Sectional tower and iron tower facilitating robot climbing

Abstract

This invention provides a segmented track, comprising: an elongated outer plate with a plurality of first through frames evenly spaced along its length; a pair of mounting arms, with both ends of the outer plate connected to the two mounting arms respectively; an elongated base plate with both ends connected to the two mounting arms respectively; the outer plate having a vertical projection onto the base plate, and the base plate further having a plurality of second through frames corresponding one-to-one with each of the first through frames; each of the second through frames having a top block elastically connected within it; the segmented track is for robot movement, the robot including tracks with elastic teeth on the outer wall, and the elastic teeth being able to abut against the top blocks in the second through frames after passing through the first through frames. This invention solves the problem in the prior art where robots must rely on iron towers for attachment, which may lead to detours and low inspection efficiency. It also provides an iron tower that is easy for robots to climb.

Description

Technical Field

[0001] This invention relates to the field of auxiliary technology for tower maintenance robots, and in particular to a segmented track and a tower that is easy for robots to climb. Background Technology

[0002] Power transmission towers require robotic inspection and maintenance. Robots are typically equipped with climbing legs and tracks. Through the coordination of these two components, the robot can move up and down the tower from its base, performing inspections and maintenance as it moves. During operation, the climbing legs engage (or adhere) to the tower, and through deformation, the robot lifts itself off the tower and then abuts against it at another point. This is similar to the tracks abutting against the tower intermittently. The robot then moves a short distance using its tracks, and so on, until the tracks abut against the tower at another point. In this process, the robot's tracks must be firmly attached to the corresponding tower structure. In areas without a foundation, the robot relies solely on its climbing legs, which restricts its movement. The robot may need to detour to reach specific locations, ultimately resulting in low inspection efficiency. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a segmented track, which solves the problem that robots in existing technologies must rely on iron towers for attachment, which may lead to detours and low inspection efficiency.

[0004] According to an embodiment of the present invention, a segmented track includes:

[0005] A long strip-shaped outer plate, wherein a plurality of first through frames are equally spaced along its length;

[0006] A pair of mounting arms, with each end of the outer layer plate connected to one of the two mounting arms;

[0007] The base plate is long and narrow, with its two ends connected to the two mounting arms respectively. The outer plate has a vertical projection on the base plate, and the base plate is also provided with a plurality of second frames corresponding to each of the first frames. Each second frame is elastically connected to a top block.

[0008] The robot is provided with a segmented track for walking. The robot includes a track with elastic teeth on its outer wall, and the elastic teeth can abut against the top block in the second through frame after passing through the first through frame.

[0009] In the above embodiments, the segmented track can provide more attachment paths, thereby providing more paths for the robot and improving the robot's movement efficiency. This solves the problem in the prior art where the robot must rely on the iron tower for attachment, which may lead to detours and low inspection efficiency.

[0010] Furthermore, it also includes a cover plate, and L-shaped connecting plates are fixedly connected to both ends of the base plate. The L-shaped connecting plates, the mounting arm, one end of the outer plate, and the cover plate are arranged in sequence and connected by bolts.

[0011] Furthermore, both the first through frame and the second through frame extend along the width direction of the outer layer plate, and the two ends of the second through frame are respectively located on both sides of the outer layer plate.

[0012] Furthermore, intersecting horizontal and vertical elastic ropes are fixedly connected between the two inner walls facing each other within the second through frame. The side of the top block facing away from the outer layer plate is fixedly connected to the intersection of the horizontal and vertical elastic ropes, while the other side extends beyond the second through frame and is close to the outer layer plate.

[0013] Furthermore, a reinforcing elastic rope is fixedly connected between the side wall of the top block and the inner wall of the second through frame.

[0014] Furthermore, the top block has an arc-shaped groove recessed on the side facing the outer layer plate.

[0015] Furthermore, the width of the first through frame is smaller than the width of the second through frame, and the top block has an orthographic projection located within the first through frame.

[0016] According to an embodiment of the present invention, a tower that is easy for robots to climb is also provided, which includes the segmented track described above.

[0017] Furthermore, it also includes several connecting segments that are fixedly connected to each other, with the two mounting arms respectively fixedly connected to two of the connecting segments.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The segmented track provides the robot with more movement paths, solving the problem that the robot must rely on the iron tower for attachment in the existing technology, which may lead to detours and low inspection efficiency. At the same time, the first and second through frames on the segmented track can allow wind to pass through, avoiding the increase of wind resistance on the iron tower. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of a steel tower according to an embodiment of the present invention;

[0021] Figure 2 This is a schematic diagram of a robot according to an embodiment of the present invention (climbing legs are not shown);

[0022] Figure 3 This is a schematic diagram of a segmented track according to an embodiment of the present invention;

[0023] Figure 4 This is a schematic diagram of the connection structure between the mounting arm, the outer layer plate, and the base plate according to an embodiment of the present invention;

[0024] Figure 5 for Figure 3 Enlarged schematic diagram of a local structure at point A;

[0025] Figure 6 for Figure 4 Enlarged schematic diagram of the local structure at point B;

[0026] In the above attached figures:

[0027] 1. Outer plate; 2. First through frame; 3. Mounting arm; 4. Base plate; 5. Second through frame; 6. Top block; 7. Robot; 8. Elastic tooth; 9. Track; 10. Connecting section; 11. L-shaped connecting plate; 12. Bolt; 13. Horizontal elastic rope; 14. Vertical elastic rope; 15. Elastic reinforcing rope; 16. Arc groove; 17. Segmented track; 18. Cover plate. Detailed Implementation

[0028] The technical solutions of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0029] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention 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. Therefore, they should not be construed as limitations on this invention.

[0030] In an exemplary implementation, such as Figure 1 , 2 As shown in Figures 3, 4, 5, and 6, this embodiment provides a segmented track, which includes:

[0031] A long strip-shaped outer plate 1, on which a plurality of first through frames 2 are equally spaced along its length;

[0032] A pair of mounting arms 3, with the two ends of the outer layer plate 1 respectively connected to the two mounting arms 3;

[0033] The base plate 4 is long and narrow, with its two ends connected to the two mounting arms 3 respectively. The outer plate 1 has a vertical projection on the base plate 4, and the base plate 4 is also provided with a plurality of second through frames 5 corresponding one-to-one with each of the first through frames 2. Each of the second through frames 5 is elastically connected with a top block 6.

[0034] The segmented track 17 provides a path for the robot 7 to walk. The robot 7 includes a track 9 with elastic teeth 8 on its outer wall. The elastic teeth 8 can abut against the top block 6 in the second through frame 5 after passing through the first through frame 2.

[0035] In the above embodiments, the segmented track 17 can provide more attachment paths, thereby providing more paths for the robot 7 and making the robot 7 move more efficiently. This solves the problem in the prior art that the robot 7 must rely on the iron tower to provide an attachment base, which may lead to detours and low inspection efficiency.

[0036] like Figure 1 , 2 As shown in Figures 3, 4, 5, and 6, in another exemplary embodiment, a tower that is easy for a robot 7 to climb is provided. The tower is fixedly connected by several connecting sections 10. The tower also includes the aforementioned segmented track 17. Specifically, two mounting arms 3 are respectively connected to two connecting sections 10 on the tower, thereby providing a movement path for the robot 7 outside the connecting sections 10. In this way, the robot 7 can reduce detours on the tower. For example, it can directly rely on the segmented track 17 and the corresponding vertically set connecting sections 10 to move to the top of the tower first, and then move down to perform inspections, thereby avoiding detours and improving overall efficiency.

[0037] like Figure 1 , 2 As shown in 3, 4, 5, and 6, specifically, on the segmented track 17 provided in this embodiment, the first through frame 2 and the second through frame 5 can allow wind to pass through, thereby avoiding excessive wind resistance load on the tower due to wind obstruction (through holes can be added to other parts of the outer plate 1 and the bottom plate 4 to improve the efficiency of wind passage, and at the same time, it can also reduce weight). Furthermore, the bottom plate 4 in this embodiment can also provide a place for the climbing feet of the robot 7 to attach, which also improves the movement efficiency of the robot 7 to a certain extent.

[0038] like Figure 1 , 2As shown in Figures 3, 4, 5, and 6, in a further exemplary embodiment, during the movement of robot 7, the first through frame 2 is provided for the elastic teeth 8 on track 9 to enter, and then pass through the first through frame 2 and abut against the top block 6. The track 9 further contacts the outer plate 1, causing the elastic teeth 8 to further push the top block 6 into the second through frame 5. As track 9 moves, the elastic teeth 8 gradually retract in the opposite direction. During this process, the elastically set top block 6 also returns to its initial state and provides a reverse thrust to the elastic teeth 8, thereby helping the elastic teeth 8 to retract out of the first through frame 2, thus assisting robot 7 in moving, reducing the energy consumption of robot 7, and helping to improve efficiency (reduced energy consumption allows robot 7 to run for a longer time with its own power supply, and also allows robot 7 to perform inspection and maintenance for a longer period of time on a single charge). The track 9 used in this embodiment is similar to that in the prior art, and is made of rubber. The elastic teeth 8 are also made of rubber. The setting of the elastic teeth 8 will not affect the normal movement of track 9 on the iron tower (that is, track 9 can move normally on the connecting section 10).

[0039] like Figure 1 , 2 As shown in Figures 3, 4, 5, and 6, in a more detailed exemplary embodiment, a cover plate 18 is also included. LL-shaped connecting plates 11 are fixedly connected to both ends of the base plate 4. The LL-shaped connecting plate 11, the mounting arm 3, one end of the outer plate 1, and the cover plate 18 are sequentially arranged and connected by bolts 12. Specifically, the mounting arm 3 can be an angle steel, fixed to the connecting section 10 by welding. The lengths of the outer plate 1 and the base plate 4 can be set according to the required distance. The outer plate 1 can be attached to one side of the angle steel, and the vertical section of the LL-shaped connecting plate 11 can be attached to the other side of the angle steel. The cover plate 18 covers the end side of the outer plate 1 and is then connected by bolts 12, thus realizing the installation of the segmented track 17. The setting of the LL-shaped connecting plate 11 allows for a smaller gap between the base plate 4 and the outer plate 1, thereby enabling the top block 6 to assist the elastic tooth 8 in retraction.

[0040] like Figure 1 , 2 As shown in Figures 3, 4, 5, and 6, in a more detailed exemplary embodiment, both the first through frame 2 and the second through frame 5 extend along the width direction of the outer layer plate 1, and the two ends of the second through frame 5 are respectively located on both sides of the outer layer plate 1. That is, the second through frame 5 is longer than the first through frame 2, which allows for a larger installation space for the top block 6. On the other hand, the width of the first through frame 2 is smaller than the width of the second through frame 5, and the top block 6 has an orthographic projection within the first through frame 2, that is, the second through frame 5 is narrower. This allows the air entering the first through frame 2 to pass between the top block 6 and the second through frame 5, while the top block 6 can adapt to the abutment between the elastic teeth 8 in the length direction.

[0041] like Figure 1 , 2 As shown in Figures 3, 4, 5, and 6, in a more detailed exemplary embodiment, intersecting horizontal elastic ropes 13 and vertical elastic ropes 14 are fixedly connected between the two opposing inner walls of the second through frame 5. The top block 6 is fixedly connected to the intersection of the horizontal elastic ropes 13 and the vertical elastic ropes 14 on one side away from the outer layer plate 1, and the other side extends beyond the second through frame 5 and is close to the outer layer plate 1. On the bottom surface of the top block 6 (the side facing away from the outer plate 1), horizontal elastic ropes 13 and vertical elastic ropes 14 are interwoven to provide elastic support for the top block 6, thereby enabling the top block 6 to assist the elastic teeth 8 in retraction. Furthermore, a reinforcing elastic rope is fixedly connected between the side wall of the top block 6 and the inner wall of the second through frame 5, that is, an elastic reinforcing rope 15 is provided on the side wall of the top block 6 to enhance the elastic support. In particular, when the track 9 moves forward, the elastic teeth 8 are pressed into the first through frame 2 and abut against the top block 6 as the track 9 rotates. During this process, the top block 6 also provides elastic support for the track 9, playing a buffering role and avoiding the adverse effects of vibration on the outer plate 1 and the bottom plate 4 during movement. Specifically, the size of the elastic teeth 8 is smaller than that of the first through frame 2, and they do not contact the inner wall of the outer plate 1 during movement. The spacing between the first through frame 2 and the second through frame 5 is adapted to the spacing of the elastic teeth 8 on the track 9, that is, the elastic teeth 8 can enter the corresponding first through frame 2 as the track 9 moves.

[0042] like Figure 1 , 2 As shown in Figures 3, 4, 5, and 6, in a further detailed exemplary embodiment, the top block 6 is recessed with an arc-shaped groove 16 on the side facing the outer layer plate 1. That is, the length of the top block 6 is greater than that of the elastic tooth 8, and the arc-shaped groove 16 is also greater than that of the elastic tooth 8. In this way, the end of the elastic tooth 8 away from the track 9 passes through the first through frame 2 and enters the corresponding arc-shaped groove 16, and then abuts against the top block 6. This can prevent the top block 6 from being misaligned with the elastic tooth 8, thereby ensuring that the auxiliary function of the elastic tooth 8 is performed normally.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A segmented track, characterized in that, include: A long strip-shaped outer plate, wherein a plurality of first through frames are equally spaced along its length; A pair of mounting arms, with each end of the outer layer plate connected to one of the two mounting arms; The base plate is long and narrow, with its two ends connected to the two mounting arms respectively. The outer plate has a vertical projection on the base plate, and the base plate is also provided with a plurality of second frames corresponding to each of the first frames. Each second frame is elastically connected to a top block. The robot is provided with a segmented track for walking. The robot includes a track with elastic teeth on the outer wall, and the elastic teeth can abut against the top block in the second through frame after passing through the first through frame. The two inner walls facing each other in the second through frame are respectively fixedly connected by intersecting horizontal elastic ropes and vertical elastic ropes. The side of the top block away from the outer layer plate is fixedly connected to the intersection of the horizontal elastic ropes and the vertical elastic ropes, and the other side extends beyond the second through frame and is close to the outer layer plate.

2. The segmented track as described in claim 1, characterized in that, It also includes a cover plate, and L-shaped connecting plates are fixedly connected to both ends of the base plate. The L-shaped connecting plates, the mounting arm, one end of the outer plate and the cover plate are arranged in sequence and connected by bolts.

3. The segmented track as described in claim 1, characterized in that, Both the first through frame and the second through frame extend along the width direction of the outer layer plate, and the two ends of the second through frame are respectively located on both sides of the outer layer plate.

4. The segmented track as described in claim 1, characterized in that, A reinforcing elastic rope is also fixedly connected between the side wall of the top block and the inner wall of the second through frame.

5. The segmented track as described in claim 1, characterized in that, The top block has an arc-shaped groove recessed on the side facing the outer layer plate.

6. The segmented track as described in claim 3, characterized in that, The width of the first through frame is smaller than the width of the second through frame, and the top block has an orthographic projection within the first through frame.

7. A steel tower that is easy for robots to climb, characterized in that, Including the segmented track as described in any one of claims 1-6.

8. The iron tower that is easy for robots to climb as described in claim 7, characterized in that, It also includes several connecting segments that are fixedly connected to each other, and the two mounting arms are respectively fixedly connected to two of the connecting segments.

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