A power tower inspection robot

Abstract

The present invention relates to the technical field of power tower inspection, and specifically to a power tower inspection robot, comprising a vertical column, a detection mechanism, a mobile unit and a detection unit. In the present invention, two upper and lower mobile units work successively to avoid the connection nodes on the power tower support column, and during the avoidance process, the mobile unit that does not avoid the connection node drives the inspection robot to continue to move upward until the mobile unit that avoids the node passes over the connection node, and then the two mobile units work simultaneously to drive the inspection robot to move upward, avoiding the problem that the connection node on the power tower support blocks the inspection robot so that the inspection robot cannot move upward, and then the detection unit works to simultaneously detect the tightness of multiple bolts on the connection node, and after the detection, the loose bolts are tightened and tightened, and the work efficiency of the power tower inspection is improved by simultaneously detecting and tightening multiple bolts.

Description

Technical Field

[0001] The invention relates to the technical field of power tower inspection, and in particular to a power tower inspection robot. Background Art

[0002] In order to ensure the safe and stable operation of the power transmission system, it is necessary to conduct regular inspections of the power towers. The inspection of power towers refers to the regular inspection of power transmission towers and their ancillary equipment. During the inspection, it is necessary to detect the tightness of the bolts at the connection nodes of the support columns of the power towers, and tighten the loose bolts to ensure the overall stability of the power towers. The connection nodes of the support columns of the power towers are composed of multiple circumferentially evenly distributed reinforcing ribs and flanges located on the end faces of the support columns of the power towers. The two adjacent support columns are fixedly connected by multiple bolts located between the reinforcing ribs (see Fig.10 ).

[0003] The existing inspection of the tightness of the bolts at the connection nodes of the power tower usually requires workers to climb up the power tower, and after reaching the location of the connection node of the power tower, tighten the tightness of the bolts at the connection node of the power tower one by one, and then use a wrench to tighten the loose bolts.

[0004] The above process has the following problems: in the high-altitude environment of the power tower, manually tightening bolts is a dangerous job. At the same time, climbing the tower requires a lot of physical strength, and when working at height, it is necessary to carry tools and climb up. Long-term work can easily cause fatigue, making the detection results inaccurate, which in turn affects work efficiency and accuracy. Secondly, the manual detection speed is relatively slow, especially when a large number of bolts need to be detected. Multiple bolts at the connection nodes need to be inspected and tightened one by one, which takes a long time and it is difficult to complete large-scale inspections in a short time. Summary of the invention

[0005] Based on this, it is necessary to provide a power tower inspection robot to solve the above technical problems.

[0006] The present application provides a power tower inspection robot, comprising: a vertical column, wherein the upper and lower end surfaces of the vertical column are fixedly provided with transverse plates, a detection mechanism is commonly provided between the two transverse plates, the detection mechanism comprises a rotating cylinder, two rotating cylinders are rotatably penetrated on the transverse plate, a semicircular rotating plate is fixedly sleeved on the rotating cylinder and is located between the two transverse plates, a rotating rod is provided in the rotating cylinder for sliding up and down, and semicircular arc plates are fixedly provided on the opposite surfaces of the two rotating rods, and the detection mechanism also comprises a moving unit and a detection unit.

[0007] The moving unit is arranged on the rotating plate, and the moving unit includes a moving group. Each rotating plate is provided with a moving group. The rotating plate and the corresponding arc plate are jointly provided with a pushing group. The transverse plate is provided with a rotating group for driving the rotating plate to rotate with the rotating cylinder as the center.

[0008] The detection unit is arranged on the arc plate, and the detection unit includes a slide groove. The upper and lower opposite surfaces of the two arc plates are provided with arc-shaped slide grooves, and the slide grooves on the two arc plates in the same detection unit are connected. An arc-shaped bar is slidably arranged in the slide groove, and a transmission group is arranged on the arc-shaped bar. An L-shaped bar is slidably arranged on the arc plate through a sliding block, and an arc-shaped guide plate is fixedly arranged on the end face of the L-shaped bar on the side close to the axis of the arc plate, and a plurality of tightening groups for tightening detection of bolts are arranged on the guide plate.

[0009] According to a favorable embodiment, the rotating group includes gear one, a gear one is fixedly sleeved on the rotating cylinder, and two gears one in the same rotating group are meshed with each other, and gear two are provided on opposite back surfaces of two upper and lower horizontal plates for rotation via a rotating shaft, the rotating shaft is connected to motor one, and gear two is meshed with any one of gears one.

[0010] According to a favorable embodiment, the moving group includes a fixed rod, and each of the rotating plates is fixed with two fixed rods passing through, a U-shaped plate is fixedly provided on the end face of the fixed rod facing the axis of the corresponding rotating plate, and the opening of the U-shaped plate faces the axis of the corresponding rotating plate, and a driving wheel is rotatably provided on the U-shaped plate, and the driving wheel is connected to motor 2.

[0011] According to a favorable embodiment, the pushing group includes a transmission shaft, and the back surfaces of the two upper and lower arc-shaped plates opposite to each other are rotatably provided with transmission shafts, the transmission shaft is connected to the motor, and two transmission rods located on both sides of the transmission shaft are rotatably provided on the arc-shaped plate, and the transmission rods pass through the corresponding rotating plates, and a thread groove is provided on the transmission rod, and the rotating plate is threadedly connected to the thread groove on the transmission rod, and sprockets are fixedly sleeved on the transmission shaft and the transmission rod, and the three sprockets on the same arc-shaped plate are connected by chain transmission, and circular plates are fixedly provided on the end surfaces of the two upper and lower transmission rods that are opposite to each other and away from each other.

[0012] According to a favorable embodiment, it is characterized in that: a sliding rod passes through a sliding section of any one of the rotating plates away from the vertical column, and an arc-shaped lower pressure plate is fixedly provided on the opposite back surfaces of the two sliding rods opposite to each other, and the lower pressure plate is sleeved on the corresponding transmission rod, and a spring sleeved on the sliding rod is fixedly provided between the lower pressure plate and the corresponding rotating plate, and positioning plates are fixedly provided on the opposite back surfaces of the two rotating plates connected to the lower pressure plates, and a positioning groove is jointly provided on the positioning plate and the rotating plate not connected thereto, and a positioning rod matching the positioning groove is fixedly provided on the opposite surfaces of the two lower pressure plates opposite to each other.

[0013] According to an advantageous embodiment, a guide groove is provided on the guide plate, which is divided into a vertical section and an isosceles trapezoidal section with inclined surfaces facing both sides from top to bottom, and the inclined surfaces of the isosceles trapezoidal section of the guide groove are away from each other from top to bottom.

[0014] According to a preferred embodiment, a plurality of equally spaced horizontal plates are fixedly provided on the end surface of the guide plate away from the rotating plate, a circular fixed plate is fixedly provided on the outer wall of the horizontal plate through a connecting plate, a cylindrical tube is rotatably provided on the outer wall of the fixed plate, an axis being colinear with the axis of the fixed plate, a rotating column is fixedly passed through the cylindrical tube, a tightening column is rotatably provided on the end surface of the rotating column away from the corresponding horizontal plate, a hexagonal placement groove having the same shape as the bolt is provided on the end surface of the tightening column away from the corresponding horizontal plate, the placement groove is divided into two sections, the circumscribed circle of the hexagon of the placement groove close to the corresponding rotating plate side section remains unchanged, and the circumscribed circle of the hexagon of the placement groove away from the corresponding rotating plate side section gradually increases, a volute spring is fixedly provided between the tightening column and the cylindrical tube, a circular ring is rotatably sleeved on the cylindrical tube, and a push bar is fixedly provided on the outer ring surface of the circular ring.

[0015] According to a favorable embodiment, the transmission group includes a moving block, a moving block is slidably provided on the end surface of the upper pushing bar close to the corresponding arc plate, a vertical rod 1 is fixedly provided on the moving block, and a plurality of vertical rods 2 are fixedly provided on the end surface of the upper arc bar away from the arc plate, vertical plates are rotatably sleeved on both vertical rods 1 and 2, a spring 2 is fixedly connected between the two vertical plates in the same transmission group, an electric slider 1 is provided in the slide groove on the upper arc plate, and the electric slider 1 is fixedly connected to the corresponding arc bar, the pushing bar on the lower side is fixedly connected to the arc bar through a fixed block, a plurality of circumferentially evenly distributed ratchets are provided on the circumferential surface of the cylindrical barrel, a pawl is rotatably provided on the pushing bar, and a torsion spring is fixedly provided between the pawl and the pushing bar.

[0016] According to a favorable embodiment, the tightening group includes a fixing bar, which is fixedly arranged on the circumferential surface of the tightening column, an arc groove is opened on the inner annular surface of the cylindrical tube, and the fixing bar is located in the arc groove. Two symmetrically distributed longitudinal rods are arranged on the upper end surface of the upper fixed plate, and a movable plate is arranged between the two longitudinal rods and a sliding sleeve is provided for sliding together.

[0017] According to a favorable embodiment, a transmission cylinder is rotated and penetrated on one side of the horizontal plate away from the axis of the corresponding arc plate, and the transmission cylinder is connected to motor four. A transmission column is rotated and penetrated on the movable plate, and the transmission column is located in the transmission cylinder. Transmission blocks are fixedly provided on the end surfaces of the transmission column and the corresponding rotating column. An electric slider two is slidably provided on the upper end surface of the fixed plate, and a hinge bar is hinged between the electric slider two and the movable plate.

[0018] In summary, the present invention includes at least one of the following beneficial effects: 1. The present invention drives the detection mechanism to move upward along the support column of the power tower through the upper and lower moving units, thereby avoiding the staff from climbing the power tower and reducing the safety hazards of the staff when working. The mobile unit drives the detection mechanism to avoid the connection nodes on the power tower during the upward movement, and then the detection unit works to simultaneously detect the tightness of multiple bolts on the connection nodes, and tightens the loose bolts after the detection. By simultaneously detecting and tightening multiple bolts, the work efficiency of the power tower inspection is improved.

[0019] 2. In the present invention, the upper and lower mobile units work successively to avoid the connection nodes on the power tower support column. During the avoidance process, the mobile unit that does not avoid the connection node drives the detection mechanism to continue to move upward until the mobile unit that avoids the node passes the connection node. The two mobile units work simultaneously to drive the inspection robot to move upward, avoiding the problem that the connection nodes on the power tower support block the inspection robot and make it unable to move upward. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0021] Figure 1 A schematic diagram of the three-dimensional structure of a support column of an electric power tower and an electric power tower inspection robot provided according to an embodiment of the present invention is shown.

[0022] Figure 2 A schematic diagram of the three-dimensional structure of a power tower inspection robot provided according to an embodiment of the present invention is shown.

[0023] Figure 3 The embodiment provided according to the present invention shows Figure 2 A magnified view of the structure in the middle.

[0024] Figure 4 A schematic diagram of the three-dimensional structure of a detection mechanism provided according to an embodiment of the present invention is shown.

[0025] Figure 5 A schematic diagram of the three-dimensional structure of some components of a transmission group and a tightening group provided according to an embodiment of the present invention is shown.

[0026] Figure 6 The embodiment provided according to the present invention shows Figure 5A magnified view of the structure at B in the middle.

[0027] Figure 7 A partial cross-sectional view of the three-dimensional structure of a cylindrical barrel, a pushing bar and a horizontal plate provided according to an embodiment of the present invention is shown.

[0028] Figure 8 A partially constructed three-dimensional structural cross-sectional view of a cylindrical barrel and a tightening group provided according to an embodiment of the present invention is shown.

[0029] Fig. 9 A partial cross-sectional view of a three-dimensional structure in which a placement groove is sleeved on a nut according to an embodiment of the present invention is shown.

[0030] Fig.10 A schematic diagram of the three-dimensional structure of a connection point of a power tower support column provided according to an embodiment of the present invention is shown.

[0031] The above drawings include the following reference numerals:

[0032] 1. Vertical column; 2. Horizontal plate; 3. Detection mechanism; 30. Rotating cylinder; 31. Rotating plate; 32. Rotating rod; 33. Arc plate; 4. Moving unit; 40. Moving group; 400. Fixed rod; 401. U-shaped plate; 402. Driving wheel; 41. Pushing group; 411. Transmission rod; 412. Threaded groove; 413. Sprocket; 414. Chain; 42. Rotating group; 420. Gear 1; 421. Gear 2; 5. Detection unit; 50. Slide; 51. Arc bar; 52. Transmission group; 520. Moving block; 521. Vertical rod 1; 522. Vertical rod 2; 523. Spring 2; 524. Vertical plate; 53. L-shaped bar; 54. Guide plate; 540. Guide groove; 55. Tightening group; 550. Rotating column; 551. Tightening Tightening column; 552, placement groove; 553, fixing strip; 554, arc groove; 555, longitudinal rod; 556, moving plate; 557, connecting plate; 558, scroll spring; 56, sliding rod; 560, lower pressure plate; 561, spring one; 562, positioning plate; 563, positioning groove; 564, positioning rod; 57, horizontal plate; 570, fixing plate; 571, cylindrical tube; 572, ratchet; 573, ring; 574, pushing strip; 575, pawl; 576, torsion spring; 577, transmission tube; 578, transmission column; 579, transmission block; 60, motor one; 61, motor two; 62, motor three; 63, motor four; 64, electric slider one; 65, electric slider two; 66, transmission shaft; 67, fixing block; 69, hinge strip. DETAILED DESCRIPTION

[0033] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0034] like Figure 1 , Figure 2 and Figure 3 As shown, a power tower inspection robot comprises: a vertical column 1, wherein the upper and lower end surfaces of the vertical column 1 are fixedly provided with a horizontal plate 2, two support plates for supporting function are slidably sleeved on the vertical column 1, a detection mechanism 3 is commonly arranged between the two horizontal plates 2, the detection mechanism 3 comprises a rotating cylinder 30, two rotating cylinders 30 are rotatably penetrated on the horizontal plate 2, a semicircular rotating plate 31 located between the two horizontal plates 2 is fixedly sleeved on the rotating cylinder 30, a rotating rod 32 is slidably provided in the rotating cylinder 30, and semicircular arc plates 33 are fixedly arranged on the opposite surfaces of the two rotating rods 32, and the detection mechanism 3 also comprises a moving unit 4 and a detection unit 5.

[0035] like Figure 2 and Figure 4 As shown, the moving unit 4 is arranged on the rotating plate 31, and the moving unit 4 includes a moving group 40. Each rotating plate 31 is provided with a moving group 40. The rotating plate 31 and the corresponding arc plate 33 are jointly provided with a pushing group 41. The transverse plate 2 is provided with a rotating group 42 for driving the rotating plate 31 to rotate with the rotating cylinder 30 as the center.

[0036] like Figure 2 , Figure 3 and Figure 4 As shown, the rotating group 42 includes a gear 420, and the rotating cylinder 30 is fixedly sleeved with a gear 420, and the two gears 420 in the same rotating group 42 are meshed with each other, and the opposite back surfaces of the two upper and lower horizontal plates 2 are both provided with gears 421 that rotate through a rotating shaft, and the rotating shaft is connected to the motor 60, and the gear 421 is meshed with any one of the gears 420.

[0037] like Figure 2 and Figure 4 As shown, the moving group 40 includes a fixed rod 400, and two fixed rods 400 are fixedly passed through each of the rotating plates 31. A U-shaped plate 401 is fixedly provided on the end face of the fixed rod 400 facing the axis of the corresponding rotating plate 31, and the opening of the U-shaped plate 401 faces the axis of the corresponding rotating plate 31. A driving wheel 402 is rotatably provided on the U-shaped plate 401, and the driving wheel 402 is connected to the motor 2 61.

[0038] like Figure 2 and Figure 4 As shown, the pushing group 41 includes a transmission shaft 66, and the transmission shaft 66 is rotatably provided on the opposite back surfaces of the two upper and lower arc-shaped plates 33, and the transmission shaft 66 is connected to the motor three 62. Two transmission rods 411 located on both sides of the transmission shaft 66 are rotatably provided on the arc-shaped plate 33, and the transmission rod 411 passes through the corresponding rotating plate 31, and a thread groove 412 is provided on the transmission rod 411. The rotating plate 31 is threadedly connected with the thread groove 412 on the transmission rod 411, and a sprocket 413 is fixedly sleeved on the transmission shaft 66 and the transmission rod 411. The three sprockets 413 on the same arc-shaped plate 33 are connected by a chain 414 for transmission, and circular plates are fixedly provided on the end surfaces of the two upper and lower transmission rods 411 that are away from each other.

[0039] During operation, the staff places the inspection robot at the bottom of the power tower so that the support column of the power tower is located on the side away from the vertical column 1. Then the motor 1 60 drives the gear 2 421 to rotate, indirectly driving the two gears 1 420 to rotate at the same time, and the rotation directions of the two gears 1 420 are opposite, further driving the two rotating plates 31 to rotate and open. When the two rotating plates 31 are fully opened, the motor 1 60 reverses to make the two rotating plates 31 rotate to wrap the support column. When the two rotating plates 31 on the same side are in contact, all the driving wheels 402 are close to the support column. Then the motor 2 61 drives the driving wheels 402 rotates, and the friction between the driving wheel 402 and the power tower drives the detection mechanism 3 to move upward at the same time. When the detection mechanism 3 moves to the connection node on the power tower, the motor 1 60 in the upper rotating group 42 drives the gear 2 421 to reverse, so that the rotating group 42 drives the corresponding two rotating plates 31 and the two curved plates 33 to open and avoid the node. At this time, the two detection mechanisms 3 are driven to move upward through the lower moving group 40. When the upper curved plate 33 in the detection mechanism 3 completely passes through the node, the upper rotating group 42 drives the corresponding rotating plate 31 and the curved plate 33 to rotate and close.

[0040] When the two detection mechanisms 3 are located on both sides of the connection node on the power tower, the motor 3 62 works to drive the transmission shaft 66 to rotate, and the transmission shaft 66 drives the corresponding sprocket 413 to rotate. The three sprockets 413 are connected to the chain 414 so that the three sprockets 413 rotate synchronously, and the sprocket 413 drives the corresponding transmission rod 411 to rotate synchronously. The threaded groove 412 on the transmission rod 411 cooperates with the thread of the rotating plate 31 so that the arc plate 33 moves away from the corresponding rotating plate 31. When the detection unit 5 completes the tightening degree of the bolt After the detection, the motor three 62 reverses to make the pushing group 41 work and drive the arc plate 33 to move and reset in the direction close to the corresponding rotating plate 31, and then the lower rotating group 42 works to drive the corresponding two rotating plates 31 and the two arc plates 33 to open and avoid the node. At this time, the inspection robot is driven to move upward by the upper moving group 40. When the lower detection mechanism 3 completely passes the node, the lower rotating group 42 works to drive the corresponding rotating plate 31 and the arc plate 33 to rotate and close, and then the two moving groups 40 drive the inspection robot to move upward.

[0041] like Figure 2 , Figure 4 and Figure 5 As shown, the detection unit 5 is arranged on the arc plate 33, and the detection unit 5 includes a slide groove 50. The upper and lower opposite surfaces of the two arc plates 33 are provided with arc-shaped slide grooves 50, and the slide grooves 50 on the two arc plates 33 in the same detection unit 5 are connected, and an arc bar 51 is slidably arranged in the slide groove 50, and a transmission group 52 is arranged on the arc bar 51. An L-shaped bar 53 is slidably arranged on the arc plate 33 through a sliding block, and an arc-shaped guide plate 54 is fixedly arranged on the end face of the L-shaped bar 53 close to the axis of the arc plate 33, and a plurality of tightening groups 55 for tightening detection of bolts are arranged on the guide plate 54.

[0042] like Figure 1 and Figure 2 As shown, a sliding rod 56 is passed through a section of any one of the rotating plates 31 that is away from the vertical column 1, and an arc-shaped lower pressure plate 560 is fixedly provided on the opposite sides of the two sliding rods 56 that are opposite to each other up and down, and the lower pressure plate 560 is sleeved on the corresponding transmission rod 411, and a spring 561 sleeved on the sliding rod 56 is fixedly provided between the lower pressure plate 560 and the corresponding rotating plate 31, and a positioning plate 562 is fixedly provided on the opposite sides of the two rotating plates 31 connected with the lower pressure plate 560, and a positioning groove 563 is provided on the positioning plate 562 and the rotating plate 31 that is not connected thereto, and a positioning rod 564 that cooperates with the positioning groove 563 is fixedly provided on the opposite surfaces of the two lower pressure plates 560 that are opposite to each other up and down.

[0043] like Figure 2 , Figure 4 and Figure 5As shown, the guide plate 54 is provided with a guide groove 540, which is divided into a vertical section and an isosceles trapezoidal section with inclined surfaces facing both sides from top to bottom, and the inclined surfaces of the isosceles trapezoidal section of the guide groove 540 are away from each other from top to bottom.

[0044] During operation, the pushing group 41 works, and the threaded cooperation between the threaded groove 412 on the transmission rod 411 and the rotating plate 31 makes the arc plate 33 move away from the corresponding rotating plate 31. At the same time, the transmission rod 411 moves synchronously with the arc plate 33. After the transmission rod 411 drives the circular plate to move and contact with the corresponding lower pressure plate 560, the circular plate drives the lower pressure plate 560 to move synchronously. The movement of the lower pressure plate 560 causes the spring 1 561 to be compressed and deformed, and the lower pressure plate 560 drives the corresponding positioning rod 564 to move synchronously. After the positioning rod 564 moves to the corresponding positioning groove 563, the position between the two rotating plates 31 is limited by the cooperation between the positioning rod 564 and the positioning groove 563, so as to avoid relative movement between the two rotating plates 31 during the detection process.

[0045] In the process of the arc plate 33 moving away from the corresponding rotating plate 31, the arc plate 33 drives the sliding block to move synchronously, and the sliding block drives the guide plate 54 to move synchronously through the L-shaped bar 53. The position of the guide plate 54 is guided by the cooperation between the isosceles trapezoidal section of the guide groove 540 and the reinforcing ribs on the power tower support column at the corresponding position, until the vertical section of the guide groove 540 moves to contact the reinforcing ribs, thereby completing the limiting of the guide plate 54.

[0046] like Figure 5 , Figure 7 , Figure 8 and Fig. 9 As shown, the end surface of the guide plate 54 away from the rotating plate 31 is fixedly provided with a plurality of equally spaced horizontal plates 57, the outer wall of the horizontal plate 57 is fixedly provided with a circular fixed plate 570 through a connecting plate 557, the outer wall of the fixed plate 570 is rotatably provided with a cylindrical tube 571 whose axis is colinear with the axis of the fixed plate 570, the cylindrical tube 571 is fixedly penetrated with a rotating column 550, the rotating column 550 is rotatably provided with a tightening column 551 away from the end surface of the corresponding horizontal plate 57, and the tightening column 551 is away from the corresponding water The end face of the flat plate 57 is provided with a hexagonal placement groove 552 with the same shape as the bolt. The placement groove 552 is divided into two sections. The circumscribed circle of the hexagonal section of the placement groove 552 close to the corresponding rotating plate 31 remains unchanged in size, while the circumscribed circle of the hexagonal section of the placement groove 552 away from the corresponding rotating plate 31 gradually increases. A volute spring 558 is fixedly arranged between the tightening column 551 and the cylindrical tube 571. A circular ring 573 is rotatably sleeved on the cylindrical tube 571, and a push bar 574 is fixedly arranged on the outer ring surface of the circular ring 573.

[0047] During operation, the guide plate 54 indirectly drives the tightening column 551 to move synchronously through the horizontal plate 57 during the process of moving away from the rotating plate 31. When the tightening column 551 moves to contact the bolt on the connecting node, the position of the tightening column 551 is adjusted by adjusting the cooperation between the placement groove 552 away from the corresponding side section of the rotating plate 31 and the bolt, so that the tightening column 551 rotates, and then the placement groove 552 is completely installed on the corresponding bolt, the spiral spring 558 is stretched and deformed, and the different angular positions of the bolt are adaptively adjusted by rotating the tightening column 551.

[0048] like Figure 5 , Figure 6 As shown, the transmission group 52 includes a moving block 520, and the upper push bar 574 is slidably provided with a moving block 520 on the end surface close to the corresponding arc plate 33. A vertical rod 1 521 is fixedly provided on the moving block 520, and a plurality of vertical rods 2 522 are fixedly provided on the end surface of the upper arc bar 51 away from the arc plate 33. A vertical plate 524 is rotatably sleeved on the vertical rod 1 521 and the vertical rod 2 522. The two vertical plates 524 in the same transmission group 52 are arranged between A spring 2 523 is fixedly connected, an electric slider 64 is arranged in the slide groove 50 on the upper arc plate 33, and the electric slider 64 is fixedly connected to the corresponding arc bar 51, and the lower push bar 574 is fixedly connected to the arc bar 51 through a fixed block 67, and a plurality of circumferentially evenly distributed ratchet teeth 572 are arranged on the circumferential surface of the cylindrical tube 571, a pawl 575 is rotatably arranged on the push bar 574, and a torsion spring 576 is fixedly arranged between the pawl 575 and the push bar 574.

[0049] like Figure 5 , Figure 7 , Figure 8 and Fig. 9 As shown, the tightening group 55 includes a fixing strip 553, the fixing strip 553 is fixedly arranged on the circumferential surface of the tightening column 551, an arc groove 554 is opened on the inner annular surface of the cylindrical tube 571, the fixing strip 553 is located in the arc groove 554, and two symmetrically distributed longitudinal rods 555 are arranged on the upper end surface of the upper fixed plate 570, and a movable plate 556 is arranged between the two longitudinal rods 555 for common sliding sliding.

[0050] like Figure 5 , Figure 7 , Figure 8 and Fig. 9As shown, the horizontal plate 57 is rotated and penetrated by a transmission cylinder 577 on one side of the axis away from the corresponding arc plate 33, and the transmission cylinder 577 is connected to the motor 4 63. The movable plate 556 is rotated and penetrated by a transmission column 578, and the transmission column 578 is located in the transmission cylinder 577. The end surfaces of the transmission column 578 and the corresponding rotating column 550 that are close to each other are fixedly provided with a transmission block 579. The upper end surface of the fixed plate 570 is slidably provided with an electric slider 2 65, and the electric slider 2 65 and the movable plate 556 are hingedly connected with a hinge bar 69.

[0051] In the initial state, the ratchet teeth 572 and the pawls 575 are in a mutually coordinated state in the direction of tightening the bolts. During operation, when the push group 41 drives the arc plate 33 to move, after the position of the guide plate 54 is limited by the cooperation between the guide groove 540 and the reinforcing rib, the arc plate 33 continues to move until the placement groove 552 is completely sleeved on the bolt at the corresponding position, and then the push group 41 stops working, and then the electric slider 64 works to push the arc strip 51 to move along the slide groove 50, and the arc strip 51 with The multiple vertical rods 522 are driven to move synchronously, the vertical rods 522 drive the corresponding vertical plates 524 to move synchronously, the vertical plates 524 pull the corresponding vertical rods 521 to move through the springs 523, the vertical rods 521 drive the push bars 574 to rotate through the moving blocks 520, the cylindrical tube 571 is rotated through the cooperation between the ratchet 572 and the pawl 575, the cylindrical tube 571 moves to the inner wall of the arc groove 554 and contacts the corresponding fixed bar 553, and then the electric slider 64 continues to move.

[0052] If the bolt is in a tightened state at this time, the electric slider 2 65 works to move toward the side close to the corresponding rotating column 550, and the electric slider 2 65 pushes the movable plate 556 to move away from the corresponding fixed plate 570 through the hinge bar 69. The movable plate 556 drives the corresponding transmission block 579 to move synchronously through the transmission column 578. The transmission block 579 on the transmission column 578 moves to be staggered with the transmission block 579 on the rotating column 550. Then the electric slider 1 64 continues to push the arc bar 51, and the spring 2 523 is continuously stretched and deformed.

[0053] If the bolt at the corresponding detection position is loose, the transmission block 579 on the transmission column 578 moves to cooperate with the transmission block 579 on the rotating column 550, and the motor 463 at the corresponding position works to drive the transmission cylinder 577 to rotate. The transmission cylinder 577 drives the corresponding transmission block 579 to rotate through the transmission column 578, and the transmission block 579 on the transmission column 578 drives the transmission block 579 on the rotating column 550 to rotate, so that the rotating column 550 drives the cylindrical barrel 571 to rotate, and the cylindrical barrel 571 passes through the arc groove 55 The fixing bar 553 is pushed to rotate, and the fixing bar 553 rotates by pushing the tightening column 551, thereby driving the nut to rotate through the placement groove 552 on the tightening column 551 to tighten and tighten. After the nut is tightened, the electric slider 2 65 pushes the moving plate 556 to move away from the corresponding fixing plate 570 through the hinge bar 69, so that the transmission block 579 on the transmission column 578 moves to be staggered with the transmission block 579 on the rotating column 550, and the corresponding motor 4 63 stops working, and the bolt is tightened.

[0054] It should be noted that the push bar 574 on the lower side is fixedly connected to the arc bar 51 through the fixing block 67, so that the position of the corresponding cylindrical tube 571 is stuck and cannot rotate around the axis of the corresponding transmission tube 577. The corresponding tightening column 551 will jam the bolt at the corresponding position, and then the bolt and nut will be tightened through the tightening group 55.

[0055] During the specific work, the staff places the inspection robot at the bottom of the power tower so that the supporting column of the power tower is located on the side away from the vertical column 1. Then the rotating group 42 works to drive the corresponding two rotating plates 31 to rotate and close. At the same time, the rotating rod 32 drives the corresponding arc plate 33 to rotate synchronously, so that the axis of the supporting column of the power tower is in line with the axis after the rotating plate 31 and the arc plate 33 are closed. When the rotating plate 31 is closed, all the driving wheels 402 are close to the supporting column of the power tower. Then the moving group 40 works to drive the inspection robot to move upward. When the detection mechanism 3 moves to the connection node on the power tower, the upper rotating group 42 works to drive the rotating plate 31 to open and avoid the connection node on the power tower. At this time, the detection mechanism 3 is driven by the lower moving group 40 to move upward. When the upper detection mechanism 3 completely passes the node, the upper rotating group 42 works to drive the corresponding rotating plate 31 and the arc plate 33 to rotate and close. Then the pushing group 41 works to push the arc plate 33 to the connection node on the power tower. The arc plate 33 moves, and the position of the tightening group 55 is adjusted by the cooperation between the guide plate 54 and the reinforcing ribs on the supporting column of the power tower during the movement, so that the tightening group 55 is directly opposite to the bolt at the corresponding position. Then the arc plate 33 continues to move and the position between the two rotating plates 31 is locked by the cooperation between the positioning rod 564 and the positioning groove 563, so as to avoid relative movement between the two rotating plates 31 during the detection process. After the placement groove 552 is completely sleeved on the bolt at the corresponding position, the transmission group 52 works to detect the tightness of the bolt, and tightens the untightened bolts through the tightening column 551. Then the transmission group 52 and the pushing group 41 are reset, and then the rotating group 42 on the lower side works to avoid the node position, and the upper moving group 40 drives the detection mechanism 3 to continue to move upward. When the detection mechanism 3 completely passes the node, the above-mentioned movement, avoidance and detection steps are repeated until the detection and tightening of the tightness of all bolts on a supporting column of the power tower are completed.

[0056] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0057] In addition, the terms "first", "second", "number one", "number two" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second", "number one", "number two" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0058] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "connect", "install", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0059] The embodiments of this specific implementation method are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, all equivalent changes made according to the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A power tower inspection robot, characterized in that: include: A vertical column, the upper and lower end surfaces of the vertical column are fixedly provided with a horizontal plate, a detection mechanism is commonly provided between the two horizontal plates, the detection mechanism comprises a rotating cylinder, two rotating cylinders are rotatably penetrated on the horizontal plate, a semicircular rotating plate is fixedly sleeved on the rotating cylinder and is located between the two horizontal plates, a rotating rod is slidably provided in the rotating cylinder, and semicircular arc plates are fixedly provided on the opposite surfaces of the two rotating rods, and the detection mechanism also comprises a moving unit and a detection unit; The moving unit is arranged on the rotating plate, and the moving unit includes a moving group. Each rotating plate is provided with a moving group. The rotating plate and the corresponding arc plate are provided with a pushing group together. The transverse plate is provided with a rotating group for driving the rotating plate to rotate with the rotating cylinder as the center. The detection unit is arranged on the arc plate, and the detection unit includes a slide groove, and the opposite surfaces of the two arc plates above and below are provided with an arc-shaped slide groove, and the slide grooves on the two arc plates in the same detection unit are connected, and an arc-shaped bar is slidably arranged in the slide groove, and a transmission group is arranged on the arc-shaped bar, and an L-shaped bar is slidably arranged on the arc plate through a sliding block, and an arc-shaped guide plate is fixedly arranged on the end surface of the L-shaped bar on one side of the axis of the arc plate, and a plurality of tightening groups for tightening detection of bolts are arranged on the guide plate; The end surface of the guide plate away from the rotating plate is fixed with a plurality of equally distributed horizontal plates, the outer wall of the horizontal plate is fixed with a circular fixed plate through a connecting plate, the outer wall of the fixed plate is rotatably provided with a cylindrical tube whose axis is colinear with the axis of the fixed plate, a rotating column is fixedly passed through the cylindrical tube, a tightening column is rotatably provided on the end surface of the rotating column away from the corresponding horizontal plate, a hexagonal placement groove with the same shape as the bolt is provided on the end surface of the tightening column away from the corresponding horizontal plate, the placement groove is divided into two sections, the circumscribed circle of the hexagon of the placement groove close to the corresponding rotating plate side section remains unchanged, and the circumscribed circle of the hexagon of the placement groove away from the corresponding rotating plate side part gradually increases, a volute spring is fixedly provided between the tightening column and the cylindrical tube, a circular ring is rotatably sleeved on the cylindrical tube, and a push bar is fixedly provided on the outer ring surface of the circular ring.

2. The power tower inspection robot according to claim 1, characterized in that: The rotating group includes gear one, a gear one is fixedly sleeved on the rotating cylinder, and two gears one in the same rotating group are meshed with each other, and gear two are rotatably arranged on opposite back surfaces of two upper and lower horizontal plates through a rotating shaft, the rotating shaft is connected to motor one, and gear two is meshed with any one of the gears one.

3. The power tower inspection robot according to claim 1, characterized in that: The moving group includes a fixed rod, and each of the rotating plates is fixed with two fixed rods, and a U-shaped plate is fixedly provided on the end face of the fixed rod facing the axis of the corresponding rotating plate, and the opening of the U-shaped plate faces the axis of the corresponding rotating plate. A driving wheel is rotatably provided on the U-shaped plate, and the driving wheel is connected to the output shaft of the motor 2, and the motor 2 is fixedly provided on the U-shaped plate.

4. The power tower inspection robot according to claim 1, characterized in that: The pushing group includes a transmission shaft, and the back surfaces of the two upper and lower arc-shaped plates opposite to each other are rotatably provided with transmission shafts, the transmission shaft is connected to the motor, and two transmission rods located on both sides of the transmission shaft are rotatably provided on the arc-shaped plate, and the transmission rods penetrate the corresponding rotating plates, and thread grooves are provided on the transmission rods. The rotating plates are threadedly connected to the thread grooves on the transmission rods, and sprockets are fixedly sleeved on the transmission shaft and the transmission rods. The three sprockets on the same arc-shaped plate are connected by chain transmission, and circular plates are fixedly provided on the end surfaces of the two upper and lower transmission rods that are opposite to each other and away from each other.

5. The power tower inspection robot according to claim 4, characterized in that: A sliding rod is passed through a sliding section of any one of the rotating plates away from the vertical column, and an arc-shaped lower pressure plate is fixedly provided on the opposite back surfaces of the two sliding rods opposite to each other up and down, and the lower pressure plate is sleeved on the corresponding transmission rod, and a spring sleeved on the sliding rod is fixedly provided between the lower pressure plate and the corresponding rotating plate, and a positioning plate is fixedly provided on the opposite back surfaces of the two rotating plates connected to the lower pressure plate, and a positioning groove is jointly provided on the positioning plate and the rotating plate not connected thereto, and a positioning rod matching the positioning groove is fixedly provided on the opposite surfaces of the two lower pressure plates opposite to each other up and down.

6. The power tower inspection robot according to claim 1, characterized in that: The guide plate is provided with a guide groove, which is divided into a vertical section and an isosceles trapezoidal section with inclined surfaces facing both sides from top to bottom, and the inclined surfaces of the isosceles trapezoidal section of the guide groove are away from each other from top to bottom.

7. The power tower inspection robot according to claim 1, characterized in that: The transmission group includes a moving block, a moving block is slidably provided on the end surface of the upper pushing bar close to the corresponding arc plate, a vertical rod 1 is fixedly provided on the moving block, and a plurality of vertical rods 2 are fixedly provided on the end surface of the upper arc bar away from the arc plate, vertical plates are rotatably sleeved on the vertical rods 1 and 2, and a spring 2 is fixedly connected between the two vertical plates in the same transmission group, an electric slider 1 is provided in the slide groove on the upper arc plate, and the electric slider 1 is fixedly connected to the corresponding arc bar, and the pushing bar on the lower side is fixedly connected to the arc bar through a fixed block, a plurality of circumferentially evenly distributed ratchet teeth are provided on the circumferential surface of the cylindrical barrel, a pawl is rotatably provided on the pushing bar, and a torsion spring is fixedly provided between the pawl and the pushing bar.

8. The power tower inspection robot according to claim 7, characterized in that: The tightening group includes a fixing bar, which is fixedly arranged on the circumferential surface of the tightening column, an arc groove is opened on the inner ring surface of the cylindrical tube, and the fixing bar is located in the arc groove. Two symmetrically distributed longitudinal rods are arranged on the upper end surface of the upper fixing plate, and a movable plate is slidingly sleeved between the two longitudinal rods.

9. The power tower inspection robot according to claim 8, characterized in that: The horizontal plate is rotated with a transmission cylinder passing through the side of the axis away from the corresponding arc plate, and the transmission cylinder is connected to the motor four. The movable plate is rotated with a transmission column passing through, and the transmission column is located in the transmission cylinder. The end surfaces of the transmission column and the corresponding rotating column are fixedly provided with transmission blocks. The upper end surface of the fixed plate is slidably provided with an electric slider two, and the electric slider two and the movable plate are hinged together with a hinge bar.

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