Tower inspection robot

Abstract

The application relates to the technical field of power maintenance equipment, and provides a tower climbing and inspection robot which is arranged in a channel surrounded by a ladder and an anti-falling frame, and comprises a walking device, a poking device and a detection device. The walking device is used for walking along the ladder; the first end of the poking device is rotationally connected with the walking device, and the second end of the poking device is connected with the detection device; the poking device has a first posture and a second posture; when the poking device is in the first posture, the detection device is located outside the channel; when the poking device is in the second posture, the poking device and the detection device are located in the channel; the poking device is in separable connection with a horizontal plate of the anti-falling frame; in the case that the poking device is connected with the horizontal plate, the poking device is switched from the first posture to the second posture; in the case that the poking device is separated from the horizontal plate, the poking device is switched from the second posture to the first posture; the application can not only extend the detection device outside the channel for detection, but also can cross the horizontal plate to facilitate the walking of the walking device.

Description

Technical Field

[0001] This application relates to the field of power maintenance equipment technology, and in particular to a tower inspection robot. Background Technology

[0002] Power transmission towers are the main supporting equipment for long-distance power transmission. They are used to support transmission lines, bear the weight and tension of the transmission lines, and distribute the gravity and tension to the foundation and the ground, thereby ensuring the stable operation of the transmission lines. The structure of power transmission towers is usually assembled from angle steel. Considering the metal material of the power transmission towers and the field environment, regular inspections and maintenance of power transmission towers are required.

[0003] In related technologies, the inspection methods for power transmission towers include ground inspection, tower climbing inspection, and helicopter aerial inspection. Ground inspection involves inspectors checking the anchor bolts, foundation, and grounding of the power transmission tower. Tower climbing inspection involves inspectors climbing the power transmission tower to inspect its appearance, structure, conductors, and corrosion. Helicopter aerial inspection involves using helicopters to inspect the power transmission tower from the air. For tower climbing inspection, safety ladders are installed on the tower body, and the entire safety ladder is covered with a metal fall arrestor to ensure the safety of inspectors during the climbing process.

[0004] However, the above-mentioned tower climbing inspection method has certain safety hazards, and the metal anti-fall frame will obstruct the view of the inspection personnel. Summary of the Invention

[0005] Therefore, it is necessary to provide a tower climbing inspection robot to address the problems of high operational risks and obstruction of the inspection personnel's view by the metal anti-fall frames on the safety ladders in the current tower climbing inspection method.

[0006] A tower inspection robot is used to be installed within a passage defined by a ladder and a fall arrestor. The tower inspection robot includes: a walking device, a toggle device, and a detection device; the walking device is used to walk along the ladder; a first end of the toggle device is rotatably connected to the walking device, and a second end of the toggle device is connected to the detection device; the toggle device has a first posture and a second posture; when the toggle device is in the first posture, the detection device is located outside the passage; when the toggle device is in the second posture, the toggle device and the detection device are located inside the passage; the toggle device is detachably connected to the crossbar of the fall arrestor; when the toggle device is connected to the crossbar, the toggle device switches from the first posture to the second posture; when the toggle device is separated from the crossbar, the toggle device switches from the second posture to the first posture.

[0007] In one embodiment, the tower inspection robot further includes a shock-absorbing device; the shock-absorbing device includes a first elastic element and an abutment component, and the walking device is connected to the abutment component via the first elastic element; when the tower inspection robot is located within the passage, the first elastic element has an initial state and a compressed state; in the initial state, the abutment component can extend outside the passage; in the compressed state, the abutment component abuts against the side of the anti-fall frame's strip reinforcement plate facing the ladder, and the walking device abuts against the side of the ladder facing the anti-fall frame.

[0008] In one embodiment, the tower inspection robot further includes an adjustment device; the adjustment device is connected to the walking device, and the shock absorption device is movably mounted on the adjustment device.

[0009] In one embodiment, the abutting component includes a bracket and a roller; the actuating device is rotatably mounted on the bracket; the bracket is connected to the first elastic member, and the roller is rotatably mounted on the bracket, the roller being used to abut against the side of the strip reinforcement plate facing the ladder and being able to roll along the extension direction of the strip reinforcement plate.

[0010] In one embodiment, the tower inspection robot further includes a reset device; one end of the reset device is connected to the walking device, and the other end of the reset device is connected to the actuating device; when the actuating device is separated from the horizontal plate, the actuating device can rotate from the second posture to the first posture in response to the force of the reset device.

[0011] In one embodiment, the reset device includes a second elastic element; the second elastic element has a reset state and a stretched state, wherein when the actuating device is connected to the horizontal plate, the second elastic element is in the stretched state; and when the actuating device is separated from the horizontal plate, the second elastic element is in the reset state.

[0012] In one embodiment, the tower inspection robot further includes a marking device; the marking device is disposed on the walking device, the marking device is communicatively connected to the detection device, and the marking device is used to mark on the horizontal plate.

[0013] In one embodiment, the marking device includes a tensile testing mechanism and a marking mechanism; the tensile testing mechanism and the marking mechanism are communicatively connected; the tensile testing mechanism is used to detect the tensile force value of the second elastic member, and when the tensile force value reaches a preset value, the marking mechanism is used to mark on the horizontal plate.

[0014] In one embodiment, the walking device includes a frame, a track structure, and a drive component; the track structure is rotatably mounted on the frame, the drive component is used to drive the track structure to rotate relative to the frame, and the track structure is used to contact and connect with the ladder.

[0015] In one embodiment, the tower inspection robot further includes a supplementary lighting device; the supplementary lighting device is mounted on the walking device.

[0016] The aforementioned tower inspection robot, during the movement of its walking device, can extend its inspection device outside the passage for inspection by switching the posture of the device, and can also cross the horizontal bar to facilitate the movement of the walking device.

[0017] In actual use, the tower inspection robot is placed in the aforementioned channel, and the walking device is placed on the ladder. At this time, the toggle device is in the first position, so that the detection device can pass through the anti-fall frame and extend out of the channel, reducing the obstruction of the anti-fall frame to the detection device, thereby facilitating the detection device to conduct a comprehensive inspection of the power tower.

[0018] As the walking device moves along the ladder, since the detection device is located outside the passage in the first posture, part of the actuating device is also located outside the passage. Therefore, the actuating device will touch the horizontal plate, and the actuating device will rotate under the action of the horizontal plate, that is, switch from the first posture to the second posture, until both the actuating device and the detection device are located inside the passage, so that the actuating device and the detection device can cross the horizontal plate.

[0019] The walking device continues to move, and the actuating device gradually separates from the horizontal plate. When the actuating device is completely separated from the horizontal plate, it switches from the second posture to the first posture so that the detection device can return to the outside of the channel. When the actuating device touches the next horizontal plate, the above process is repeated. That is, this application can both extend the detection device out of the channel for detection and cross the horizontal plate to facilitate the movement of the walking device. There is no need for inspection personnel to climb ladders for inspection, which reduces the safety hazards of inspection and improves the quality of inspection. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of a tower inspection robot located on a ladder, according to one embodiment of this application.

[0021] Figure 2 for Figure 1 A magnified structural diagram at point A.

[0022] Figure 3 This is one of the structural schematic diagrams of a tower inspection robot provided in one embodiment of this application.

[0023] Figure 4This is a second schematic diagram of the structure of a tower inspection robot provided in one embodiment of this application.

[0024] Figure 5 This is the third structural schematic diagram of a tower inspection robot provided in one embodiment of this application.

[0025] Figure 6 for Figure 5 A magnified structural diagram at point C.

[0026] Figure 7 The fourth schematic diagram of the structure of the tower inspection robot provided in one embodiment of this application.

[0027] Figure 8 for Figure 7 A magnified structural diagram at point D.

[0028] Figure 9 for Figure 3 A magnified structural diagram at point B.

[0029] Figure 10 This is a schematic diagram of the stabilizing device provided in one embodiment of this application.

[0030] Figure 11 The fifth schematic diagram of the structure of the tower inspection robot provided in one embodiment of this application.

[0031] Figure 12 This is a schematic diagram of the structure of a ladder claw provided in one embodiment of this application.

[0032] Explanation of reference numerals in the attached figures:

[0033] 110. Ladder; 120. Fall arrestor; 121. Horizontal board; 122. Strip reinforcement plate;

[0034] 200. Walking device; 210. Frame; 220. Track structure; 230. Drive unit; 240. Climbing claw;

[0035] 300. Actuating device; 310. Swing arm; 320. Connecting ring; 330. Rubber pad;

[0036] 400. Detection device;

[0037] 500, Shock-absorbing device; 510, First elastic element; 520, Abutting component; 521, Bracket; 5211, Piston plate; 5212, Limiting block; 522, Roller;

[0038] 600. Adjustment device; 610. Arc-shaped slide rail; 620. Moving table; 621. Sleeve; 630. Locking component;

[0039] 700. Reset device; 710. Second elastic element;

[0040] 800. Stabilizing device; 810. Magnet; 820. Magnet pad;

[0041] 900. Marking device; 910. Tensile testing mechanism; 920. Marking mechanism;

[0042] 1000, supplementary lighting device; 1010, LED light; 1020, optical sensor. Detailed Implementation

[0043] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0044] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0045] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0046] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0047] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0048] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0049] First, combined Figure 1 The structure of the ladder 110 and the fall arrestor 120 is described.

[0050] See Figure 1 , Figure 1 The diagram shows a structural schematic of a tower inspection robot located on a ladder according to an embodiment of this application; a fall arrestor 120 is provided on one side of the ladder 110, and the fall arrestor 120 and the ladder 110 define a passage for inspection personnel to pass through. In related technologies, inspection personnel inspect power towers by climbing the ladder 110, and the fall arrestor 120 provides certain safety protection for the inspection personnel.

[0051] The fall arrestor 120 includes horizontal plates 121 arranged in the horizontal direction and strip reinforcement plates 122 arranged in the vertical direction. Multiple horizontal plates 121 and strip reinforcement plates 122 are provided. Multiple horizontal plates 121 are spaced apart along the height direction of the ladder, and multiple strip reinforcement plates 122 are spaced apart along the width direction of the ladder 110. The strip reinforcement plates 122 are connected to multiple horizontal plates 121 to improve the overall strength. When inspection personnel conduct inspections by climbing, the horizontal plates 121 and strip reinforcement plates 122 will obstruct the inspection personnel's line of sight, making it difficult for the inspection personnel to conduct a comprehensive inspection of the power tower, resulting in low inspection accuracy and significant safety hazards during the climbing process.

[0052] Based on this, this application provides a tower inspection robot.

[0053] See Figures 1 to 5 , Figure 2 It shows Figure 1 Enlarged structural diagram at point A Figure 3 This illustration shows one of the structural schematic diagrams of a tower inspection robot according to an embodiment of this application. Figure 4 The second schematic diagram of the tower inspection robot according to one embodiment of this application is shown. Figure 5 The third schematic diagram of the structure of the tower inspection robot in one embodiment of this application is shown; the tower inspection robot provided in one embodiment of this application is used to be installed in the above-mentioned channel, and includes a walking device 200, a toggle device 300 and a detection device 400.

[0054] The walking device 200 is used to walk along the ladder 110; the first end of the actuating device 300 is rotatably connected to the walking device 200, and the second end of the actuating device 300 is connected to the detection device 400; the actuating device 300 has a first posture and a second posture. When the actuating device is in the first posture, the detection device 400 is located outside the passage; when the actuating device is in the second posture, the actuating device 300 and the detection device 400 are located inside the passage; the actuating device 300 is used to be detachably connected to the cross plate 121 of the fall arrestor 120; when the actuating device 300 is connected to the cross plate 121, the actuating device 300 switches from the first posture to the second posture; when the actuating device 300 is separated from the cross plate 121, the actuating device 300 switches from the second posture to the first posture.

[0055] Specifically, the tower inspection robot shown in this embodiment can extend the detection device 400 outside the channel for detection and cross the horizontal plate 121 to facilitate the movement of the walking device 200 by switching the posture of the toggle device 300 during the walking process of the walking device 200.

[0056] In actual use, the tower inspection robot is placed in the above-mentioned channel, and the walking device 200 is arranged on the ladder 110. At this time, the toggle device 300 is in the first posture, so that the detection device 400 can pass through the anti-fall frame 120 and extend out of the channel, reducing the obstruction of the anti-fall frame 120 on the detection device 400, thereby facilitating the detection device 400 to conduct a comprehensive inspection of the power tower.

[0057] As the walking device 200 moves along the ladder 110, since the detection device 400 is located outside the passage in the first posture, the actuating device 300 is also partially located outside the passage. Therefore, the actuating device 300 will touch the horizontal plate 121. The actuating device 300 will rotate under the action of the horizontal plate 121, that is, switch from the first posture to the second posture, until both the actuating device 300 and the detection device 400 are located inside the passage, so that the actuating device 300 and the detection device 400 can cross the horizontal plate 121.

[0058] The walking device 200 continues to move, and the actuating device 300 gradually separates from the horizontal plate 121. When the actuating device 300 is completely separated from the horizontal plate 121, the actuating device 300 switches from the second posture to the first posture so that the detection device 400 can return to the outside of the channel. When the actuating device 300 touches the next horizontal plate 121, the above process is repeated. That is, this application can both extend the detection device 400 out of the channel for detection and cross the horizontal plate 121 to facilitate the movement of the walking device 200. There is no need for inspection personnel to conduct inspections by climbing the ladder 110, which reduces the safety hazards of inspections and improves the quality of inspections.

[0059] It should be noted that the detection device 400 shown in this embodiment can be a vision sensor. The type and model of the vision sensor can be flexibly selected according to the actual detection range. For example, a fisheye lens from a wide-angle lens can be selected to increase the field of view of the detection device 400, thereby reducing the detection blind zone.

[0060] Combination Figures 2 to 6 As shown, Figure 6 It shows Figure 5 Enlarged structural diagram at point C; In some embodiments, the tower inspection robot shown in this embodiment also includes a shock absorption device 500; The shock absorption device 500 includes a first elastic element 510 and an abutment component 520, and the walking device 200 is connected to the abutment component 520 through the first elastic element 510; When the tower inspection robot is located in the passage, the first elastic element 510 has an initial state and a compressed state; In the initial state, the abutment component 520 can extend out of the passage; In the compressed state, the abutment component 520 abuts against the side of the strip reinforcement plate 122 of the fall arrestor 120 facing the ladder, and the walking device 200 abuts against the side of the ladder 110 facing the fall arrestor.

[0061] Specifically, as described above, the tower inspection robot is located within the passage defined by the ladder 110 and the anti-fall frame 120, and the strip reinforcement plate 122 is arranged opposite to the ladder 110. The elastic force generated by the compression of the first elastic element 510 can press the walking device 200 tightly onto the ladder 110, thereby improving the tightness between the walking device 200 and the ladder 110 and improving the reliability of the walking device 200 walking on the ladder 110.

[0062] The first elastic element 510 can be a spring.

[0063] Combination Figures 2 to 6 As shown, in some embodiments, the tower inspection robot shown in this embodiment also includes an adjustment device 600; the adjustment device 600 is connected to the walking device 200, and the shock absorption device 500 is movably disposed on the adjustment device 600.

[0064] Specifically, the position of the shock-absorbing device 500 is adjusted by the adjusting device 600 to adapt to different anti-fall frames 120, thereby adjusting the shock-absorbing device 500 to the strip reinforcement plate 122 that is perpendicular to the ladder 110, so that the elastic force generated by the first elastic element 510 can act perpendicularly on the walking device 200, further improving the reliability of the walking device 200.

[0065] Among them, combined Figures 1 to 6 As shown, the horizontal plate 121 is an arc-shaped horizontal plate. Adaptively, the adjusting device 600 includes an arc-shaped slide rail 610 and a moving platform 620 that are adapted to the arc-shaped horizontal plate. The arc-shaped slide rail 610 is arranged in the horizontal direction, and the moving platform 620 is movably disposed on the arc-shaped slide rail 610. One end of the first elastic member 510 is connected to the moving platform 620, and the other end of the first elastic member 510 is connected to the abutting member 520.

[0066] Furthermore, combined Figure 4 , Figure 7 and Figure 8 As shown, Figure 7 The fourth schematic diagram of the tower inspection robot in one embodiment of this application is shown. Figure 8 It shows Figure 7 Enlarged structural diagram at point D; The moving platform 620 is equipped with a locking component 630, which is detachably connected to the arc-shaped slide rail 610. After the moving platform 620 is moved to a suitable position, the moving platform 620 and the arc-shaped slide rail 610 are locked by the locking component 630, thereby improving the stability of the shock absorption device 500.

[0067] Among them, the locking component 630 can be a locking bolt.

[0068] Combination Figures 3 to 8As shown, in some embodiments, the abutting component 520 shown in this embodiment includes a bracket 521 and a roller 522; the actuating device 300 is rotatably disposed on the bracket 521; the bracket 521 is connected to the first elastic member 510, and the roller 522 is rotatably disposed on the bracket 521. The roller 522 is used to abut against the side of the strip reinforcing plate 122 facing the ladder and can roll along the extension direction of the strip reinforcing plate 122.

[0069] Specifically, the elastic force generated by the first elastic element 510 abuts the roller 522 against the strip reinforcement plate 122. During the process of the walking device 200 walking along the ladder 110, the roller 522 can adaptably roll on the strip reinforcement plate 122, thereby reducing the resistance of the walking device 200 during the walking process.

[0070] Among them, the roller 522 can be a rubber roller to improve the shock absorption effect; the bracket 521 has a groove, the bracket 521 is in the shape of "C", the roller 522 is located in the groove, and the two ends of the roller 522 are rotatably connected to the bracket 521 respectively.

[0071] Furthermore, combined Figure 6 and Figure 8 As shown, in some embodiments, the movable stage 620 shown in this embodiment is provided with a sleeve 621, the first elastic member 510 is located inside the sleeve 621, the piston plate 5211 on the bracket 521 is located inside the sleeve 621 and connected to the first elastic member 510, and the bracket 521 is also provided with a limiting block 5212, which is detachably connected to the sleeve 621.

[0072] Specifically, the sleeve 621 acts as a radial limiter for the first elastic element 510 to reduce the radial bending of the first elastic element 510 during axial deformation, thereby improving the reliability of the first elastic element 510; at the same time, the limiting block 5212 limits the overall movement of the bracket 521 to reduce the excessive compression of the first elastic element 510.

[0073] Combination Figure 4 , Figure 6 , Figure 8 and Figure 9 As shown, Figure 9 It shows Figure 3 Enlarged structural schematic diagram at point B; In some embodiments, the tower inspection robot shown in this embodiment also includes a reset device 700; One end of the reset device 700 is connected to the walking device 200, and the other end of the reset device 700 is connected to the actuating device 300; When the actuating device 300 is separated from the horizontal plate 121, the actuating device 300 can rotate from the second posture to the first posture in response to the force of the reset device 700.

[0074] Specifically, the reset device 700 is used to provide a certain force to the toggle device 300, so that after the toggle device 300 is separated from the horizontal plate 121, the toggle device 300 can automatically return to the first posture, so that the detection device 400 can return to the outside of the channel, thereby improving the reliability of the detection.

[0075] Combination Figure 4 , Figure 6 , Figure 8 and Figure 9 As shown, in some embodiments, the reset device 700 shown in this embodiment includes a second elastic member 710; the second elastic member 710 has a reset state and a stretched state. When the actuating device 300 is connected to the horizontal plate 121, the second elastic member 710 is in a stretched state; when the actuating device 300 is separated from the horizontal plate 121, the second elastic member 710 is in a reset state.

[0076] Specifically, when the actuating device 300 touches the horizontal plate 121, the actuating device 300 begins to rotate from the first posture to the second posture. At this time, the second elastic element 710 is gradually stretched and enters the stretched state, and the second elastic element 710 generates a certain restoring force. When the actuating device 300 passes over the horizontal plate 121 and separates from the horizontal plate 121, the restoring force forces the actuating device 300 to rotate from the second posture to the first posture, thereby rotating the detection device 400 outside the channel.

[0077] Among them, combined Figure 8 and Figure 9 As shown, the second elastic element 710 can be a tension spring. The actuating device 300 includes a swing arm 310. The first end of the swing arm 310 is used to mount the detection device 400. The middle part of the swing arm 310 is rotatably connected to the bracket 521, that is, the first end of the actuating device 300 is formed in the middle of the swing arm 310. The second end of the swing arm 310 is provided with a connecting ring 320, which is connected to one end of the tension spring. The other end of the tension spring is connected to the moving platform 620. When the swing arm 310 touches the horizontal plate 121, the swing arm... The second end of 310 rotates toward the side away from the moving platform 620, that is, the swing arm 310 gradually tilts. Correspondingly, the tension spring is stretched, so the tension spring generates a certain restoring force. When the swing arm 310 separates from the horizontal plate 121, the restoring force pulls the second end of the swing arm 310 to rotate toward the side closer to the moving platform 620, thereby pulling the swing arm 310 to a horizontal state. That is to say, in the first posture, the swing arm 310 is in a horizontal state, and in the second posture, the swing arm 310 is in a tilted state.

[0078] Furthermore, combined Figure 9 As shown, the swing arm 310 is provided with a rubber pad 330, which buffers the contact between the swing arm 310 and the horizontal plate 121 and reduces the damage to the swing arm 310.

[0079] Combination Figure 10 As shown, Figure 10 A schematic diagram of the stabilization device in one embodiment of this application is shown. In some embodiments, the tower inspection robot shown in this embodiment also includes a stabilization device 800, which includes a magnet 810 and a magnetic pad 820. The middle part of the swing arm 310 is connected to the support 521 through a bearing seat. The magnet 810 is disposed on the support 521 near the bearing seat, and the magnetic pad 820 is disposed on the swing arm 310 near the bearing seat. In the first posture, the magnet 810 and the magnetic pad 820 are arranged opposite each other and are attracted to each other.

[0080] Combination Figures 2 to 5 As shown, in some embodiments, the tower inspection robot shown in this embodiment also includes a marking device 900; the marking device 900 is disposed on the walking device 200, the marking device 900 is communicatively connected to the detection device 400, and the marking device 900 is used to mark on the horizontal plate 121.

[0081] Specifically, when the detection device 400 detects a problem with a power tower at a certain height, it sends a signal to the marking device 900, which then marks the corresponding horizontal plate 121 at that height to facilitate subsequent maintenance and repair of the power tower at that height by the inspection personnel.

[0082] Combination Figures 2 to 6 as well as Figure 8 As shown, in some embodiments, the marking device 900 shown in this embodiment includes a tensile testing mechanism 910 and a marking mechanism 920; the tensile testing mechanism 910 and the marking mechanism 920 are communicatively connected, the tensile testing mechanism 910 is used to detect the tensile force value received by the second elastic member 710, and when the tensile force value reaches a preset value, the marking mechanism 920 is used to mark on the horizontal plate 121.

[0083] Specifically, as described above, the multiple horizontal plates 121 are arranged at intervals, meaning that there are situations where the marking mechanism 920 is located between two adjacent horizontal plates 121 and cannot mark on the horizontal plate 121. The tension value of the second elastic element 710 is detected by the tension detection mechanism 910. During the process from when the actuating device 300 just touches the horizontal plate 121 to when the detection device 400 is completely inside the anti-fall frame 120, the tension value gradually increases. At this time, the tower inspection robot is equivalent to crossing the horizontal plate 121. When the detected tension value reaches the preset value, it indicates that the marking mechanism 920 and the horizontal plate 121 being crossed are in a relative position. The marking mechanism 920 is activated, and at this time, it can just mark the horizontal plate 121.

[0084] The marking mechanism 920 can be a spraying machine. The spraying machine's nozzle sprays paint onto the horizontal plate 121 to form a mark. The tensile strength detection mechanism 910 detects the tensile strength value, ensuring that the paint is sprayed precisely onto the horizontal plate, thus overcoming the problem of paint being sprayed outside the horizontal plate 121 and correspondingly reducing paint waste.

[0085] Combination Figures 1 to 5 , Figure 7 as well as Figure 11 As shown, Figure 11 The fifth schematic diagram of the structure of the tower inspection robot in one embodiment of this application is shown; in some embodiments, the walking device 200 shown in this embodiment includes a frame 210, a track structure 220 and a drive member 230; the track structure 220 is rotatably mounted on the frame 210, the drive member 230 is used to drive the track structure 220 to rotate relative to the frame 210, and the track structure 220 is used to contact and connect with the ladder 110.

[0086] Specifically, the track structure includes a track and multiple tow wheels. The track is wound around the multiple tow wheels, which are rotatably connected to the frame 210. The drive unit 230 drives the tow wheels to rotate, and the track also begins to rotate in a cycle. When the track comes into contact with the ladder 110, the friction between the track and the ladder 110 drives the track to move forward, thereby driving the frame 210 and the actuating device 300 and detection device 400 on the frame 210 to move along the ladder 110.

[0087] The drive unit 230 can be an electric motor with a speed reducer.

[0088] Furthermore, combined Figure 3 , Figure 11 and Figure 12 As shown, Figure 12 A schematic diagram of the climbing claw in one embodiment of this application is shown; the track structure 220 is provided with a climbing claw 240, and the climbing ladder 110 includes horizontal bars arranged at intervals along the vertical direction. The climbing claw 240 can be hung on the horizontal bars, which increases the force between the track structure 220 and the climbing ladder 110. As the track structure 220 rotates, the tower inspection robot can move step by step, which improves the reliability of the walking device 200 walking on the climbing ladder 110.

[0089] Combination Figures 3 to 5 as well as Figure 7 As shown, in some embodiments, the tower inspection robot shown in this embodiment also includes a supplementary lighting device 1000; the supplementary lighting device 1000 is disposed on the walking device 200.

[0090] Specifically, the supplementary lighting device 1000 provides auxiliary illumination, enabling the detection device 400 to perform detection in darker environments, thus improving the adaptability of the tower inspection robot.

[0091] The supplementary lighting device 1000 includes an LED light 1010.

[0092] Furthermore, combined Figure 3 and Figure 5 As shown, the supplementary lighting device 1000 also includes an optical sensor 1020, which is connected to the LED light 1010. The optical sensor 1020 is used to detect the brightness of the environment where the tower inspection robot is located. When the light is insufficient, the LED light 1010 is turned on to provide auxiliary lighting, thereby improving the accuracy of the detection device 400.

[0093] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0094] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A tower inspection robot, characterized in that, The tower inspection robot is used to be installed in the passage defined by the ladder and the fall arrestor; the tower inspection robot includes: a walking device, a moving device and a detection device; The walking device is used to walk along the ladder; the first end of the actuating device is rotatably connected to the walking device, and the second end of the actuating device is connected to the detection device; The actuating device has a first posture and a second posture. When the actuating device is in the first posture, the detection device is located outside the channel. When the actuating device is in the second posture, the actuating device and the detection device are located inside the channel. The actuating device is detachably connected to the crossbar of the fall arrestor; when the actuating device is connected to the crossbar, the actuating device switches from the first posture to the second posture; when the actuating device is separated from the crossbar, the actuating device switches from the second posture to the first posture.

2. The tower inspection robot according to claim 1, characterized in that, The tower inspection robot also includes a shock absorption device; The shock absorption device includes a first elastic element and an abutting component. The walking device is connected to the abutting component through the first elastic element. When the tower inspection robot is located in the channel, the first elastic element has an initial state and a compressed state. In the initial state, the abutting member can extend out of the channel; In the compressed state, the abutting component abuts against the side of the anti-fall frame's strip reinforcement plate facing the ladder, and the walking device abuts against the side of the ladder facing the anti-fall frame.

3. The tower inspection robot according to claim 2, characterized in that, The tower inspection robot also includes an adjustment device; The adjusting device is connected to the walking device, and the shock-absorbing device is movably mounted on the adjusting device.

4. The tower inspection robot according to claim 2, characterized in that, The abutting component includes a bracket and a roller; The actuating device is rotatably mounted on the bracket; the bracket is connected to the first elastic element, and the roller is rotatably mounted on the bracket. The roller is used to abut against the side of the strip reinforcement plate facing the ladder and can roll along the extension direction of the strip reinforcement plate.

5. The tower inspection robot according to claim 1, characterized in that, The tower inspection robot also includes a reset device; One end of the reset device is connected to the walking device, and the other end of the reset device is connected to the actuating device; when the actuating device is separated from the horizontal plate, the actuating device can rotate from the second posture to the first posture in response to the force of the reset device.

6. The tower inspection robot according to claim 5, characterized in that, The reset device includes a second elastic element; The second elastic element has a reset state and a stretched state. When the actuating device is connected to the horizontal plate, the second elastic element is in the stretched state; when the actuating device is separated from the horizontal plate, the second elastic element is in the reset state.

7. The tower inspection robot according to claim 6, characterized in that, The tower inspection robot also includes a marking device; The marking device is mounted on the walking device and is communicatively connected to the detection device. The marking device is used to mark the horizontal plate.

8. The tower inspection robot according to claim 7, characterized in that, The marking device includes a tensile testing mechanism and a marking mechanism; The tensile testing mechanism is communicatively connected to the marking mechanism; the tensile testing mechanism is used to detect the tensile force value of the second elastic element, and when the tensile force value reaches a preset value, the marking mechanism is used to mark on the horizontal plate.

9. The tower inspection robot according to any one of claims 1 to 8, characterized in that, The walking device includes a frame, a track structure, and a drive component; The track structure is rotatably mounted on the frame, the drive unit is used to drive the track structure to rotate relative to the frame, and the track structure is used to contact and connect with the ladder.

10. The tower inspection robot according to any one of claims 1 to 8, characterized in that, The tower inspection robot also includes a supplementary lighting device; The supplementary lighting device is mounted on the walking device.

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