A tower anti-fall guide rail acceptance robot and method

Abstract

The present invention belongs to the field of anti-fall rail detection. In order to solve the problem of poor detection efficiency of transmission tower anti-fall rails, a tower anti-fall rail acceptance robot and method are provided. Among them, the tower anti-fall rail acceptance robot includes a motion platform, a control module, a defect detection module and a safety protection module; the control module is used to control the motion platform to move on the anti-fall rail; the defect detection module is used to construct a tension-vibration-height curve of the corresponding tower number, determine the fault position and fault type of the anti-fall rail and transmit it to the control module, and the control module controls the motion platform to perform matching actions; the safety protection module is used to detect the distance between the motion platform and the end of the anti-fall rail and the working status of the motion platform, and then determine the matching safety protection strategy and send it to the control module, and the control module controls the motion platform to execute the corresponding safety protection strategy, which can improve the efficiency and intelligence level of the anti-fall rail status detection.

Description

Technical Field

[0001] The invention belongs to the field of anti-falling guide rail detection, and in particular relates to a tower anti-falling guide rail acceptance robot and method. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] At present, the state detection technology of anti-fall rails is usually carried out manually along the anti-fall tower during the acceptance of the newly installed anti-fall rails, which brings great safety uncertainty to the acceptance personnel. In addition, before climbing the anti-fall tower, it is necessary to evaluate the state of the anti-fall rails (such as whether the self-locking device runs smoothly on the anti-fall rails, the surface state of the anti-fall rails, the misalignment gap of the anti-fall rail joints, whether the fasteners are loose, etc.). The traditional method of evaluating the state of anti-fall rails is usually to climb the tower manually for inspection, which has problems such as large workload, low efficiency, and high risk.

[0004] Although the prior art provides a robot for detecting the status of a tower anti-fall rail, it still has the following defects:

[0005] (1) The current tower anti-fall rail inspection robot cannot accurately identify the location and type of track faults, requiring secondary inspection and identification, resulting in poor inspection efficiency for transmission tower anti-fall rails;

[0006] (2) During the operation of the current tower anti-fall rail acceptance robot, the anti-slip device at the end of the anti-fall rail may be missing, causing the robot to rush out of the anti-fall rail; and if the robot encounters obstruction during movement, it is easy to cause the motor to stall and suddenly interrupt the power, which in turn causes the robot to quickly slide off the anti-fall rail.

[0007] (3) The existing tower anti-fall rail inspection robot’s driving mechanism uses permanent magnetic wheel adsorption, which may result in the inability to adsorb anti-fall rails made of specific materials, such as aluminum anti-fall rails; and currently generally uses a down-drive clamping drive mode, which is prone to abnormal working conditions such as clamping wheel failure;

[0008] (4) The current tower anti-fall rail inspection robot has poor commutator capabilities and is not suitable for situations where the anti-fall rail is misaligned;

[0009] (5) The current tower anti-fall rail acceptance robot is not suitable for small size requirements, and the anti-fall device at the end of the anti-fall rail is not unified, which may affect the installation of the robot on and off the line;

[0010] (6) The interface of the anti-fall guide rail is not connected continuously, and wide gaps and deviating steps may appear on the interface. Wide gaps and deviating steps generally appear on the lower surface and both sides of the anti-fall guide rail, which will cause the guide wheels and clamping wheels of the robot to get stuck. Summary of the invention

[0011] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides a tower anti-fall guide rail acceptance robot and method, which can improve the efficiency and intelligence level of the anti-fall guide rail status detection.

[0012] In order to achieve the above object, the present invention adopts the following technical solution:

[0013] A first aspect of the present invention provides a tower anti-fall guide rail acceptance robot.

[0014] A tower anti-fall guide rail acceptance robot, comprising: a motion platform, a control module, a defect detection module and a safety protection module; the control module, the defect detection module and the safety protection module are all mounted on the motion platform;

[0015] The motion platform is in communication connection with the control module; the control module is used to control the motion platform to move on the anti-fall guide rail; the end of the motion platform is also connected to a self-locking device;

[0016] The defect detection module is used to detect the tension of the self-locking device, the height information of the motion platform and the vibration signal, and construct the tension-vibration-height curve of the corresponding tower number, and then determine the fault location and fault type of the anti-fall guide rail and transmit them to the control module, and the control module controls the motion platform to perform matching actions;

[0017] The safety protection module is used to detect the distance between the motion platform and the end of the anti-fall guide rail and the working status of the motion platform, and then determine the matching safety protection strategy and send it to the control module, which controls the motion platform to execute the corresponding safety protection strategy.

[0018] As an implementation mode, the motion platform comprises: a single-axis positive floating suspension mechanism, the single-axis positive floating suspension mechanism comprises a fixed frame, a floating mechanism, a driving mechanism and a walking wheel mechanism; the floating mechanism is connected to the fixed frame, the walking wheel mechanism comprises a floating friction wheel and a fixed walking wheel; the driving mechanism is fixedly connected to the floating mechanism; the driving mechanism is used to provide power for the walking wheel mechanism;

[0019] The floating friction wheel is connected to the floating mechanism and arranged on the upper surface of the anti-falling guide rail;

[0020] The fixed walking wheel is fixedly connected to the fixed frame, is located on the lower surface of the anti-falling guide rail and is arranged on both sides of the floating friction wheel to cooperate with the floating friction wheel to clamp the anti-falling guide rail.

[0021] As an implementation manner, the fixed frame is composed of a first frame, a second frame and a top pressure plate, the first frame and the second frame are arranged opposite to each other, and the top pressure plate is connected between the first frame and the second frame.

[0022] As an implementation method, the floating mechanism includes a floating clamping frame, a fixed cavity, a floating spring and a spring adjustment arm;

[0023] The floating clamping frame can move up and down along the inner side of the fixed frame;

[0024] The bottom of the fixed cavity is fixedly connected to the floating clamping frame, the top of the fixed cavity is open, and the floating spring is placed in the fixed cavity;

[0025] The spring adjustment arm includes a hollow cavity and a screw. The hollow cavity is fixed at the lower part of the top pressure plate, and the inner wall of the hollow cavity is sleeved on the outside of the fixed cavity. The screw is connected to the top of the hollow cavity, and the screw cooperates with the threaded hole on the top pressure plate and extends out of the top pressure plate, thereby changing the compression amount of the floating spring in the fixed cavity.

[0026] As an implementation mode, guide grooves are provided on both sides of the floating clamping frame, and the floating clamping frame can move along the limiting plate; the limiting plate is fixed on the inner side of the fixed frame and is used for limiting and guiding the floating clamping frame.

[0027] As an implementation mode, a secondary adjustment mechanism is provided at at least one end of the fixed frame along the direction of the anti-fall guide rail, and the secondary adjustment mechanism is symmetrically arranged on both sides of the anti-fall guide rail to perform a primary adjustment of the shift fork and a secondary retraction and pulling correction on the staggered anti-fall guide rail in sequence.

[0028] As an implementation mode, the secondary adjustment mechanism is symmetrically arranged along the anti-fall guide rail, and includes a pin shaft, a first swing arm, a guide wheel set, a rotating shaft, a first shift fork, a second swing arm, a second shift fork, an adjustable screw and a tension spring;

[0029] One end of the first swing arm and the second swing arm are both hinged to the fixed frame through a pin shaft, and both can rotate along the pin shaft at a set angle; the other end of the first swing arm and the second swing arm are both designed with a U-shaped opening to accommodate the corresponding guide wheel set;

[0030] The guide wheel set is sleeved on the corresponding rotating shaft; the first fork and the second fork are respectively installed on the first swing arm and the second swing arm through the corresponding rotating shaft, and the first fork and the second fork are combined to form an outward-facing eight-shaped adjustment structure at the front end of the robot in the travel direction;

[0031] The first swing arm and the second swing arm are both connected with an adjustable screw; one end of the two tension springs is respectively connected to the corresponding adjustable screw, and the other ends of the two tension springs are connected to the fixed frame.

[0032] As an implementation mode, the fixed running wheel is also connected to an automatic opening and closing mechanism, and the automatic opening and closing mechanism is used to push in and pull out the fixed running wheel to realize the installation of the tower anti-fall guide rail acceptance robot from any position of the anti-fall guide rail.

[0033] As an implementation mode, the automatic opening and closing mechanism includes a moving arm, a screw stepped shaft and a power transmission assembly;

[0034] The outer side of the fixed frame is also provided with a slide groove, and both ends of the movable arm are provided with protrusions, and the protrusions are installed in the slide groove, and the lower end of the movable arm is connected to the fixed walking wheel;

[0035] The movable arm is provided with a horizontal threaded hole, and the screw stepped shaft cooperates with the threaded hole; the power transmission assembly is connected to the screw stepped shaft to provide power for the screw stepped shaft; when the screw stepped shaft rotates, it drives the movable arm to reciprocate along the slide groove.

[0036] As an implementation mode, the automatic opening and closing mechanism further includes a fixed beam, a limit switch and a bearing seat;

[0037] The bearing seat has a bearing inside for supporting the screw stepped shaft; the bearing seat is provided with a first limit switch for detecting whether the movable arm is retracted into place; the fixed beam is connected to the lower part of the fixed frame; the fixed beam is used to fix the bearing; the fixed beam is provided with a second limit switch for detecting the moving position of the movable arm.

[0038] As an implementation mode, the fixed frame is further connected to a battery box body, and a battery locking mechanism is provided in the battery box body for locking the battery; the battery locking mechanism includes a telescopic pin, a limit block and a locking spring;

[0039] The two telescopic pins are installed back to back and placed in the slide slot of the battery box; the head of the telescopic pin is a square cone, the tail has an inner hole for accommodating the locking spring, and the upper part is provided with a handle;

[0040] The limit block is used to limit the telescopic pin from sliding out to the side; the locking spring is used to provide a force for resetting the telescopic pin and keep it in the pushed-out state.

[0041] As an implementation method, the defect detection module includes a tension sensor, a posture sensor, a vibration sensor and a processor; the processor communicates with the control module;

[0042] The posture sensor is used to sense the height information of the pole tower anti-fall rail acceptance robot and transmit it to the processor; the tension sensor is arranged at the connection between the pole tower anti-fall rail acceptance robot and the self-locking device, and is used to detect the real-time tension of the self-locking device to characterize the smoothness of the self-locking device running on the anti-fall rail and transmit it to the processor; the vibration sensor is used to detect the vibration signal of the pole tower anti-fall rail acceptance robot running in real time on the anti-fall rail and transmit it to the processor;

[0043] The processor is used to form a tension-vibration-height curve of the current tower number based on the current tower number and the information transmitted by the posture sensor, tension sensor and vibration sensor, and then compare it with the tension-vibration-height reference curve of the current tower number, and at the same time determine the fault location and fault type of the anti-fall guide rail.

[0044] As an embodiment, the defect detection module also includes a video acquisition device, which is used to detect the appearance image of the anti-fall rail of the tower anti-fall rail acceptance robot running in real time on the anti-fall rail and transmit it to the processor, which determines whether the appearance of the anti-fall rail is normal.

[0045] As an implementation manner, the control module also communicates with the handheld terminal.

[0046] As an implementation mode, the control module is also used to transmit the current power information of the pole tower anti-fall guide rail acceptance robot to the handheld terminal, and the handheld terminal determines whether to issue a return command based on the current power and the remaining inspection length and total length of the anti-fall guide rail.

[0047] As an implementation mode, the control module is also used to control the pole tower anti-fall guide rail acceptance robot to continue to perform the detection task or automatically start the return trip according to the communication status with the handheld terminal.

[0048] As an embodiment, the motion platform is also equipped with a blocking and correcting structure, which includes a support plate, a guide wheel seat and a guide wheel; the support plate is connected to a fixed frame, the guide wheel seat is installed on the support plate, the guide wheel is fixed to the guide wheel seat through a guide wheel shaft, and a compression spring is also installed between the support plate and the guide wheel seat; the guide wheel seat and the support plate are both provided with buffer slopes to correct the deflection angle of the anti-fall guide rail.

[0049] As an embodiment, the buffer slope is a snowboard surface structure.

[0050] As an implementation manner, a slide groove is provided on the support plate, a sliding block matching the slide groove is provided on the guide wheel seat, and the sliding block is arranged in the slide groove.

[0051] As an implementation manner, the slide groove is a T-shaped slide groove, and the slider is a T-shaped slider.

[0052] As an implementation mode, the safety protection module includes a safety protection controller, a distance sensor, a speed sensor and a current / voltage sensor;

[0053] The distance measuring sensor is used to detect the distance between the tower anti-falling guide rail acceptance robot and the end of the anti-falling guide rail and transmit it to the safety protection controller;

[0054] The speed sensor is used to detect the movement speed of the motion platform and transmit it to the safety protection controller;

[0055] The current / voltage sensor is used to detect the output current / voltage signal of the driving mechanism and transmit it to the safety protection controller;

[0056] The safety protection controller is used to determine a matching safety protection strategy according to the received signal and send it to the control module.

[0057] As an implementation method, the motion platform is also equipped with a brake device; the safety protection strategy includes:

[0058] When it is detected that the distance between the motion platform and the end of the anti-fall guide rail is less than or equal to the set threshold, the motion platform is controlled to return;

[0059] When an abnormality in the drive mechanism is detected, the brake device is controlled to start, and the drive mechanism is controlled to perform a soft reset or hardware restart reset until the drive mechanism fault is eliminated;

[0060] If the fault cannot be eliminated by soft reset or hardware restart reset of the drive mechanism, the control tower anti-fall guide rail acceptance robot will return to the safe area;

[0061] When the movement speed of the motion platform exceeds the set speed, the brake device is controlled to start, so that the tower anti-fall guide rail acceptance robot brakes.

[0062] A second aspect of the present invention provides a control method for a tower anti-fall guide rail acceptance robot.

[0063] A control method for a tower anti-fall guide rail acceptance robot, comprising:

[0064] While controlling the motion platform to move on the anti-fall guide rail, the height information of the motion platform, the real-time tension of the self-locking device, and the vibration signal of the motion platform running on the anti-fall guide rail in real time are received, and then the tension-vibration-height curve of the current tower number is constructed, and then compared with the tension-vibration-height reference curve of the current tower number, and the fault position and fault type of the anti-fall guide rail are determined at the same time, so as to control the motion platform to perform matching actions;

[0065] Receive the distance between the motion platform and the end of the anti-fall guide rail and the working status of the motion platform, and then determine the matching safety protection strategy to control the motion platform to execute the corresponding safety protection strategy.

[0066] As an implementation method, when the fault type of the anti-falling guide rail is the misaligned anti-falling guide rail, the secondary adjustment mechanism is controlled to sequentially perform a first adjustment of the shift fork and a second adjustment of the retraction and pulling of the misaligned anti-falling guide rail;

[0067] When the fault type of the anti-fall guide rail is a wide gap or a joint step, the deflection angle of the anti-fall guide rail is corrected by using the buffer slope on the guide wheel seat and the support plate.

[0068] As an implementation method, the control method of the tower anti-fall guide rail acceptance robot also includes:

[0069] Before the tower anti-fall guide rail acceptance test robot performs the climbing action, it automatically detects the battery power signal and the locking signal of the automatic opening and closing mechanism;

[0070] Only when the battery power is at least twice the power requirement of the anti-fall guide rail and the locking signal of the automatic opening and closing mechanism can be detected, the control tower anti-fall guide rail acceptance robot performs the climbing action.

[0071] As an implementation method, if the battery power is lower than the power requirement of twice the height of the anti-fall guide rail, a low-battery alarm is output to prompt the user to replace the battery.

[0072] If the pole tower anti-fall guide rail acceptance robot detects that the locking signal of the automatic opening and closing mechanism disappears during the climbing action, the pole tower anti-fall guide rail acceptance robot is controlled to stop immediately. At this time, the power transmission component of the automatic opening and closing structure is activated to drive the automatic opening and closing mechanism to lock and re-trigger the locking signal. If the triggering is successful, the pole tower anti-fall guide rail acceptance robot resumes normal action; if repeated triggering fails, the pole tower anti-fall guide rail acceptance robot is controlled to perform the reverse return motion.

[0073] The beneficial effects of the present invention are:

[0074] (1) The present invention innovatively proposes an automatic detection technology for defects in tower anti-fall rails, which uses tension-vibration-height to comprehensively judge the fault location and fault type of the anti-fall rail. This solves the problem that the current tower anti-fall rail inspection robot cannot accurately identify the fault location and fault type of the anti-fall rail, and requires secondary detection and identification, resulting in poor detection efficiency of the transmission tower anti-fall rail. This effectively reduces the labor intensity and operational risks of anti-fall rail detection and improves the efficiency and accuracy of anti-fall rail status detection.

[0075] (2) The present invention innovatively proposes a pole tower anti-fall guide rail safety protection technology, which determines a matching safety protection strategy based on the distance between the motion platform and the end of the anti-fall guide rail and the working status of the motion platform, so as to control the motion platform to execute the corresponding safety protection strategy, thereby solving the current safety risk of sudden loss of control during the operation of the pole tower anti-fall robot and improving the stability and safety of the pole tower anti-fall robot.

[0076] (3) The present invention innovatively develops a two-stage adjustment mechanism that is suitable for the anti-fall guide rail commutator. The mechanism is designed for the robot to autonomously correct and pass small angle deviations of the anti-fall guide rail commutator, and has a two-stage crossing mode, which expands the adjustment range and solves the problem that the commutator capability of the tower anti-fall guide rail acceptance robot is poor and is not suitable for the situation where the anti-fall guide rail is misaligned. The mechanism improves the ability of the tower anti-fall guide rail acceptance robot to pass the commutator and expands the robot's application scenarios.

[0077] (4) The present invention innovatively develops a single-axis positive floating suspension mechanism, which uses a floating mechanism to generate vertical downward pressure on the floating friction wheel, and cooperates with the fixed walking wheels on both sides of the lower surface of the anti-fall guide rail to clamp the anti-fall guide rail, thereby solving the problems of poor adsorption performance of the permanent magnetic wheel and abnormal working conditions such as failure of the clamping wheel. The single friction wheel positive floating structure is smaller in size, and the pressure directly acts on the wheel system with higher efficiency, which can ensure that the robot can reliably move along the vertical anti-fall guide rail. The permanent magnetic adsorption adds redundant safety pressure insurance under abnormal working conditions such as failure of the clamping wheel.

[0078] (5) The present invention innovatively develops a small-stroke unilateral automatic opening and closing mechanism for the pole tower anti-fall rail inspection robot, which enables the robot to be installed on the anti-fall rail at any position, thereby improving the adaptability; the unilateral small-stroke automatic opening and closing and flip-type online method meet the requirements of the pole tower anti-fall rail inspection robot for its small size, obstacle avoidance, width size restrictions, etc.

[0079] (6) The present invention innovatively proposes a jamming and correction structure for an anti-fall pole tower, which utilizes a floating assembly to connect a driving wheel and a guide wheel assembly with a compression spring, and then combines the guide wheel seat and the buffer slope arranged on the support plate to correct the deflection angle of the anti-fall guide rail. This solves the problem that the reversing anti-fall guide rail may not turn properly, which may cause an angle deviation between the reversing anti-fall guide rail and the running anti-fall guide rail, making it impossible for the robot to change direction and causing the guide wheel and the clamping wheel of the robot to get stuck. This realizes the correction of the jamming of the anti-fall guide rail and allows it to pass smoothly through obstacles such as wide gaps and steps at the joints.

[0080] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0082] Figure 1 2 is a side view of the overall arrangement of the tower anti-falling guide rail acceptance robot according to an embodiment of the present invention;

[0083] Figure 2 2. It is a top view of the overall arrangement of the tower anti-falling guide rail acceptance robot according to an embodiment of the present invention;

[0084] Figure 3 is a structural diagram of a single-axis positive floating suspension mechanism according to an embodiment of the present invention;

[0085] Figure 4 is a structural diagram of a secondary adjustment mechanism of an embodiment of the present invention;

[0086] Figure 5 is a schematic diagram of a commutator adjustment device according to an embodiment of the present invention;

[0087] Figure 6 is an exploded diagram of the components of the automatic opening and closing mechanism of an embodiment of the present invention;

[0088] Figure 7 is a motion principle diagram of the automatic opening and closing mechanism of an embodiment of the present invention;

[0089] Figure 8 is a schematic diagram of battery replacement according to an embodiment of the present invention;

[0090] Fig. 9 is a structural principle diagram of a battery locking mechanism according to an embodiment of the present invention;

[0091] Fig.10 It is a schematic diagram of the operation of the pole tower anti-falling guide rail acceptance robot on the pole tower according to an embodiment of the present invention;

[0092] Fig.11 It is a schematic diagram of a tower anti-falling guide rail acceptance robot communicating with a handheld terminal and operating on a tower according to an embodiment of the present invention;

[0093] Fig.12 is a schematic diagram of a tension-tower number and height curve of an embodiment of the present invention;

[0094] Fig.13 is a flow chart of anti-fall guide rail defect detection based on tension and vibration according to an embodiment of the present invention;

[0095] Fig.14 It is a flow chart of anti-falling guide rail defect detection based on tension, vibration and anti-falling guide rail appearance according to an embodiment of the present invention;

[0096] Fig.15 2 is a schematic diagram of the installation of the blocking and deviation-correcting structure of an embodiment of the present invention;

[0097] Fig.16 2 is a side view of the blocking and deviation correction structure of an embodiment of the present invention;

[0098] Fig.17 is an installation principle diagram of a distance measuring sensor according to an embodiment of the present invention;

[0099] Fig.18 This is a driving mechanism abnormality processing flow of an embodiment of the present invention;

[0100] Fig.19 This is the handheld terminal communication connection process of an embodiment of the present invention;

[0101] in:

[0102] 1. Single-axis positive floating suspension mechanism, 2. Secondary adjustment mechanism, 3. Automatic opening and closing mechanism, 4. Battery locking mechanism;

[0103] 101. floating clamping frame, 102. fixed cavity, 103. first frame, 104. spring adjustment arm, 105. floating spring, 106. locking nut, 107. top pressure plate, 108. second frame, 109. limit plate, 110. bearing, 111. drive shaft, 112. floating friction wheel, 113. fixed travel wheel, 114. synchronous belt drive assembly;

[0104] 201, pin shaft, 202, first swing arm, 203, guide wheel assembly, 204, rotating shaft, 205, first shift fork, 206, second swing arm, 207, second shift fork, 208, adjustable screw rod, 209, tension spring, 210, cross bar;

[0105] 301, moving arm, 302, fixed beam, 303, screw stepped shaft, 304, power transmission assembly, 305, limit switch, 306, bearing seat;

[0106] 401, male head compartment, 402, battery pack, 4021, telescopic pin, 4022, limit block, 4023, locking spring;

[0107] 5. Anti-fall guide rail; 6. Support plate; 7. Guide wheel seat; 8. Compression spring; 9. Guide wheel; 10. Pressure plate; 11. Guide wheel shaft; 12. Buffer slope;

[0108] 13. Distance measuring sensor, 14. Shading device;

[0109] 15. Pole tower anti-fall guide rail acceptance robot; 16. Pole tower; 17. Handheld terminal. DETAILED DESCRIPTION

[0110] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0111] It should be noted that the following detailed descriptions are all illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0112] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0113] In the present invention, terms such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "side", "bottom", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various parts or elements of the present invention, and do not specifically refer to any part or element in the present invention and should not be understood as limitations on the present invention.

[0114] In the present invention, terms such as "fixed connection", "connected", "connection", etc. should be understood in a broad sense, indicating that it can be fixedly connected, integrally connected or detachably connected; it can be directly connected or indirectly connected through an intermediate medium. Relevant scientific research or technical personnel in this field can determine the specific meanings of the above terms in the present invention according to specific circumstances, and they should not be understood as limiting the present invention.

[0115] According to relevant specifications and requirements, the commonly used anti-fall rail sections are I-shaped aluminum alloy or T-shaped steel. The top width of the wing plate is only about 36mm, and the side thickness is 5-7mm. The foot nails and connecting plates installed on the back of the anti-fall rail lead to a small space. In order to adapt to the reliable movement of the small-section vertical anti-fall rail, the robot needs an anti-fall rail motion mechanism that can reliably hold, autonomously guide, climb at a large angle, and have the function of vertical arc passage.

[0116] The specific implementation process of the present invention is described in detail below in conjunction with the accompanying drawings.

[0117] In one or more embodiments, a tower anti-fall guide rail acceptance robot 15 is provided, comprising: a motion platform, a control module, a defect detection module and a safety protection module; the control module, the defect detection module and the safety protection module are all mounted on the motion platform;

[0118] The motion platform is in communication connection with the control module; the control module is used to control the motion platform to move on the anti-fall guide rail; the end of the motion platform is also connected to a self-locking device;

[0119] The defect detection module is used to detect the tension of the self-locking device, the height information of the motion platform and the vibration signal, and construct the tension-vibration-height curve of the corresponding tower number, and then determine the fault location and fault type of the anti-fall guide rail and transmit them to the control module, and the control module controls the motion platform to perform matching actions;

[0120] The safety protection module is used to detect the distance between the motion platform and the end of the anti-fall guide rail and the working status of the motion platform, and then determine the matching safety protection strategy and send it to the control module, which controls the motion platform to execute the corresponding safety protection strategy.

[0121] In the embodiment of the present invention, the motion platform comprises: a single-axis positive floating suspension mechanism 1, such as Figure 1-Figure 3 As shown, the single-axis positive floating suspension mechanism 1 includes a fixed frame, a floating mechanism, a driving mechanism and a walking wheel mechanism;

[0122] The floating mechanism is connected to the fixed frame, and the walking wheel mechanism includes a floating friction wheel 112 and a fixed walking wheel 113; the driving mechanism is fixedly connected to the floating mechanism; and the driving mechanism is used to provide power for the walking wheel mechanism;

[0123] The floating friction wheel 112 is connected to the floating mechanism and arranged on the upper surface of the anti-falling guide rail;

[0124] The fixed walking wheel 113 is fixedly connected to the fixed frame, located on the lower surface of the anti-falling guide rail and arranged on both sides of the floating friction wheel 112 to cooperate with the floating friction wheel 112 to clamp the anti-falling guide rail.

[0125] The floating friction wheel 112 of this embodiment is a traditional central rubber wheel, which can be stacked with annular permanent magnets embedded at both ends. Compared with the permanent magnetic walking wheels of existing wall-climbing robots, it has lower cost and more flexible size; compared with simple rubber wheels, it has additional permanent magnetic adsorption force, which enhances the adsorption force on the rails.

[0126] The mounting surface of the fixed running wheel 113 of the present embodiment is designed with an angled inclination to ensure that the circular running wheel can cooperate with the inclined surface of the lower surface of the anti-fall guide rail.

[0127] like Figure 3 As shown, the fixed frame is composed of a first frame 103 , a second frame 108 and a top pressure plate 107 . The first frame 103 and the second frame 108 are arranged opposite to each other, and the top pressure plate 107 is connected between the first frame 103 and the second frame 108 .

[0128] In some specific embodiments, the floating mechanism includes a floating clamping frame 101, a fixed cavity 102, a floating spring 105 and a spring adjustment arm 104; the floating clamping frame 101 can move up and down along the inner side of the fixed frame; the bottom of the fixed cavity 102 is fixedly connected to the floating clamping frame 101; for example, the fixed cavity 102 is a hollow cylinder, and the lower part is fixed by screws and the floating clamping frame 101; the top of the fixed cavity 102 is open, and the floating spring 105 is placed in the fixed cavity 102 to limit the tilt of the floating spring 105; the floating spring 105 provides positive pressure;

[0129] The spring adjustment arm 104 includes a hollow cavity and a screw. The hollow cavity is fixed to the lower part of the top pressure plate 107, and the inner wall of the hollow cavity is sleeved on the outer side of the fixed cavity 102; thus, it serves as a secondary guide for the entire floating mechanism.

[0130] The screw is connected to the top of the cavity. In the specific implementation process, the top of the screw has a slot and the end is cut flat (for easy rotation and adjustment). In this way, the screw can be rotated by inserting a screwdriver into the top slot.

[0131] The screw rod cooperates with the threaded hole on the top pressure plate 107 and extends out of the top pressure plate 107, which can control the adjustment arm to move up and down, thereby changing the compression amount of the floating spring 105 in the fixed cavity 102. The pressure of the floating spring 105 is transmitted to the fixed cavity 102 and the floating clamping frame 101, and then transmitted to the floating friction wheel 112 fixed on the floating clamping frame 101, so that the floating friction wheel 112 positively presses the anti-falling guide rail, generating sufficient friction force to drive the whole machine to climb vertically; at the same time, when the floating friction wheel 112 encounters an obstacle or the anti-falling guide rail is misaligned, it drives the spring to expand and contract in the reverse direction to achieve the obstacle crossing of the driving suspension. After adjusting the stroke of the top screw rod, it is locked by the locking nut 106.

[0132] In a specific embodiment, guide grooves are provided on both sides of the floating clamping frame 101, and the floating clamping frame 101 can move along the limiting plate 109; the limiting plate 109 is fixed on the inner side of the fixed frame (for example, the limiting plate 109, one on the left and one on the right, are respectively fixed on the second frame 108 and the first frame 103, and are installed on the floating clamping frame 101), which is used for limiting and guiding the floating clamping frame 101.

[0133] In the specific implementation process, the driving mechanism includes a bearing 110, a driving shaft 111 and a synchronous belt transmission assembly 114; the bearing 110 is arranged at both ends of the driving shaft 111, and the bearing 110 is installed on the floating clamping frame 101; one end of the driving shaft 111 is connected to the synchronous belt transmission assembly 114, and the other end is connected to the floating friction wheel 112.

[0134] The driving shaft 111 cooperates with the floating friction wheel 112 . The driving shaft 111 is used to transmit the speed and torque of the synchronous belt transmission assembly 114 to the floating friction wheel 112 . The synchronous belt transmission assembly 114 is used to output the driving speed and torque of the whole machine.

[0135] Figure 2 The dotted line in the figure is an anti-falling guide rail, which is vertically fixed on the power tower. The tower anti-falling guide rail acceptance robot climbs vertically along the small-section anti-falling guide rail. Figure 2 In the figure, the floating friction wheel 112 and the fixed walking wheel 113 are combined to clamp the upper and lower surfaces of the anti-fall guide rail to prevent the robot from tipping over when climbing vertically; the floating friction wheel 112 maintains pressure in real time (the pressure is adjustable), and the friction force attached to the vertical anti-fall guide rail can be increased by increasing the pressure. When it is sufficient to overcome the gravity of the entire machine, the robot can climb vertically or at a large angle along the anti-fall guide rail.

[0136] Figure 2 In the figure, the fixed running wheel 113 on the right is fixed on the first frame 103; the fixed running wheel 113 on the left is designed to be an automatically movable opening and closing structure, which is convenient for the robot to go online and offline at any position.

[0137] Figure 2 The floating clamping frame 101 in the floating mechanism can float up and down along the limit plates 109 on both sides, and drive the fixed cavity 102, the driving shaft 111, and the synchronous belt transmission assembly 114 (including the motor) to float together. The up and down floating stroke is controlled by the compression amount of the floating spring 105.

[0138] The single-axis positive floating suspension mechanism 1 of this embodiment can actively provide a suitable positive pressing force, thereby overcoming the robot's own gravity to achieve vertical large-angle climbing without the need for sprocket chains, gear racks and other structures; it can improve the robot's passability. Figure 2 When there are installation defects such as misalignment and distortion on the guide rail (see the middle dashed line section), the floating friction wheel 112 can float up and down accordingly, ensuring that it is reliably close to the anti-fall guide rail and expanding its adaptability to installation defects of the anti-fall guide rail.

[0139] In one or more embodiments, a secondary adjustment mechanism 2 is provided at at least one end of the fixed frame along the direction of the anti-fall guide rail, and the secondary adjustment mechanism 2 is symmetrically arranged on both sides of the anti-fall guide rail to perform a primary adjustment of the fork and a secondary retraction and pulling correction on the staggered anti-fall guide rail in sequence.

[0140] like Figure 4 and Figure 5As shown, the secondary adjustment mechanism 2 is symmetrically arranged along the anti-falling guide rail, and includes a pin 201, a first swing arm 202, a guide wheel set 203, a rotating shaft 204, a first shift fork 205, a second swing arm 206, a second shift fork 207, an adjustable screw 208 and a tension spring 209;

[0141] One end of the first swing arm 202 and the second swing arm 206 are both hinged to the fixed frame through the pin 201, and can rotate along the pin 201 at a set angle; the other ends of the first swing arm 202 and the second swing arm 206 are both U-shaped opening designs for accommodating the corresponding guide wheel set 203;

[0142] The guide wheel set 203 is sleeved on the corresponding rotating shaft 204; the first fork 205 and the second fork 207 are respectively installed on the first swing arm 202 and the second swing arm 206 through the corresponding rotating shaft 204, and the first fork 205 and the second fork 207 are combined to form an outward-facing eight-shaped adjustment structure at the front end of the robot in the travel direction;

[0143] The first swing arm 202 and the second swing arm 206 are both connected to an adjustable screw 208; one end of two tension springs 209 are respectively connected to the corresponding adjustable screw 208, and the other ends of the two tension springs 209 are connected to the fixed frame. For example, the tension spring 209 is fixed to the crossbar 210, and the crossbar 210 is fixed to the fixed frame as a fixing point of the tension spring 209.

[0144] In this embodiment, the first swing arm 202 and the second swing arm 206 are both crank arm support structures. One end of the first swing arm 202 is hinged to the first frame 103 through a pin 201 (the other end of the robot is hinged to the second frame 108 at the diagonal position, the diagonal is the same structural component, and the two sides of the anti-fall guide rail are symmetrical structures).

[0145] The guide wheel set 203 is cylindrical, clamps the two sides of the anti-falling guide rail, and is closely attached to the side of the anti-falling guide rail through the tension of the tension spring 209, playing a guiding role.

[0146] The commutator of the anti-fall guide rail is generally used for switching between the vertical anti-fall guide rail and the horizontal anti-fall guide rail. The small section of the anti-fall guide rail in the middle can be rotated manually to facilitate the switching of operators (after the manually used fall arrester slides to the small anti-fall guide rail in the middle, it is manually rotated to the horizontal direction, which can facilitate the operator to switch from vertical operation to horizontal operation).

[0147] Since the position of the anti-fall rail in the middle state of the commutator is affected by manual operations, natural environment, etc., its position is uncertain. When it is not aligned with the vertical anti-fall rail, the robot will not be able to pass, or the robot will fall or get stuck at the commutator due to misalignment. Therefore, when the robot climbs to the commutator, the following technical solution is designed:

[0148] The robot is equipped with a visible light camera at the front and rear ends. When the robot climbs to the top of the tower, the robot is manually operated to slow down and climb in low-speed mode. When the line changer appears in the field of view of the remote control, the robot is parked and braked to confirm the position of the small anti-fall guide rail in the middle. When the small anti-fall guide rail is in a horizontal state, the robot will not pass through the commutator and return; when the small anti-fall guide rail is aligned or deflected at a small angle, the robot is operated to climb slowly.

[0149] The front-end secondary adjustment mechanism 2 starts to work automatically. Taking one side as an example, the trumpet-mouth inclined surface of the first shift fork 205 penetrates into the commutator forward and gradually touches the deflected small anti-falling guide rail. The first shift fork 205 has a pulling force toward the middle of the anti-falling guide rail under the action of the tension spring 209. The shift fork in the shape of the outer eight gradually pushes forward and converges to the section of the guide wheel group 203, and then the guide wheel group 203 will take over to complete the secondary correction. The guide wheel group 203 realizes secondary retraction and rotation of the anti-falling guide rail under the action of the tension spring, thereby realizing the commutator adjustment. Compared with the obstacle crossing structure with only the guide wheel, the addition of the shift fork for one-time adjustment amplifies the adjustment stroke, and the trumpet mouth can touch the larger deflected anti-falling guide rail, which improves the adaptability.

[0150] The two-stage adjustment mechanism 2 of this embodiment is divided into two stages of deviation correction, which can adapt to the autonomous straightening of the anti-fall guide rail commutator with a small angle deflection, thereby improving the passability of the robot.

[0151] In one or more embodiments, the fixed walking wheel 113 is also connected to the automatic opening and closing mechanism 3, and the automatic opening and closing mechanism 3 is used to push in and pull out the fixed walking wheel 113 to realize the installation of the tower anti-fall guide rail acceptance robot from any position of the anti-fall guide rail.

[0152] like Figure 6 and Figure 7 As shown, the automatic opening and closing mechanism 3 includes a moving arm 301, a screw stepped shaft 303 and a power transmission assembly 304; a slide groove is also provided on the outer side of the fixed frame, and protrusions are provided at both ends of the moving arm 301, and the protrusions are installed in the slide groove, and the lower end of the moving arm 301 is connected to the fixed walking wheel 113;

[0153] The movable arm 301 is provided with a horizontal threaded hole, and the screw stepped shaft 303 cooperates with the threaded hole; the power transmission assembly 304 is connected to the screw stepped shaft 303 to provide power for the screw stepped shaft 303; when the screw stepped shaft 303 rotates, it drives the movable arm 301 to move back and forth along the slide groove.

[0154] The protrusions at both ends of the movable arm 301 of this embodiment are installed in the slide groove of the second frame 108, and its lower part is an inclined structure and a fixed running wheel 113 is installed. Its inclined structure ensures that the fixed running wheel 113 can fit tightly with the bottom slope surface of the anti-fall guide rail.

[0155] In some optional embodiments, the automatic opening and closing mechanism 3 further includes a fixed beam 302, a limit switch 305 and a bearing seat 306;

[0156] The bearing seat 306 has a bearing therein for supporting the screw stepped shaft 303; a limit switch 305 is provided on the bearing seat 306 for detecting whether the movable arm 301 is retracted into place; the fixed beam 302 is connected to the lower part of the fixed frame; the fixed beam 302 is used to fix the bearing; another limit switch 305 is provided on the fixed beam 302 for detecting the moving position of the movable arm 301.

[0157] The anti-falling rail is installed on the power tower, and a safety device is set at the bottom to prevent the anti-falling device from falling out. Since the specifications and shapes of the safety anti-falling devices on the actual site are different, there is a great deal of uncertainty in the tower anti-falling rail acceptance robot entering from the bottom of the anti-falling rail. The automatic opening and closing mechanism 3 can make the robot not limited by the specifications of the anti-falling device at the end of the anti-falling rail, and realize the installation of the robot from any position.

[0158] The automatic opening and closing mechanism 3 of the present embodiment is a single-sided opening and closing mechanism, which realizes the pushing and pulling of the fixed walking wheel 113. For example, when the robot needs to be removed, it is necessary to control the automatic opening and closing mechanism 3 to be pulled out toward the anti-fall guide rail, and then let the robot tilt and pull to the opposite side (the tilting is to make the lower walking wheel pull out of the side edge of the anti-fall guide rail and then tilt the whole machine to flip to the upper surface of the anti-fall guide rail. At this time, pulling to the opposite side can reduce the stroke of the opening and closing mechanism and meet the needs of the small size of the anti-fall guide rail robot. Compared with the solution of opening and closing on both sides, the structural size is more compact). The process is opposite during installation.

[0159] The working principle of the automatic opening and closing mechanism 3 of this embodiment is:

[0160] The automatic opening and closing mechanism 3 is arranged on the opposite side of the synchronous belt drive assembly 114. The bottom of the second frame 108 is open and designed with a slide groove. The movable arm 301 is arranged in the inner part of the opening, which can translate along the slide groove of the second frame 108, thereby driving the fixed walking wheel 113 installed on the inclined surface of the movable arm 301 to translate, so that the fixed walking wheel 113 can penetrate into or pull out of the lower surface of the anti-fall guide rail. The fixed beam 302 connects the two ends of the opening of the second frame 108, and serves as a mechanical hard limit for the outward pulling of the movable arm 301. The bearing and the bearing seat 306 are installed on it to jointly support the screw stepped shaft 303, and the limit switch 305 is installed on it as a detection of the in-place pulling of the movable arm 301. The structural body of the bearing seat 306 is a mechanical hard limit for the retraction of the movable arm 301, and the limit switch 305 on it is used as a detection of the retraction. The power transmission link is that the power transmission component 304 (including the opening and closing motor) transmits the speed and torque to the screw stepped shaft 303. The two ends of the screw stepped shaft 303 are supported by bearings. The middle section is an external thread and cooperates with the threaded hole on the moving arm 301 to convert the rotational motion into the translational motion of the moving arm 301.

[0161] The specific action flow is as follows:

[0162] The remote control starts the robot rail hanging mode, the robot indicator light flashes, and the signals of the two limit switches 305 are collected. If the inner travel switch signal is triggered, the power transmission component 304 (including the opening and closing motor) is started to drive the mobile arm 301 to move horizontally along the second frame 108 slide groove toward the outside of the robot until the outer limit switch 305 is triggered, and the power transmission component 304 stops; the operator holds the robot handle, tilts the robot toward the opposite side of the opening and closing mechanism, and pushes the anti-falling guide rail to clamp the anti-falling guide rail on one side, and then presses down to adjust the robot. The remote control operates the opening and closing mechanism to close the command, and the power transmission component 304 (including the opening and closing motor) moves in the opposite direction, driving the mobile arm 301 to move toward the inside of the robot until the inner limit switch 305 is triggered, so that the fixed walking wheel 113 installed on the mobile arm is in the working position. At this time, the robot is operated to move. If the inner travel switch trigger signal is not detected, the robot will not execute the motion command, thereby ensuring the safety of the robot. When the robot is removed, the remote control operates the opening and closing mechanism to open the command, and the related actions are opposite to the above process.

[0163] In one or more embodiments, a battery box is further connected to the fixed frame, and a battery locking mechanism 4 is provided in the battery box for locking the battery.

[0164] like Fig. 9 As shown, the battery locking mechanism 4 includes a telescopic pin 4021, a limit block 4022 and a locking spring 4023;

[0165] The two telescopic pins 4021 are installed back to back and placed in the slide slot of the battery box; the head of the telescopic pin 4021 is a square cone, the tail has an inner hole for accommodating the locking spring 4023, and the upper part is provided with a handle;

[0166] The limit block 4022 is used to limit the telescopic pin 4021 from sliding out to the side; the locking spring 4023 is used to provide a force for the telescopic pin 4021 to return to its original position and keep it in the pushed-out state.

[0167] like Figure 8 As shown, the battery pack 402 and the female connector for electrical connection are placed inside the battery box, and the two sides of the end are designed with a sliding groove for accommodating the telescopic pin 4021 and a circular hole for the limit locking spring 4023;

[0168] The fixed frame is also connected to a male connector compartment 401 , on which a male connector for electrical connection is provided; conical square holes are designed on both sides of the male connector compartment 401 for limiting the telescopic pins 4021 to limit the three degrees of freedom of the battery pack 402 .

[0169] As a tool for inspection, the tower anti-fall rail acceptance robot needs to be convenient and easy to use. After the inspection, the robot returns to the end of the anti-fall rail. The operator takes it off and inspects the next tower. The battery is charged as needed according to the battery power prompt. The working principle of the battery locking mechanism 4 is:

[0170] The locking spring 4023 is installed in the circular cavity at the tail of the telescopic pin 4021, and slides into the slide groove of the battery box body with the telescopic pin 4021. The slide groove restricts it to move along the inner wall of the groove; the limit block 4022 is installed to restrict the telescopic pin 4021 from sliding out from the installation entrance, limiting the telescopic pin to only have the freedom to move along the slide groove. When installing the battery pack 402, pinch the two telescopic pins 4021 with one hand and move them closer to the middle. The locking springs 4023 at the two places are compressed and stored energy, and the square cone contacts at the ends of the telescopic pins 4021 are retracted to the inside of the side edge of the battery pack 402. Push the battery pack 402 into the male head compartment 401 on the robot body, insert the male and female heads of the electrical connection into each other, loosen the two telescopic pins 4021, and insert the telescopic pins 4021 into the tapered holes on the side of the male head compartment 401 under the action of the spring thrust to complete the installation locking. When removing the battery, pinch the two retractable pins 4021 and move them toward the center, then pull the battery pack 402 outward.

[0171] The battery locking structure of this embodiment adopts a back-to-back double telescopic pin 4021 self-resetting structure, and the end of the locking pin adopts a square cone design, which is conducive to locking and reducing overall shaking, locking and stopping.

[0172] The tower anti-fall rail acceptance robot is a full-length vertical climbing pole movement device on outdoor power towers. Compared with the horizontal movement or slope anti-fall rail movement of traditional power inspection anti-fall rail inspection robots (such as tunnel robots and coal handling trestle robots), there are two differences. First, compared with the existing large-angle anti-fall rail climbing technical solutions, it mainly adds gear racks, sprocket chains, and increases friction on the anti-fall rail. Among them, adding gear racks and sprocket chains is impossible for the built anti-fall rails and affects manual tower climbing. These two solutions are not feasible; and the existing traditional tunnel and coal handling trestle robot compression climbing that has been published cannot achieve full 90° vertical movement. Second, vertical climbing safety is particularly important, and additional measures need to be taken to prevent abnormal situations such as the robot flipping out of the anti-fall rail and falling from a high altitude, and falling rapidly along the anti-fall rail in a free fall. Therefore, it is necessary to adopt a motion safety control strategy for multi-dimensional data coupling decision-making.

[0173] according to Fig.10 , the defect detection module of this embodiment includes a tension sensor, a posture sensor, a vibration sensor and a processor; the processor communicates with the control module;

[0174] The posture sensor is used to sense the height information of the pole tower anti-falling rail acceptance robot 15 and transmit it to the processor; the tension sensor is arranged at the connection between the pole tower anti-falling rail acceptance robot 15 and the self-locking device, and is used to detect the real-time tension of the self-locking device to characterize the smoothness of the self-locking device running on the anti-falling rail and transmit it to the processor; the vibration sensor is used to detect the vibration signal of the pole tower anti-falling rail acceptance robot 15 running in real time on the anti-falling rail and transmit it to the processor;

[0175] The processor is used to form the following information according to the current tower number and the information transmitted by the posture sensor, the tension sensor and the vibration sensor: Fig.12 The tension-vibration-height curve of the current tower number is shown, and then compared with the tension-vibration-height reference curve of the current tower number, and the fault position and fault type of the anti-fall guide rail are determined at the same time.

[0176] In this embodiment, the tension-vibration-height reference curves corresponding to different tower numbers can be obtained in advance based on experiments.

[0177] The types of faults here include but are not limited to gaps, misalignment and deformation of the anti-fall rail.

[0178] It should be noted here that the hardware structures of components such as processors, tension sensors, posture sensors and vibration sensors are all existing structures, and technical personnel in this field can select corresponding models according to actual needs.

[0179] In another embodiment, if Fig.11In the illustrated embodiment, the control module also communicates with the handheld terminal 17. For example, the control module and the handheld terminal can communicate via 4G / 5G or wireless communication.

[0180] The control module is also used to transmit the current power information of the tower anti-fall guide rail acceptance robot 15 to the handheld terminal 17, and the handheld terminal 17 determines whether to issue a return command based on the current power and the remaining inspection length and total length of the anti-fall guide rail.

[0181] Specifically, the handheld terminal 17 is operated by ground personnel and has the function of configuring detection information such as the tower number and operator. It can send control instructions to control the tower anti-fall guide rail acceptance robot 15 to complete the detection operation. It has the function of displaying the battery power, movement speed and other status information of the tower anti-fall guide rail acceptance robot 15 and the implementation and display of detection data.

[0182] In other embodiments, the handheld terminal 17 can also process the information detected by the tension sensor, posture sensor and vibration sensor, and can specifically choose to process the sensor information at the local end of the pole tower anti-fall guide rail acceptance robot or at the handheld terminal according to actual conditions.

[0183] This embodiment uses tension-vibration-height to comprehensively judge the fault location and fault type of the anti-fall guide rail, which solves the problem that the existing anti-fall robot cannot accurately identify the fault location and fault type of the anti-fall rail, and requires secondary detection and identification, resulting in poor detection efficiency of the anti-fall guide rail of the transmission tower. It effectively reduces the labor intensity and operational risks of the anti-fall guide rail detection and improves the efficiency and accuracy of the anti-fall guide rail status detection.

[0184] In other embodiments, the defect detection module also includes a video acquisition device, which is used to detect the appearance image of the anti-fall rail of the tower anti-fall rail acceptance robot running in real time on the anti-fall rail and transmit it to the processor, and the processor determines whether the appearance of the anti-fall rail is normal.

[0185] The video acquisition device here can be implemented with a high-definition camera. In this way, the appearance images of the surface of the anti-fall rail and the side fasteners and connectors can be obtained. The above images can be transmitted to the processor or handheld terminal in real time. The camera has an AI recognition function. If defects such as missing fasteners, abnormal connectors, and rust on the anti-fall rail are found, it will automatically capture and save the image to provide data support for manual confirmation. The visible light image is coupled with the tower number and height, which makes it easier for operators to distinguish the tower 16 to which the current image belongs and the specific location.

[0186] In one embodiment, the control module is used to control the video acquisition device to start when the tower anti-falling rail acceptance robot is turned on and running. In this way, the state of the anti-falling rail can be detected in real time to avoid missing defects of the anti-falling rail.

[0187] In other embodiments, the initial state of the video acquisition device is a dormant state. The processor is used to control the video acquisition device to start only when it is determined that the anti-falling guide rail has a fault. This can save power and ensure the accuracy of anti-falling guide rail fault detection.

[0188] In one or more embodiments, Fig.13 As shown in the figure, the working process of the defect detection module includes:

[0189] Receive the height information of the tower anti-fall rail inspection robot, the real-time tension of the self-locking device, and the vibration signal of the tower anti-fall rail inspection robot running on the anti-fall rail in real time;

[0190] According to the above received information and the current tower number, a tension-vibration-height curve of the current tower number is formed, which is then compared with the tension-vibration-height reference curve of the current tower number, and the fault position and fault type of the anti-fall guide rail are determined at the same time.

[0191] like Fig.14 As shown, the working process of the defect detection module also includes:

[0192] The tower anti-fall rail acceptance robot receives the anti-fall rail appearance image running in real time on the anti-fall rail, and then determines whether the appearance of the anti-fall rail is normal, so as to identify the hidden dangers and defects of the anti-fall rail.

[0193] In this way, the tower anti-fall rail inspection robot uses the real-time appearance image of the anti-fall rail to determine whether the appearance of the anti-fall rail is normal, and finally identifies the hidden dangers and defects of the anti-fall rail, thereby improving the efficiency and accuracy of the anti-fall rail status detection.

[0194] like Fig.15 and Fig.16 As shown, the motion platform is also equipped with a blocking and deviation correction structure, which includes a support plate 6, a guide wheel seat 7 and a guide wheel 9; the support plate 6 is connected to a fixed bracket, the guide wheel seat 7 is installed on the support plate 6, the guide wheel 9 is fixed to the guide wheel seat 7 through a guide wheel shaft 11, and a compression spring 8 is also installed between the support plate 6 and the guide wheel seat 7; the guide wheel seat 7 and the support plate 6 are both provided with a buffer slope 12 to correct the deflection of the anti-falling guide rail. In this way, it can ensure that the tower anti-falling guide rail acceptance robot can smoothly pass through the side wide seam and the deflection step of the anti-falling guide rail when passing through the joint of the anti-falling guide rail.

[0195] In the specific implementation process, the buffer slope 12 is a ski surface structure, so that the deflection angle of the reversing anti-falling guide rail on the commutator can be corrected more accurately.

[0196] In some optional embodiments, a slide groove is provided on the support plate, a sliding block matching the slide groove is provided on the guide wheel seat, and the sliding block is arranged in the slide groove.

[0197] Preferably, the slide groove is a T-shaped slide groove, and the slider is a T-shaped slider, so that the guide wheel seat can be limited from multiple dimensions.

[0198] It should be noted here that, in other embodiments, the shapes of the slide groove and the slider can be specifically set by those skilled in the art according to actual conditions, and will not be described in detail here.

[0199] In a specific implementation process, the pressing plate 10 fixes the guide wheel seat 7 to the supporting plate 6 by screws.

[0200] In one or more embodiments, the safety protection module includes a safety protection controller, a distance sensor, a speed sensor, and a current / voltage sensor;

[0201] The distance measuring sensor is used to detect the distance between the tower anti-falling guide rail acceptance robot and the end of the anti-falling guide rail and transmit it to the safety protection controller;

[0202] The speed sensor is used to detect the movement speed of the motion platform and transmit it to the safety protection controller;

[0203] The current / voltage sensor is used to detect the output current / voltage signal of the driving mechanism and transmit it to the safety protection controller;

[0204] The safety protection controller is used to determine a matching safety protection strategy according to the received signal and send it to the control module.

[0205] according to Fig.17 As shown, the distance measuring sensor is mounted on the front end of the pole tower anti-fall rail acceptance robot. During the vertical operation of the pole tower anti-fall rail acceptance robot, a shading device is arranged around the distance measuring sensor to eliminate the interference caused by the paint reflection on the surface of the anti-fall rail 5 and direct sunlight, and the distance measuring sensor is installed at an angle of 45° to avoid interference caused by the paint reflection. The distance measuring sensor here can be implemented by a laser distance measuring sensor or other existing distance measuring sensors.

[0206] In this embodiment, the motion platform is also equipped with a brake device; the safety protection strategy includes:

[0207] When it is detected that the distance between the motion platform and the end of the anti-fall guide rail is less than or equal to the set threshold, the motion platform is controlled to return;

[0208] When an abnormality in the drive mechanism is detected, the brake device is controlled to start, and the drive mechanism is controlled to perform a soft reset or hardware restart reset until the drive mechanism fault is eliminated;

[0209] If the fault cannot be eliminated by soft reset or hardware restart reset of the drive mechanism, the control tower anti-fall guide rail acceptance robot will return to the safe area;

[0210] When the movement speed of the motion platform exceeds the set speed, the brake device is controlled to start, so that the tower anti-fall guide rail acceptance robot brakes.

[0211] In this embodiment, a control method for a tower anti-fall guide rail acceptance robot includes:

[0212] Step 1: While controlling the motion platform to move on the anti-fall guide rail, receive the height information of the motion platform, the real-time tension of the self-locking device, and the vibration signal of the motion platform running on the anti-fall guide rail in real time, and then construct the tension-vibration-height curve of the current tower number, and then compare it with the tension-vibration-height reference curve of the current tower number, and at the same time determine the fault location and fault type of the anti-fall guide rail to control the motion platform to perform matching actions;

[0213] Step 2: Receive the distance between the motion platform and the end of the anti-fall guide rail and the working status of the motion platform, and then determine the matching safety protection strategy to control the motion platform to execute the corresponding safety protection strategy.

[0214] When the fault type of the anti-falling guide rail is the misaligned anti-falling guide rail, the secondary adjustment mechanism is controlled to perform the first adjustment of the shifting fork and the second correction of the retraction and pulling of the misaligned anti-falling guide rail in sequence;

[0215] When the fault type of the anti-fall guide rail is a wide gap or a joint step, the deflection angle of the anti-fall guide rail is corrected by using the buffer slope on the guide wheel seat and the support plate.

[0216] In one or more embodiments, the control method of the tower anti-fall guide rail acceptance robot further includes:

[0217] Before the tower anti-fall guide rail acceptance robot performs the climbing action, it automatically detects the battery power signal and the locking signal of the automatic opening and closing mechanism;

[0218] Only when the battery power is at least twice the power requirement of the anti-fall guide rail and the locking signal of the automatic opening and closing mechanism can be detected, the control tower anti-fall guide rail acceptance robot performs the climbing action.

[0219] For example, the power required for the double travel of the anti-fall tower and the current battery power are determined by the default task initial elevation of 100m (this value also supports manual change). If the battery power is lower than the power requirement of the above double elevation (one detection cycle is one up and one down), the driver program of the anti-fall tower guide rail acceptance robot cannot be started and a low battery alarm is issued. At this time, the battery quick release needs to be removed and replaced with a fully charged battery.

[0220] If the pole tower anti-fall guide rail acceptance robot detects that the locking signal of the automatic opening and closing mechanism disappears during the climbing action, the pole tower anti-fall guide rail acceptance robot is controlled to stop immediately. At this time, the power transmission component of the automatic opening and closing structure is activated to drive the automatic opening and closing mechanism to lock and re-trigger the locking signal. If the triggering is successful, the pole tower anti-fall guide rail acceptance robot resumes normal action; if repeated triggering fails, the pole tower anti-fall guide rail acceptance robot is controlled to perform the reverse return motion.

[0221] like Fig.18 As shown, when an abnormality of the driving mechanism is detected, the control brake device is started, and the driving mechanism is softly reset or hardware restarted and reset. If the driving mechanism fault is eliminated, the control brake device is closed, and the control tower anti-fall guide rail acceptance robot is restored to normal working state; if the driving mechanism soft reset or hardware restart and reset cannot eliminate the fault, the control tower anti-fall guide rail acceptance robot returns to a safe area.

[0222] The brake device has an overspeed automatic braking function. The brake device adopts a centrifugal clutch structure. When the speed of the pole tower anti-fall rail acceptance robot exceeds the set speed, the centrifugal block undergoes centrifugal movement. As the speed of the pole tower anti-fall rail acceptance robot increases, the centrifugal block gradually fits tightly against the outer shell, and the core shaft of the clutch is connected to the driving wheel of the pole tower anti-fall rail acceptance robot to achieve a braking effect. In this way, when the speed of the pole tower anti-fall rail acceptance robot exceeds the set speed, the brake device is controlled to start, so that the pole tower anti-fall rail acceptance robot brakes.

[0223] like Fig.19 As shown, the control module is also used to control the tower anti-fall guide rail acceptance robot to continue to perform the inspection task or automatically start the return trip according to the communication status with the handheld terminal.

[0224] Specifically, in response to the safety risks caused by the disconnection of the communication between the pole tower anti-fall rail acceptance robot and the handheld terminal, the pole tower anti-fall rail acceptance robot has a self-fault handling function. During the operation of the pole tower anti-fall rail acceptance robot, the communication status of the robot and the handheld terminal is monitored. If the communication between the pole tower anti-fall rail acceptance robot and the handheld terminal is normal, the pole tower anti-fall rail acceptance robot performs the inspection task normally; if the pole tower anti-fall rail acceptance robot detects that the handheld terminal signal is weak or the signal is lost, the pole tower anti-fall rail acceptance robot stops performing the inspection task. If it still cannot receive the signal from the handheld terminal within the specified time, the pole tower anti-fall rail acceptance robot automatically starts the return journey and returns to the ground safely.

[0225] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A tower anti-fall guide rail acceptance robot, characterized in that: include: Motion platform, control module, defect detection module and safety protection module; The control module, defect detection module and safety protection module are all mounted on the motion platform; The motion platform comprises: a single-axis positive floating suspension mechanism, which comprises a fixed frame, a floating mechanism, a driving mechanism and a walking wheel mechanism; The floating mechanism is connected to the fixed frame, and the walking wheel mechanism includes a floating friction wheel and a fixed walking wheel; the driving mechanism is fixedly connected to the floating mechanism; and the driving mechanism is used to provide power for the walking wheel mechanism; The floating friction wheel is connected to the floating mechanism and arranged on the upper surface of the anti-falling guide rail; The fixed walking wheel is fixedly connected to the fixed frame, located on the lower surface of the anti-falling guide rail and arranged on both sides of the floating friction wheel to cooperate with the floating friction wheel to clamp the anti-falling guide rail; Along the direction of the anti-falling guide rail, a secondary adjustment mechanism is also provided at at least one end of the fixed frame, and the secondary adjustment mechanism is symmetrically arranged on both sides of the anti-falling guide rail to sequentially perform a primary adjustment of the shift fork and a secondary retraction and pulling correction on the misaligned anti-falling guide rail; The secondary adjustment mechanism is symmetrically arranged along the anti-fall guide rail, and includes a pin shaft, a first swing arm, a guide wheel set, a rotating shaft, a first shift fork, a second swing arm, a second shift fork, an adjustable screw and a tension spring; One end of the first swing arm and the second swing arm are both hinged to the fixed frame through a pin shaft, and both can rotate along the pin shaft at a set angle; the other end of the first swing arm and the second swing arm are both designed with a U-shaped opening to accommodate the corresponding guide wheel set; The guide wheel set is sleeved on the corresponding rotating shaft; the first fork and the second fork are respectively installed on the first swing arm and the second swing arm through the corresponding rotating shaft, and the first fork and the second fork are combined to form an outward-facing eight-shaped adjustment structure at the front end of the robot in the travel direction; The first swing arm and the second swing arm are both connected to an adjustable screw; one end of the two tension springs is respectively connected to the corresponding adjustable screw, and the other ends of the two tension springs are connected to the fixed frame; The motion platform is in communication connection with the control module; the control module is used to control the motion platform to move on the anti-fall guide rail; the end of the motion platform is also connected to a self-locking device; The defect detection module is used to detect the tension of the self-locking device, the height information of the motion platform and the vibration signal, and construct the tension-vibration-height curve of the corresponding tower number, and then determine the fault location and fault type of the anti-fall guide rail and transmit them to the control module, and the control module controls the motion platform to perform matching actions; The safety protection module is used to detect the distance between the motion platform and the end of the anti-fall guide rail and the working status of the motion platform, and then determine the matching safety protection strategy and send it to the control module, which controls the motion platform to execute the corresponding safety protection strategy.

2. The tower anti-falling guide rail acceptance robot according to claim 1, characterized in that: The fixed frame is composed of a first frame, a second frame and a top pressure plate. The first frame and the second frame are arranged opposite to each other, and the top pressure plate is connected between the first frame and the second frame.

3. The tower anti-falling guide rail acceptance robot according to claim 1, characterized in that: The floating mechanism comprises a floating clamping frame, a fixing cavity, a floating spring and a spring adjusting arm; The floating clamping frame can move up and down along the inner side of the fixed frame; The bottom of the fixed cavity is fixedly connected to the floating clamping frame, the top of the fixed cavity is open, and the floating spring is placed in the fixed cavity; The spring adjustment arm includes a hollow cavity and a screw. The hollow cavity is fixed at the lower part of the top pressure plate, and the inner wall of the hollow cavity is sleeved on the outside of the fixed cavity. The screw is connected to the top of the hollow cavity, and the screw cooperates with the threaded hole on the top pressure plate and extends out of the top pressure plate, thereby changing the compression amount of the floating spring in the fixed cavity.

4. The tower anti-falling guide rail acceptance robot according to claim 3, characterized in that: Guide grooves are arranged on both sides of the floating clamping frame, and the floating clamping frame can move along the limiting plate; the limiting plate is fixed on the inner side of the fixed frame and is used for limiting and guiding the floating clamping frame.

5. The tower anti-falling guide rail acceptance robot according to claim 1, characterized in that: The fixed running wheel is also connected to an automatic opening and closing mechanism, and the automatic opening and closing mechanism is used to push in and pull out the fixed running wheel to realize the installation of the pole tower anti-fall guide rail acceptance robot from any position of the anti-fall guide rail.

6. The tower anti-falling guide rail acceptance robot according to claim 5, characterized in that: The automatic opening and closing mechanism includes a moving arm, a screw stepped shaft and a power transmission assembly; The outer side of the fixed frame is also provided with a slide groove, and both ends of the movable arm are provided with protrusions, and the protrusions are installed in the slide groove, and the lower end of the movable arm is connected to the fixed walking wheel; The movable arm is provided with a horizontal threaded hole, and the screw stepped shaft cooperates with the threaded hole; the power transmission assembly is connected to the screw stepped shaft to provide power for the screw stepped shaft; when the screw stepped shaft rotates, it drives the movable arm to reciprocate along the slide groove.

7. The tower anti-falling guide rail acceptance robot according to claim 6, characterized in that: The automatic opening and closing mechanism also includes a fixed beam, a limit switch and a bearing seat; The bearing seat has a bearing inside for supporting the screw stepped shaft; the bearing seat is provided with a first limit switch for detecting whether the movable arm is retracted into place; the fixed beam is connected to the lower part of the fixed frame; the fixed beam is used to fix the bearing; the fixed beam is provided with a second limit switch for detecting the moving position of the movable arm.

8. The tower anti-falling guide rail acceptance robot according to claim 1, characterized in that: The fixed frame is also connected to a battery box body, and a battery locking mechanism is provided in the battery box body for locking the battery; the battery locking mechanism includes a telescopic pin, a limit block and a locking spring; The two telescopic pins are installed back to back and placed in the slide slot of the battery box; the head of the telescopic pin is a square cone, the tail has an inner hole for accommodating the locking spring, and the upper part is provided with a handle; The limit block is used to limit the telescopic pin from sliding out to the side; the locking spring is used to provide a force for resetting the telescopic pin and keep it in the pushed-out state.

9. The tower anti-falling guide rail acceptance robot according to claim 1, characterized in that: The defect detection module includes a tension sensor, a posture sensor, a vibration sensor and a processor; the processor communicates with the control module; The posture sensor is used to sense the height information of the pole tower anti-falling rail acceptance robot and transmit it to the processor; the tension sensor is arranged at the connection between the pole tower anti-falling rail acceptance robot and the self-locking device, and is used to detect the real-time tension of the self-locking device to characterize the smoothness of the self-locking device running on the anti-falling rail and transmit it to the processor; the vibration sensor is used to detect the vibration signal of the pole tower anti-falling rail acceptance robot running in real time on the anti-falling rail and transmit it to the processor; The processor is used to form a tension-vibration-height curve of the current tower number based on the current tower number and the information transmitted by the posture sensor, tension sensor and vibration sensor, and then compare it with the tension-vibration-height reference curve of the current tower number, and at the same time determine the fault location and fault type of the anti-fall guide rail.

10. The tower anti-falling guide rail acceptance robot according to claim 1, characterized in that: The control module also communicates with the handheld terminal.

11. The tower anti-falling guide rail acceptance robot according to claim 10, characterized in that: The control module is also used to transmit the current power information of the tower anti-fall guide rail acceptance robot to the handheld terminal, and the handheld terminal determines whether to issue a return command based on the current power and the remaining inspection length and total length of the anti-fall guide rail.

12. The tower anti-falling guide rail acceptance robot according to claim 10, characterized in that: The control module is also used to control the pole tower anti-fall guide rail acceptance robot to continue to perform the inspection task or automatically start the return journey according to the communication status with the handheld terminal.

13. The tower anti-falling guide rail acceptance robot according to claim 1, characterized in that: The motion platform is also equipped with a blocking and correcting structure, which includes a support plate, a guide wheel seat and a guide wheel; the support plate is connected to a fixed frame, the guide wheel seat is installed on the support plate, the guide wheel is fixed to the guide wheel seat through a guide wheel shaft, and a compression spring is also installed between the support plate and the guide wheel seat; the guide wheel seat and the support plate are both provided with buffer slopes to correct the deflection angle of the anti-fall guide rail.

14. The tower anti-falling guide rail acceptance robot according to claim 13, characterized in that: The buffer slope is a ski board surface structure.

15. The tower anti-falling guide rail acceptance robot according to claim 13, characterized in that: The support plate is provided with a slide groove, the guide wheel seat is provided with a sliding block matching the slide groove, and the sliding block is arranged in the slide groove.

16. The tower anti-falling guide rail acceptance robot according to claim 15, characterized in that: The slide groove is a T-shaped slide groove, and the slider is a T-shaped slider.

17. The tower anti-falling guide rail acceptance robot according to claim 1, characterized in that: The safety protection module includes a safety protection controller, a distance sensor, a speed sensor and a current / voltage sensor; The distance measuring sensor is used to detect the distance between the tower anti-falling guide rail acceptance robot and the end of the anti-falling guide rail and transmit it to the safety protection controller; The speed sensor is used to detect the movement speed of the motion platform and transmit it to the safety protection controller; The current / voltage sensor is used to detect the output current / voltage signal of the driving mechanism and transmit it to the safety protection controller; The safety protection controller is used to determine a matching safety protection strategy according to the received signal and send it to the control module.

18. The tower anti-falling guide rail acceptance robot according to claim 1, characterized in that: The motion platform is also equipped with a brake device; the safety protection strategy includes: When it is detected that the distance between the motion platform and the end of the anti-fall guide rail is less than or equal to the set threshold, the motion platform is controlled to return; When an abnormality in the drive mechanism is detected, the brake device is controlled to start, and the drive mechanism is controlled to perform a soft reset or hardware restart reset until the drive mechanism fault is eliminated; If the fault cannot be eliminated by soft reset or hardware restart reset of the drive mechanism, the control tower anti-fall guide rail acceptance robot will return to the safe area; When the movement speed of the motion platform exceeds the set speed, the brake device is controlled to start, so that the tower anti-fall guide rail acceptance robot brakes.

19. A control method based on the tower anti-falling guide rail acceptance robot according to any one of claims 1 to 18, characterized in that: include: While controlling the motion platform to move on the anti-fall guide rail, the height information of the motion platform, the real-time tension of the self-locking device, and the vibration signal of the motion platform running on the anti-fall guide rail in real time are received, and then the tension-vibration-height curve of the current tower number is constructed, and then compared with the tension-vibration-height reference curve of the current tower number, and the fault position and fault type of the anti-fall guide rail are determined at the same time, so as to control the motion platform to perform matching actions; Receive the distance between the motion platform and the end of the anti-fall guide rail and the working status of the motion platform, and then determine the matching safety protection strategy to control the motion platform to execute the corresponding safety protection strategy.

Images