includes an electric push rod, one end of which is hinged to the lower robotic arm, and the other end of which is hinged to the upper robotic arm (not shown in the figure). Thus, by extending or retracting the electric push rod, the upper or lower robotic arm is driven to rotate around the hinge axis via the driven link.

[0049] The specific use of the insect-inspired crawling robot device for deploying temporary fall protection ropes on climbing poles in this embodiment is as follows.

[0050] First, place the insect-like crawling robot device on the steel pipe pole 8 of the tower (the steel pipe pole has foot nails 8.1 for manual crawling).

[0051] Next, the clamping drive mechanism on the upper and lower movable seats drives the two clamping grippers to close, and the two clamping grippers hold the steel pipe rod.

[0052] Next, release the insect-like crawling robot device so that its gripper is supported on the foot pins of the steel pipe pole. At this time, the two vertical balance plates on the left and right sides of the moving base are located on opposite sides of the steel pipe pole. The two vertical balance plates are located in front of the foot pins and cooperate with the foot pins on the steel pipe pole to prevent the insect-like crawling robot device from rotating around the steel pipe pole.

[0053] Second, the clamping drive mechanism on the movable seat at the end of the upper robotic arm drives the two clamping grippers to open. At this time, the movable seat at the end of the upper robotic arm is tightly attached to the steel pipe rod under the action of the tension spring, preventing the upper and lower robotic arms from rotating downwards and falling off as a whole.

[0054] Next, the crawling drive mechanism drives the upper robotic arm to rotate upward around the hinge axis. During this process, the moving seat at the end of the upper robotic arm remains firmly attached to the steel pipe rod under the action of the tension spring.

[0055] Next, the clamping drive mechanism on the moving seat at the end of the upper robotic arm drives the two clamping grippers to close and hold the steel pipe rod.

[0056] Third, the clamping drive mechanism on the movable seat at the end of the lower robotic arm drives the two clamping grippers to open; then, the crawling drive mechanism drives the lower robotic arm to rotate upward around the hinge axis. During this process, the movable seat at the end of the lower robotic arm remains firmly attached to the steel pipe rod under its own weight and the action of the tension spring; then, the clamping drive mechanism on the movable seat at the end of the lower robotic arm drives the two clamping grippers to close and hold the steel pipe rod.

[0057] Fourth, return to step two until the insect-like crawling robot device climbs to the top of the steel pipe pole. This allows the temporary fall arrestor to be attached to the top of the pole via the crawling robot device (one end of the temporary fall arrestor is attached to the crawling robot device before it climbs). This ensures the safety of the first person climbing the pole, effectively solving the problem of the risk of a fall from height when the first worker climbs the pole without safety protection; it also reduces the workload for the workers.

[0058] The working principle of the insect-inspired crawling robot device for deploying temporary fall arrest ropes on climbing towers in this embodiment is also applicable to deploying temporary fall arrest ropes on power transmission angle steel towers.

[0059] Furthermore, such as Figure 1 , Figure 4As shown, an insect-inspired crawling robot device for deploying temporary fall arrest ropes on climbing poles also includes a locking device 6. The locking device includes a mounting base 6.0, a mounting base lifting mechanism 6.1, a locking mechanism 6.2, and a fall arrest rope attachment 6.3. The mounting base is located above the movable seat at the end of the upper robotic arm. The mounting base lifting mechanism 6.1 is connected to the movable seat 2 at the end of the upper robotic arm, driving the mounting base 6.0 to move up and down. The mounting base lifting mechanism is a vertically distributed electric push rod or lead screw motor. In this embodiment, the mounting base lifting mechanism is a vertically distributed lead screw motor, which converts the rotational motion of the motor into the linear motion of the lead screw; the motor housing of the lead screw motor is fixed on the movable seat at the end of the upper robotic arm, and the lead screw of the lead screw motor is connected to the mounting base; or the lead screw of the lead screw motor is fixed on the movable seat at the end of the upper robotic arm, and the motor housing of the lead screw motor is fixed on the mounting base. The handcuff mechanism 6.2 includes a handcuff ring drive mechanism 6.22 and two handcuff rings 6.21 hinged together. One handcuff ring is fixed to the mounting base, and the handcuff ring drive mechanism drives the other handcuff ring to rotate. The handcuff rings are semi-circular. The handcuff ring drive mechanism is an electric push rod or a lead screw motor. In this embodiment, the handcuff ring drive mechanism is a lead screw motor, which converts the rotational motion of the motor into the linear motion of the lead screw. The motor housing of the lead screw motor is hinged to the mounting base, and the end of the lead screw motor is hinged to the other handcuff ring. A fall arrestor rope hanger is provided on the mounting base for hanging a temporary fall arrestor rope. In this embodiment, the fall arrestor rope hanger 6.3 is a hanging ring.

[0060] To address the risk of unstable temporary fall arrest ropes or premature fall after the insect-like crawling robot climbs to the top of a tower due to the gripper mechanism failing to hold the steel pipe securely, this embodiment incorporates a locking device. This device attaches the temporary fall arrest rope to a fall arrest rope mounting bracket, thus resolving the aforementioned problem. Specifically...

[0061] The temporary fall arrestor rope is attached to the fall arrestor rope mounting bracket. During the insect-like crawling robot's ascent of the tower, the shackle drive mechanism rotates another shackle, opening the two hinged shackles to prevent interference with the robot's ascent. Once the robot reaches the top, the shackle drive mechanism rotates the other shackle, closing the two hinged shackles and securing them to the steel pipe pole. Then, the mounting base lifting mechanism lowers the mounting base and locking mechanism, pressing the two shackles firmly against the foot spikes on the steel pipe pole. This reliably secures the temporary fall arrestor rope to the top of the tower, effectively mitigating the risk of instability or premature fall of the rope after the robot has climbed to the top due to the gripper mechanism not holding the pole securely.

[0062] Furthermore, such as Figure 4As shown, the locking device also includes a camera 6.4, which is mounted on the mounting base and used to film the locking mechanism. Thus, after the insect-like crawling robot climbs to the top of the tower, the camera can be used to observe whether the two handcuffs are gripping the steel pipe pole, improving the safety of the temporary fall arrest rope.

[0063] An insect-inspired crawling robot device for climbing poles to deploy temporary fall arrest ropes also includes a remote controller (not shown). The remote controller is used by the insect-inspired crawling robot device to climb the poles to deploy the temporary fall arrest ropes. The remote controller is equipped with a display screen for displaying images captured by a camera. Thus, after the insect-inspired crawling robot device climbs to the top of the pole, it can use the camera to photograph two handcuffs and display the camera's image on the remote controller's display screen, thereby determining whether the two handcuffs are gripping the steel pipe pole, improving the safety of using the temporary fall arrest rope.

[0064] Furthermore, such as Figure 3 As shown, the movable base 2 is equipped with a stop 2.1 that cooperates with the steel pipe rod. The side of the stop facing the steel pipe rod is an arc surface. The stop is located between the two vertical balance plates 4.1 of the corresponding balance component. The two clamping grippers 5.1 of the gripper mechanism are symmetrically distributed on both sides of the movable base. In this embodiment, the two clamping grippers of the gripper mechanism are symmetrically distributed on both sides of the stop on the movable base. In this way, after the two clamping grippers of the gripper mechanism hold the steel pipe rod, the steel pipe rod will be pressed against the arc surface, thereby further improving the stability of the gripper mechanism in holding the steel pipe rod.

[0065] Furthermore, such as Figure 3 As shown, the clamping gripper 5.1 is hinged to the corresponding movable seat 2. The clamping drive mechanism includes two electric push rods or lead screw motors, each corresponding to one of the clamping grippers. These electric push rods or lead screw motors drive the corresponding clamping grippers to rotate. In this embodiment, the clamping drive mechanism includes two lead screw motors, each corresponding to one of the clamping grippers. This converts the rotational motion of the motor into the linear motion of the lead screw. The motor housing of the lead screw motor is hinged to the corresponding movable seat, and one end of the lead screw is hinged to the corresponding clamping gripper. Thus, the lead screw motor can drive the lead screw to move, thereby driving the corresponding clamping gripper to rotate, achieving the opening or closing of the two clamping grippers.

[0066] Furthermore, such as Figure 3 As shown, the end of the clamping gripper is provided with an arc-shaped hook 5.3. In this way, after the clamping drive mechanism drives the two clamping grippers to close, the arc-shaped hooks at the ends of the two clamping grippers can be staggered, thus more reliably gripping the steel pipe rod.

[0067] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications, alterations, and equivalent transformations made to the above embodiments based on the technical essence of the present invention shall still fall within the protection scope of the present invention.

Claims

1. An insect-inspired crawling robot device for deploying temporary fall arrest ropes on climbing poles, characterized in that, include: A crawling mechanism, comprising an upper robotic arm and a lower robotic arm hinged together by a hinge axis, and a crawling drive mechanism for driving the upper robotic arm or the lower robotic arm to rotate about the hinge axis. There are two movable seats, one of which is hinged to the end of the upper robotic arm and the other is hinged to the end of the lower robotic arm. Elastic element, connecting the lower robotic arm to the movable seat at the end of the lower robotic arm; The balancing components correspond one-to-one with the moving bases. The balancing components include two vertical balancing plates or vertical balancing rods set on the corresponding moving bases. The gripper mechanism corresponds one-to-one with the movable base. The gripper mechanism includes two clamping grippers set on the corresponding movable base and a clamping drive mechanism that drives the two clamping grippers to open or close. When the clamping drive mechanism on the movable seat at the end of the upper robotic arm drives the two clamping grippers to open, the movable seat at the end of the upper robotic arm will be firmly attached to the steel pipe pole of the tower under the action of the elastic element, preventing the upper and lower robotic arms from rotating downwards and falling off under their own weight around the hinge axis between the lower robotic arm and the movable seat; when the clamping drive mechanism on the movable seat at the end of the lower robotic arm drives the two clamping grippers to open, the movable seat at the end of the lower robotic arm will remain firmly attached to the steel pipe pole under its own weight and the action of the elastic element.

2. The insect-inspired crawling robot device for deploying temporary fall arrest ropes on climbing poles according to claim 1, characterized in that, When the two clamping grippers of the gripper mechanism close, allowing the gripper mechanism to hold the steel pipe rod, the two vertical balance plates or vertical balance rods of the corresponding balance component engage with the foot nails on the steel pipe rod to prevent the moving seat where the balance component is located from rotating around the steel pipe rod.

3. The insect-inspired crawling robot device for deploying temporary fall arrest ropes on climbing poles according to claim 1, characterized in that, It also includes a locking device, which includes: Mounting base, located above the movable base at the end of the upper robotic arm; The mounting seat lifting mechanism is connected to the movable seat at the end of the upper robotic arm, driving the mounting seat to move up and down. A handcuff mechanism, comprising a handcuff ring drive mechanism and two handcuff rings hinged together, wherein one handcuff ring is fixed on a mounting base and the handcuff ring drive mechanism drives the other handcuff ring to rotate; Fall arrestor rope hanger: The fall arrestor rope hanger is installed on the mounting base and is used to hang temporary fall arrestor ropes.

4. The insect-inspired crawling robot device for deploying temporary fall arrest ropes on climbing poles according to claim 3, characterized in that, The locking device also includes a camera, which is mounted on the mounting base and used to film the locking mechanism.

5. The insect-inspired crawling robot device for deploying temporary fall arrest ropes on climbing poles according to claim 3 or 4, characterized in that, The mounting seat lifting mechanism is a vertically distributed electric push rod or lead screw motor, and the shackle drive mechanism is an electric push rod or lead screw motor.

6. The insect-inspired crawling robot device for deploying temporary fall arrest ropes on climbing poles according to claim 1, 2, 3, or 4, characterized in that, The movable seat is equipped with a stop block that cooperates with the steel pipe rod. The side of the stop block facing the steel pipe rod is an arc surface. The stop block is located between the left and right vertical balance plates or vertical balance rods of the corresponding balance component.

7. The insect-inspired crawling robot device for deploying temporary fall arrest ropes on climbing poles according to claim 1, 2, 3, or 4, characterized in that, The two clamping grippers of the gripper mechanism are symmetrically distributed on both sides of the movable seat. The clamping grippers are hinged to the movable seat. The clamping drive mechanism includes two electric push rods or lead screw motors that correspond one-to-one with the clamping grippers. The electric push rods or lead screw motors drive the corresponding clamping grippers to rotate.

8. The insect-inspired crawling robot device for deploying temporary fall arrest ropes on climbing poles according to claim 1, 2, 3, or 4, characterized in that, The clamping gripper has an arc-shaped hook at its end.

9. A novel insect-inspired crawling robot device for deploying temporary fall arrest ropes on climbing poles, as described in claim 1, 2, or 3, characterized in that... The elastic element is a tension spring.

10. A novel insect-inspired crawling robot device for deploying temporary fall arrest ropes on climbing poles, as described in claim 1, 2, or 3, characterized in that... The crawling drive mechanism includes: The active link and the driven link are hinged together. The end of the active link is hinged to one of the upper and lower robotic arms, and the end of the driven link is hinged to the other of the upper and lower robotic arms. The drive motor drives the active connecting rod to rotate.

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