Angle steel main limb electric tower climbing robot and using method thereof

Abstract

The invention discloses an angle steel main limb electric tower climbing robot and a using method thereof. The tower assembling operation robot comprises fixing devices, and a climbing assembly used for driving the two fixing devices to be close to each other or away from each other is arranged between the two fixing devices; the fixing device comprises a base, two clamping devices used for clamping two wing plates of angle steel respectively are arranged on the base, each clamping device comprises a fixing claw hook and an anti-skid block, the anti-skid blocks are arranged on the base, the claw hooks are rotationally connected to the base, the claw hooks rotate to abut against one side wall of the wing plates, and the anti-skid blocks abut against the other side wall of the wing plates. The base is further provided with a driving assembly used for driving the claw hooks to rotate. Through the arrangement of the climbing assembly and the clamping assembly, the robot can gradually climb along the electric power line angle steel tower, so that operation tools or other materials needed by high-altitude operation personnel are conveyed to the high altitude, in the subsequent development of the robot, other assemblies can be additionally arranged on the robot, manual operation is directly replaced, and the working efficiency is improved. The hidden danger of high-altitude operation is effectively reduced, and the operation convenience is improved.

Description

Technical Field

[0001] The invention relates to the field of tower assembly operation robots, in particular to an angle steel main limb electric tower climbing robot and a use method thereof. Background Art

[0002] In recent years, my country's power industry has made significant progress, and the scale and speed of power infrastructure construction have reached unprecedented heights. With this development, more and more angle steel towers for power lines are widely used and become an important part of the power transmission network. The tower assembly construction of angle steel main limb towers, as one of the core links in power line engineering, is a complex process and is accompanied by high risks.

[0003] In traditional tower construction, a large number of construction workers need to work at high altitudes. Although these workers have received rigorous training, the safety hazards of high-altitude operations cannot be completely eliminated. Therefore, realizing unmanned operation of tower construction has become an urgent problem to be solved. However, most construction robots are currently only suitable for ground platform operations and cannot be directly applied to the high-altitude environment of tower construction. Summary of the invention

[0004] In order to promote the unmanned construction process of power towers, a device is provided that can provide a working platform for other construction robot components and transport high-altitude tower assembly materials. The present application provides an angle steel main limb power tower climbing robot and a method of using the same.

[0005] In the first aspect, the present application provides an angle steel main limb electric tower climbing robot, which adopts the following technical solution:

[0006] An angle steel main limb electric tower climbing robot comprises a fixing device, a climbing assembly for driving the two fixing devices to move closer to or away from each other is arranged between the two fixing devices; the fixing device comprises a base, two groups of clamping devices for clamping two wing plates of the angle steel are arranged on the base, the clamping device comprises a fixed claw hook and an anti-sliding block, the anti-sliding block is arranged on the base, the claw hook is rotatably connected to the base, the claw hook rotates to abut against one side wall of the wing plate, and the anti-sliding block abuts against the other side wall; the base is also provided with a driving assembly for driving the claw hook to rotate.

[0007] Optionally, the climbing assembly includes a screw and a climbing motor, the two bases are connected to the screw via a screw nut, the climbing motor is fixedly connected to one of the bases, and the climbing motor is used to drive the screw to rotate.

[0008] Optionally, the claw hook is rotatably connected to the base via a rotating shaft, and the driving assembly includes a clamping motor, the clamping motor is fixedly connected to the base, a bevel gear 1 is coaxially fixedly connected to the rotating shaft, a bevel gear 2 is coaxially fixedly connected to the output shaft of the clamping motor, and bevel gear 1 is meshed with bevel gear 2.

[0009] Optionally, a locking assembly is provided on the output shaft of the clamping motor, the locking assembly includes a locking shell, the locking shell is fixedly connected to the base; a locking ratchet is rotatably connected in the locking shell, and the locking ratchet is coaxially fixedly connected to the output shaft of the clamping motor; a rotatable locking block is provided in the shell below the locking ratchet, and a locking rod is abutted on the locking block; a locking spring is also provided in the locking shell, and two ends of the locking spring are respectively fixedly connected to the locking rod and the inner wall of the locking shell, and the locking spring is used to abut the locking rod against the locking block, and a motor for driving the locking block to rotate is provided in the shell, and the locking block rotates to drive the locking rod to insert into or disengage from the locking ratchet.

[0010] Optionally, the steel frame is provided with a guide rail along the horizontal direction, the guide rail is slidably connected to a non-slip base, the non-slip base is provided with a sliding support rod, the anti-sliding block is arranged on the sliding support rod, and the non-slip base is also provided with a limiting component for limiting its own sliding.

[0011] Optionally, an anti-slip spring is sleeved on the sliding support rod, and two ends of the anti-slip spring are respectively connected to the anti-slip base and the anti-slip block, and the anti-slip spring is always in a compressed state.

[0012] Optionally, the limiting assembly includes a bolt, which is rotatably connected to the anti-slip base, the rotation axis of the bolt is arranged along the width direction of the anti-slip base and one end passes through the anti-slip base, and the guide rail is provided with a plurality of threaded holes for the bolts to be screwed in, spaced apart along its own length direction.

[0013] Optionally, an anti-skid wheel is provided at the end of the claw hook, the anti-skid wheel is rotatably connected to the end of the claw hook, an anti-skid ring is further provided on the anti-skid wheel, and an anti-skid groove is provided on the anti-skid ring.

[0014] In the second aspect, the present application also discloses a method for using an angle steel main limb electric tower climbing robot, which adopts the following technical solution:

[0015] A method for using an angle steel main limb electric tower climbing robot comprises the following steps:

[0016] S1. Connect the two bases with the screw rod, and drive the claws on the base and the anti-sliding block to clamp the angle steel;

[0017] S2, driving the clamping assembly of the upper base to loosen the angle steel, the clamping device of the lower base is clamped higher, and the upper base is driven away from the lower base through the screw rod and the climbing motor;

[0018] S3, after the upper base reaches a certain position, it is clamped higher by the clamping device, and the clamping device of the lower base releases the angle steel;

[0019] S4, drive the lower base to approach the upper base through the screw rod and the climbing motor, and clamp the angle steel again through the clamping device after reaching the predetermined position;

[0020] S5. Repeat the above steps S2 to S4 until the robot as a whole reaches the predetermined position.

[0021] In summary, this application includes the following beneficial technical effects:

[0022] The present application uses the setting of climbing components and clamping components to enable the robot to gradually climb along the angle steel tower of the power line, thereby delivering the work tools or other materials needed by high-altitude workers to high altitudes. In the subsequent development of the robot, other components can be added to the robot to directly replace manual work, effectively reducing the hidden dangers of high-altitude operations and improving the convenience of operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is the overall structural diagram of an angle steel main limb electric tower climbing robot of the present application;

[0024] Figure 2 yes Figure 1 The overall structure diagram of a single base;

[0025] Figure 3 yes Figure 2 The overall structure diagram related to a single claw hook;

[0026] Figure 4 yes Figure 3 The overall internal structure diagram of the middle locking assembly;

[0027] Figure 5 yes Figure 3 The overall structure of the middle claw hook;

[0028] Figure 6 yes Figure 3 The overall structure diagram of the middle anti-sliding block.

[0029] Description of reference numerals:

[0030] 11. Base; 12. Steel frame; 13. Screw; 14. Climbing motor; 21. Clamping motor; 22. Claw hook; 23. Anti-skid wheel; 24. Anti-skid ring; 31. Anti-skid base; 32. Anti-skid spring; 33. Anti-skid block; 34. Anti-skid support rod; 35. Guide rail; 41. Locking shell; 42. Locking ratchet; 43. Motor; 44. Locking spring; 45. Locking rod; 46. Locking block. DETAILED DESCRIPTION

[0031] The following is combined with Figure 1-6 This application is described in further detail.

[0032] The embodiment of the present application discloses a tower climbing robot with an angle steel main limb. The tower climbing concept of the robot can be simply summarized as climbing on the angle steel tower in a stretching and tightening manner. The two ends of the robot sequentially grasp and release the angle steel to complete the tower climbing.

[0033] The robot includes two bases 11, both of which are connected to a screw 13 through a screw nut. One of the bases 11 is provided with a plurality of cross through holes along its own thickness direction (i.e., the vertical direction during operation) (in order to facilitate the subsequent distinction between the two bases, the base with through holes is called base A, and the other base is called base B), and a cross guide rod is arranged through the cross through holes. A climbing motor 14 for driving the screw 13 to rotate is also provided on the other base 11 (base B), and a limit baffle is fixedly provided on the base 11 (base B), and the limit baffle and the screw 13 are fixedly connected to the cross guide rod; the output shaft of the climbing motor 14 is coaxially fixedly connected with a gear, and the screw 13 is also coaxially fixedly connected with a gear, and the two gears are meshed for transmission and deceleration, and the screw 13 rotates to drive the two bases 11 to move closer to or away from each other.

[0034] A steel frame 12 is provided on the base 11, and two clamping devices for clamping the angle steel wing plates are provided on the steel frame 12. Each clamping device clamps one wing plate of the angle steel. The clamping device includes an anti-sliding block 33 and a claw hook 22. The anti-sliding block 33 is provided on the base 11, and the claw hook 22 is rotatably connected to the steel frame 12 through a rotating shaft. The claw hook 22 rotates to abut against one side wall of the wing plate, and the anti-sliding block 33 abuts against the other side wall, thereby completing the clamping action to fix the base 11 and the angle steel by friction. A driving component for driving the claw hook 22 to rotate is also provided on the base 11.

[0035] In the embodiment of the present application, the driving assembly includes a clamping motor 21, which is fixedly connected to the steel frame 12, and a bevel gear 1 is coaxially fixedly connected to the rotating shaft, and a bevel gear 2 is coaxially fixedly connected to the output shaft of the clamping motor 21, and the bevel gear 1 is meshed with the bevel gear 2; the claw hook 22 can be driven to rotate by the clamping motor 21.

[0036] At the same time, in order to prevent the motor from continuously outputting torque to clamp the angle steel, a locking assembly is also provided on the output shaft of the clamping motor 21, and the locking assembly includes a locking shell 41, which is fixedly connected to the steel frame 12, and a locking ratchet 42 is rotatably connected in the locking shell 41, and the locking ratchet 42 is coaxially fixedly connected to the output shaft of the clamping motor 21; a rotatable locking block 46 is provided in the shell below the locking ratchet 42, and a motor 43 for driving the locking block 46 to rotate is provided in the shell, and a locking spring 44 is also provided in the locking shell 41, one end of the locking spring 44 is fixedly connected to the inner wall of the locking shell 41, and the other end is fixedly connected to a locking rod 45, and the locking rod 45 abuts against the locking block 46 under the action of the locking spring 44.

[0037] The side of the locking block 46 that abuts against the locking rod 45 is a bevel, so when the locking block 46 is in Figure 4 In the state shown in , the locking ratchet 42 can rotate counterclockwise, and when the locking ratchet 42 rotates clockwise, the locking rod 45 is inserted into the locking ratchet 42, thereby limiting the rotation of the locking ratchet 42; in the embodiment of the present application, the counterclockwise rotation corresponds to the process of the claw hook 22 rotating to clamp the angle steel, and the clockwise rotation corresponds to the process of the claw hook 22 rotating to disengage the angle steel. Therefore, the function of the locking assembly is: when the claw hook 22 clamps the angle steel, the claw hook 22 cannot be reversed, so that the angle steel is always clamped; when the claw hook 22 needs to be released, the motor 43 is driven to Figure 4 The middle locking block 46 rotates clockwise to drive the locking rod 45 away from the locking ratchet 42, so that the locking ratchet 42 can rotate clockwise, thereby allowing the claw hook 22 to release the angle steel.

[0038] In the embodiment of the present application, in order to enable the anti-slip block 33 to change its position to better clamp the angle steel, a guide rail 35 is provided on the steel frame 12 along the horizontal direction, and an anti-slip base 31 is slidably connected to the guide rail 35. Bolts are rotatably provided on the anti-slip base 31, and a plurality of threaded holes for screwing the bolts are provided at intervals along the length direction of the guide rail 35; a sliding support rod 34 is provided on the anti-slip base 31, and the sliding support rod 34 is a retractable rod, and the anti-slip block 33 is slidably set on the sliding support rod 34, and an anti-slip spring 32 is also sleeved on the sliding support rod 34 to prevent slipping. The two ends of the spring 32 are respectively connected to the anti-slip base 31 and the anti-slip block 33. The anti-slip spring 32 drives the anti-slip block 33 to always abut against the angle steel, and when encountering the angle steel connection, the anti-slip block 33 can retreat to avoid a certain space, which is convenient for passing through obstacles; at the same time, a pressure sensor is also provided on the anti-slip block 33; when the position of the anti-slip block 33 needs to be changed, the bolts can be screwed into the threaded holes at different positions. There is a "W"-shaped texture at the bottom of the anti-slip block 33 for abutting the angle steel, and the direction of the bottom texture is consistent with the normal direction of the cross-section of the main limb of the angle steel tower.

[0039] In order to increase the friction between the claw hook 22 and the angle steel, an anti-skid wheel 23 is provided at the contact end of the claw hook 22 and the angle steel. The anti-skid wheel 23 is rotatably connected to the end of the claw hook 22. An anti-skid ring 24 is also provided on the anti-skid wheel 23. An anti-skid groove is provided on the anti-skid ring 24. Different pattern materials can be selected to adapt to complex environments according to actual needs.

[0040] The present application also provides a method for using the robot, comprising the following steps:

[0041] Step S1: Adjust according to actual conditions

[0042] The steps of adjusting the angle steel main limb tower climbing robot specifically include: adjusting the relative position of the anti-skid wheel 23 on the guide rail 35 so that the two anti-slip blocks 33 of the base 11 are both located at the flange edge of the angle steel main limb of the tower.

[0043] Step S2: Install the robot

[0044] The steps for installing the angle steel main limb tower climbing robot include:

[0045] Step 2.1: The two anti-sliding blocks 33 of the two bases 11 are tightly fitted to the upper surface edges of the flanges of the main limbs of the angle steel.

[0046] Step 2.2 starts the four climbing motors 14 of the upper and lower bases 11, so that the hooks tightly clamp the lower surface of the flange of the angle steel main limb, and collects the pressure data obtained through the pressure sensor of the anti-slip block 33 and the anti-slip wheel 23, and analyzes the maximum static friction force value of the tower climbing robot in real time. When the value is greater than the design threshold, the climbing motor 14 can stop. At this time, the hook is restricted by the self-locking ratchet and continuously provides stable pressure to the anti-slip block 33 to ensure that the angle steel main limb electric tower climbing robot is fixed on the angle steel main limb.

[0047] Step S3: Tower climbing process

[0048] The steps of the angle steel main limb electric tower climbing robot climbing process specifically include:

[0049] Step 3.1 The locking block 46 of the lower base 11 rotates to press the locking rod 45, so that the locking spring 44 is further compressed, and the locking ratchet 42 can rotate clockwise.

[0050] Step 3.2 The two hook motors of the lower base 11 start to drive the hooks to loosen the lower surface of the flange of the main limb of the angle steel, and try to make the top of the hook avoid possible interference from the tower limbs. At this time, the lower base 11 is powered by the screw 13, so that the lower base 11 moves upward along the path of the cross guide rod.

[0051] Step 3.3 When the lower base 11 moves to the set distance, start the two clamping motors 21 of the lower base 11, so that the hooks tightly clamp the lower surface of the flange of the main limb of the angle steel, and collect the pressure data through the pressure sensor of the anti-sliding block 33, and analyze the maximum static friction force value of the tower climbing robot in real time. When the value is greater than the design threshold, the clamping motor 21 can stop. At this time, the hook is restricted by the locking ratchet 42, and the anti-sliding block 33 continues to provide stable pressure to ensure that the lower base 11 is fixed on the main limb of the angle steel.

[0052] Step 3.4 The two clamping motors 21 of the upper base 11 start to drive the hook to loosen the lower surface of the flange of the main limb of the angle steel, and try to make the top of the hook avoid possible interference from the tower limbs, and drive the screw 13 to rotate through the climbing motor 14, and the upper base 11 moves upward along the path of the cross guide rod; then, start the two clamping motors 21 of the upper base 11, so that the hook tightly clamps the lower surface of the flange of the main limb of the angle steel, and collects the pressure data obtained by the pressure sensor of the anti-sliding block 33, and analyzes the maximum static friction force value of the tower climbing robot in real time. When the value is greater than the design threshold, the clamping motor 21 can stop. At this time, the hook is restricted by the locking ratchet 42, and the anti-sliding block 33 continues to provide stable pressure to ensure that the upper base 11 is fixed on the main limb of the angle steel.

[0053] Step 4: Repeat step 3 until the angle steel main limb tower climbing robot moves to the target position.

[0054] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. An angle steel main limb electric tower climbing robot, characterized in that: The invention comprises a fixing device, wherein a climbing assembly for driving the two fixing devices to move closer to or farther from each other is arranged between the two fixing devices; the fixing device comprises a base (11), and the base (11) is provided with two groups of clamping devices respectively used for clamping two wing plates of the angle steel, the clamping device comprises a fixed claw hook (22) and an anti-sliding block (33), the anti-sliding block (33) is arranged on the base (11), the claw hook (22) is rotatably connected to the base (11), the claw hook (22) rotates to abut against one side wall of the wing plate, and the anti-sliding block (33) abuts against the other side wall; the base (11) is also provided with a driving assembly for driving the claw hook (22) to rotate.

2. The angle steel main limb electric tower climbing robot according to claim 1, characterized in that: The climbing assembly comprises a screw rod (13) and a climbing motor (14); the two bases (11) are connected to the screw rod (13) via a screw rod (13) nut; the climbing motor (14) is fixedly connected to one of the bases (11); and the climbing motor (14) is used to drive the screw rod (13) to rotate.

3. The angle steel main limb electric tower climbing robot according to claim 2, characterized in that: The claw hook (22) is rotatably connected to the base (11) via a rotating shaft, and the driving assembly comprises a clamping motor (21), the clamping motor (21) is fixedly connected to the base (11), a bevel gear 1 is coaxially fixedly connected to the rotating shaft, a bevel gear 2 is coaxially fixedly connected to the output shaft of the clamping motor (21), and the bevel gear 1 is meshed with the bevel gear 2.

4. The angle steel main limb electric tower climbing robot according to claim 3, characterized in that: The output shaft of the clamping motor (21) is provided with a locking assembly, the locking assembly comprising a locking shell (41), the locking shell (41) is fixedly connected to the base (11); a locking ratchet (42) is rotatably connected in the locking shell (41), the locking ratchet (42) is coaxially fixedly connected to the output shaft of the clamping motor (21); a rotatable locking block (46) is provided in the housing below the locking ratchet (42), and a locking rod is abutted on the locking block (46) (45); a locking spring (44) is also provided in the locking shell (41), and the two ends of the locking spring (44) are respectively fixedly connected to the locking rod (45) and the inner wall of the locking shell (41), and the locking spring (44) is used to make the locking rod (45) abut against the locking block (46). A motor (43) is provided in the shell for driving the locking block (46) to rotate, and the locking block (46) rotates to drive the locking rod (45) to insert into or disengage from the locking ratchet (42).

5. The angle steel main limb electric tower climbing robot according to claim 1, characterized in that: The base (11) is provided with a guide rail (35) along the horizontal direction, the guide rail (35) is slidably connected to an anti-skid base (31), the anti-skid base (31) is provided with a sliding support rod (34), the anti-sliding block (33) is arranged on the sliding support rod (34), and the anti-skid base (31) is also provided with a limit assembly for limiting its own sliding.

6. The angle steel main limb electric tower climbing robot according to claim 5, characterized in that: The sliding support rod (34) is a telescopic rod. An anti-skid spring (32) is provided on the outer sleeve of the sliding support rod (34). The two ends of the anti-skid spring (32) are respectively connected to the anti-skid base (31) and the anti-sliding block (33); the anti-skid spring (32) is always in a compressed state.

7. The angle steel main limb electric tower climbing robot according to claim 6, characterized in that: The limiting assembly comprises a bolt, which is rotatably connected to the anti-skid base (31), the rotation axis of the bolt is arranged along the width direction of the anti-skid base (31) and one end of the bolt passes through the anti-skid base (31), and the guide rail (35) is provided with a plurality of threaded holes for the bolt to be screwed into at intervals along its length direction.

8. The angle steel main limb electric tower climbing robot according to claim 1, characterized in that: The end of the claw hook (22) is provided with an anti-skid wheel (23), which is rotatably connected to the end of the claw hook (22), and the anti-skid wheel (23) is also provided with an anti-skid ring (24), and the anti-skid ring (24) is provided with an anti-skid groove.

9. A method for using an angle steel main limb electric tower climbing robot, using the angle steel main limb electric tower climbing robot as claimed in claim 4, characterized in that The steps include: S1, connecting the two bases (11) and the screw rod (13), and driving the claw hook (22) on the base (11) and the anti-sliding block (33) to clamp the angle steel; S2, driving the clamping assembly of the lower base (11) to release the angle steel, and the clamping device of the upper base (11) to clamp the angle steel, and driving the lower base (11) to approach the upper base (11) through the screw rod (13) and the climbing motor (14); S3, after the lower base (11) reaches a certain position, the angle steel is clamped by its clamping device, and the clamping device of the upper base (11) releases the angle steel; S4, driving the upper base (11) away from the lower base (11) through the screw rod (13) and the climbing motor (14), and clamping the angle steel again through the clamping device after reaching the predetermined position; S5. Repeat the above steps S2 to S4 until the robot as a whole reaches the predetermined position.

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