Electric power iron tower climbing robot

Abstract

The invention discloses an electric power iron tower climbing robot, and relates to the technical field of electric power engineering, the electric power iron tower climbing robot comprises a first mounting platform and a second mounting platform, one side of the first mounting platform and one side of the second mounting platform are respectively connected with two groups of ball head seats, the two groups of ball head seats are internally connected with ball head rods, and an electric cylinder is mounted between the two groups of ball head rods. Through the arrangement of the ball cup, the ball rod, the electric cylinders and the first electromagnet, the first electromagnet at the bottom of the first mounting platform is started to generate magnetism, so that the first mounting platform is attracted to the electric iron tower, and when the four electric cylinders extend at the same time, the distance between the first mounting platform and the second mounting platform is increased; then a first electromagnet at the bottom of the second mounting platform is started to attract the electric iron tower; the device is simple in structure and convenient to use, can move linearly and turn, and can climb on an electric tower with the device without climbing by workers, so that the safety and physical output are improved.

Description

Technical Field

[0001] The invention relates to the technical field of electric power engineering, and in particular to an electric power tower climbing robot. Background Art

[0002] Power towers are tower-shaped buildings used for power transmission. Their structural characteristics are that all types of towers are space truss structures, the rods are mainly composed of single equilateral angle steel or combined angle steel, the rods are connected by rough bolts, and the shear force is connected by bolts. The whole tower is composed of angle steel, connecting steel plates and bolts, and some parts such as tower feet are welded from several steel plates into a combination.

[0003] When inspecting existing power towers, manual climbing is usually used. Workers climb up the tower and then inspect insulators and other components to check if there are any fault points for repair. This requires workers to climb up and down, which poses certain safety hazards and is time-consuming and labor-intensive. Summary of the invention

[0004] Based on this, the purpose of the present invention is to provide a power tower climbing robot to solve the technical problems mentioned in the above background technology.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a power tower climbing robot, comprising a first mounting platform and a second mounting platform, two groups of ball head seats are respectively connected to one side of the first mounting platform and the second mounting platform, and ball head rods are connected to the inside of the two groups of ball head seats, an electric cylinder is installed between the two groups of ball head rods, and a first electromagnet is installed at the bottom of the first mounting platform and the second mounting platform; an airbag is fixed to the other side of the second mounting platform, and an outer shell is connected to the other side of the first mounting platform, and a storage cylinder is connected to the outer surface of the outer shell; a sealing cover is passed through one side of the storage cylinder, and a slot is provided on the outer ring of the sealing cover, and bolts are passed through the outer surface of the storage cylinder; a push plate and a parachute are respectively connected to the inside of the storage cylinder, a second electromagnet is installed in the middle of one side of the outer shell, and a battery compartment, a gravity sensor and a sub-controller are respectively installed on one side of the outer shell.

[0006] By adopting the above technical solution, the first electromagnet at the bottom of the first installation platform is started to generate magnetism, so that the first installation platform is adsorbed on the power tower. When the four electric cylinders are extended at the same time, the distance between the first installation platform and the second installation platform is increased, and then the first electromagnet at the bottom of the second installation platform is started to attract the power tower. At the same time, the first electromagnet at the bottom of the first installation platform is closed, and then the four electric cylinders are shortened at the same time, so that the first installation platform moves toward the second installation platform. Finally, the first electromagnet at the bottom of the first installation platform attracts the tower to complete a step. After that, the above operation can be repeated through a cycle to enable the robot to continue to climb up on the tower, and the reverse movement enables the robot to climb down. If a turn is required, one electric cylinder is shortened and the other three electric cylinders are extended. Or two adjacent electric cylinders are shortened and the other two electric cylinders are extended, so that the second mounting platform rotates in the direction of the shortened electric cylinder, thereby facilitating the robot to rotate in four directions: front, back, left, and right. When the robot fails and falls, the gravity sensor detects that the acceleration is too large and determines that the robot is in a falling state. Then the second electromagnet is turned on to generate a magnetic field that repels the push plate, so that the push plate pushes the parachute, and then the parachute pushes the cover. After the cover is pushed, it is separated from the storage tube and falls off. Then the push plate pops out the parachute, and then the parachute unfolds to slow down the robot's falling speed, thereby reducing the robot's high-altitude fall damage. Because the parachute is unfolded, the second mounting platform faces the ground. When the robot lands, the airbag is used for cushioning to reduce the impact of the robot landing, thereby further reducing the high-altitude fall damage.

[0007] Furthermore, two ends of the electric cylinder are rotatably connected to the first mounting platform and the second mounting platform respectively through a ball head seat and a ball head rod.

[0008] By adopting the above technical solution, one electric cylinder is shortened and the other three electric cylinders are extended, or two adjacent electric cylinders are shortened and the other two electric cylinders are extended, and at the same time the ball head rod is forced to rotate in the ball head seat, so that the second mounting platform rotates and moves in the direction of the shortened electric cylinder, thereby facilitating the robot to rotate in four directions of front, back, left and right.

[0009] Furthermore, four electric cylinders are provided, and the four electric cylinders are distributed in a ring array.

[0010] By adopting the above technical solution, four electric cylinders are extended and shortened simultaneously to facilitate the robot's linear movement, one electric cylinder is shortened and the other three electric cylinders are extended, or two adjacent electric cylinders are shortened and the other two electric cylinders are extended to facilitate the robot's turning.

[0011] Furthermore, batteries are installed inside the first installation platform and the second installation platform, and a wireless controller is installed inside the shell.

[0012] By adopting the above technical solution, when the robot is used, the electric cylinder, the first electromagnet, the wireless controller and the subsequently installed inspection module are powered by two batteries, and the wireless controller is convenient for sending and receiving radio signals, thereby facilitating the remote control of the robot by the staff.

[0013] Furthermore, the electric cylinder, the first electromagnet and the battery are all electrically connected to the wireless controller.

[0014] By adopting the above technical solution, the wireless controller is convenient for sending and receiving radio signals, thereby making it convenient for the staff to remotely control the opening and closing of the electric cylinder and the first electromagnet.

[0015] Furthermore, the sealing cover is detachably connected to the storage tube, and the sealing cover is made of PVC material.

[0016] By adopting the above technical solution, the parachute pushes the cover, and the cover is separated from the storage tube and falls off after being pushed, and then the push plate ejects the parachute.

[0017] Furthermore, the push plate abuts against the parachute, and the parachute abuts against the cover, and the push plate is made of a permanent magnet.

[0018] By adopting the above technical solution, after the second electromagnet is turned on, it generates a magnetic field that repels the push plate, so that the push plate pushes the parachute, and then the parachute pushes the cover. After the cover is pushed, it is separated from the storage tube and falls off. Then the push plate pops out the parachute, and then the parachute unfolds to slow down the falling speed of the robot, thereby reducing the damage caused by the robot falling from a high altitude.

[0019] Furthermore, the battery compartment, the gravity sensor and the second electromagnet are all electrically connected to the sub-controller.

[0020] By adopting the above technical solution, the gravity sensor, the sub-controller and the second electromagnet are powered separately through the battery compartment, and the sub-controller receives and processes the electrical signal of the gravity sensor separately, and switches the second electromagnet separately, thereby avoiding the phenomenon that the robot crashes due to the gravity sensor and the second electromagnet failing to work when the battery is exhausted and falls.

[0021] Furthermore, two bolts are provided, and both bolts abut against the slots.

[0022] By adopting the above technical solution, if the robot does not fall but is retrieved by the staff remotely, the staff will first install the bolt back into the storage tube, so that the bolt enters the slot to limit the cover, thereby preventing the cover from falling off during transportation and storage, causing the parachute to scatter and extend from the storage tube.

[0023] Furthermore, the storage tube is threadedly connected to the first mounting platform.

[0024] By adopting the above technical solution, if the robot falls but lands safely with the cooperation of the parachute and the airbag, the staff can rotate the storage tube to remove the used parachute from the outer shell. Then the staff prepares a new storage tube with a cover, bolts, slots, push plates and parachute, and rotates the new storage tube to tighten it on the outer shell through threads.

[0025] In summary, the present invention mainly has the following beneficial effects:

[0026] 1. The present invention is provided with a ball head seat, a ball head rod, an electric cylinder and a first electromagnet. The first electromagnet at the bottom of the first installation platform is started to generate magnetism, so that the first installation platform is adsorbed on the power iron tower. When the four electric cylinders are extended at the same time, the distance between the first installation platform and the second installation platform is increased. Then, the first electromagnet at the bottom of the second installation platform is started to attract the power iron tower. At the same time, the first electromagnet at the bottom of the first installation platform is closed. Then, the four electric cylinders are shortened at the same time, so that the first installation platform is displaced toward the second installation platform. Finally, the first electromagnet at the bottom of the first installation platform attracts the iron tower to complete a step. Then, the robot can continue to climb upward on the iron tower through a reciprocating cycle of the above operations, and the robot can climb downward by reverse movement. If a situation where a turn is required is encountered, one electric cylinder is shortened and the other three electric cylinders are extended, or two adjacent electric cylinders are shortened and the other two electric cylinders are extended, so that the second installation platform is rotated in the direction of the shortened electric cylinder, so that the robot can rotate in four directions of front, back, left and right. The structure is simple and easy to use. It can not only move in a straight line but also turn. It can carry equipment to climb up the electric tower without the need for staff to climb, thereby improving safety and physical exertion.

[0027] 2. The present invention arranges a gravity sensor, a storage tube, a cover, a second electromagnet, a push plate, a parachute and an airbag. When the robot fails and falls, the gravity sensor detects that the acceleration is too large and determines that the robot is in a falling state. Then the second electromagnet turns on to generate a magnetic field that repels the push plate, so that the push plate pushes the parachute, and then the parachute pushes the cover. After the cover is pushed, it separates from the storage tube and falls off. Then the push plate pops out the parachute, and then the parachute unfolds to slow down the falling speed of the robot, thereby reducing the damage to the robot caused by falling from a high altitude. Because the parachute is unfolded, the second mounting platform faces the ground. When the robot lands, the airbag is used for cushioning to reduce the impact of the robot landing, thereby further reducing the damage caused by falling from a high altitude. The phenomenon of damage to the robot caused by falling from a high altitude due to failure is effectively reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of the present invention;

[0029] Figure 2 It is a bottom view structural schematic diagram of the present invention;

[0030] Figure 3 It is a schematic diagram of the cross-sectional structure of the present invention;

[0031] Figure 4 It is a schematic diagram of the explosion structure of the storage tube of the present invention;

[0032] Figure 5 It is a schematic diagram of the explosion structure of the electric cylinder of the present invention.

[0033] In the figure: 1. first mounting platform; 2. second mounting platform; 3. ball head seat; 4. ball head rod; 5. electric cylinder; 6. first electromagnet; 7. housing; 8. wireless controller; 9. battery; 10. battery compartment; 11. gravity sensor; 12. secondary controller; 13. storage tube; 14. cover; 15. bolt; 16. slot; 17. second electromagnet; 18. push plate; 19. parachute; 20. airbag. DETAILED DESCRIPTION

[0034] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0035] The following describes an embodiment of the present invention based on its overall structure.

[0036] Embodiment 1:

[0037] A power tower climbing robot, such as Figure 1 , Figure 2 , Figure 3 and Figure 5 As shown, it includes a first mounting platform 1 and a second mounting platform 2, and flanges, threaded structures, snap-on structures, etc. are arranged on the tops of the first mounting platform 1 and the second mounting platform 2, so as to facilitate the disassembly and assembly of inspection modules such as cameras and robotic arms produced by the company; two sets of ball head seats 3 are respectively connected to one side of the first mounting platform 1 and the second mounting platform 2, and ball head rods 4 are connected to the inside of the two sets of ball head seats 3, and electric cylinders 5 are installed between the two sets of ball head rods 4, and both ends of the electric cylinders 5 are rotatably connected to the first mounting platform 1 and the second mounting platform 2 through the ball head seats 3 and the ball head rods 4, respectively. Four electric cylinders 5 are arranged, and the four electric cylinders 5 are distributed in a circular array. The four electric cylinders 5 are extended or shortened, so that the robot can move in a straight line and turn; first electromagnets 6 are installed at the bottoms of the first mounting platform 1 and the second mounting platform 2, and the robot is adsorbed on the power tower through the magnetism of the first electromagnet 6.

[0038] See also Figure 1 , Figure 2 , Figure 3 and Figure 5In the above embodiment, a shell 7 is connected to the other side of the first mounting platform 1, batteries 9 are installed inside the first mounting platform 1 and the second mounting platform 2, a wireless controller 8 is installed inside the shell 7, and the electric cylinder 5, the first electromagnet 6 and the battery 9 are all electrically connected to the wireless controller 8. When the robot is in use, the electric cylinder 5, the first electromagnet 6, the wireless controller 8 and the subsequently installed inspection module are powered by two batteries 9. The wireless controller 8 is convenient for sending and receiving radio signals, so as to facilitate the staff to remotely control the robot.

[0039] Embodiment 2:

[0040] On the basis of the above-mentioned embodiment 1, in order to facilitate the protection of the robot, the following settings are now made.

[0041] See also Figure 1-Figure 4In the above embodiment, an airbag 20 is fixed on the other side of the second mounting platform 1. As the parachute 19 is deployed, the second mounting platform 2 faces the ground. When the robot lands, the airbag 20 is used to cushion the impact of the robot landing, thereby further reducing the damage caused by falling from a high altitude. A storage cylinder 13 is connected to the outer surface of the housing 7. The storage cylinder 13 is threadedly connected to the first mounting platform 1. If the robot falls but lands safely with the cooperation of the parachute 19 and the airbag 20, the staff can rotate the storage cylinder 13 to remove the used parachute 19 from the robot. The outer shell 7 is removed, and then the staff prepares a new storage tube 13 with a cover 14, a bolt 15, a slot 16, a push plate 18 and a parachute 19, and rotates the new storage tube 13 to tighten it on the outer shell 7 through the thread; a cover 14 runs through one side of the storage tube 13, and the cover 14 is detachably connected to the storage tube 13. The cover 14 is made of PVC material, and the parachute 19 pushes the cover 14. After being pushed, the cover 14 is separated from the storage tube 13 and falls off; the storage tube 13 is connected with a push plate 18 and a parachute 19 respectively. The push plate 18 is in contact with the parachute 19, and the parachute 19 is in contact with the cover 14. The push plate 18 is made of a permanent magnet. A second electromagnet 17 is installed in the middle of one side of the shell 7. When the second electromagnet 17 is turned on, a magnetic field that repels the push plate 18 is generated, so that the push plate 18 pushes the parachute 19, and then the push plate 18 ejects the parachute 19. After that, the parachute 19 is deployed to slow down the falling speed of the robot, thereby reducing the damage caused by the robot falling from a high altitude; a battery compartment 10, a gravity sensor 11 and a secondary control are installed on one side of the shell 7. The sub-controller 12, the battery compartment 10, the gravity sensor 11 and the second electromagnet 17 are all electrically connected to the sub-controller 12. The gravity sensor 11, the sub-controller 12 and the second electromagnet 17 are powered separately by the battery compartment 10, and the sub-controller 12 receives and processes the electrical signal of the gravity sensor 11 separately, and switches the second electromagnet 17 separately, so as to avoid the phenomenon that the gravity sensor 11 and the second electromagnet 17 fail to work when the robot falls due to the exhaustion of the battery 9, causing the robot to crash.

[0042] Embodiment three:

[0043] On the basis of the above-mentioned second embodiment, in order to prevent the cover 14 from falling off due to bumps and collisions during transportation, the following configuration is now provided.

[0044] See also Figure 3 and Figure 4 In the above embodiment, a slot 16 is provided on the outer ring of the cover 14, and a bolt 15 passes through the outer surface of the storage tube 13. Two bolts 15 are provided, and both bolts 15 abut against the slot 16. The bolts 15 are installed back into the storage tube 13, so that the bolts 15 enter the slot 16 to limit the cover 14, so as to prevent the cover 14 from falling off during transportation and storage, causing the parachute 19 to scatter and extend from the storage tube 13.

[0045] The implementation principle of the present invention is as follows: first, the attached drawings are only used to express the positions of the first mounting platform 1 and the second mounting platform 2. The specific shapes of the first mounting platform 1 and the second mounting platform 2 are freely customized by the manufacturer. For example, flanges, threaded structures, buckle structures, etc. are arranged on the tops of the first mounting platform 1 and the second mounting platform 2 to facilitate disassembly and assembly with inspection modules such as cameras and robotic arms produced by the manufacturer.

[0046] When the robot is in use, the electric cylinder 5, the first electromagnet 6, the wireless controller 8 and the subsequently installed inspection module are powered by two batteries 9, and the wireless controller 8 is convenient for sending and receiving radio signals, so as to facilitate the remote control of the robot by the staff; at the same time, the gravity sensor 11, the sub-controller 12 and the second electromagnet 17 are powered separately by the battery compartment 10, and the sub-controller 12 receives and processes the electrical signal of the gravity sensor 11 separately, and switches the second electromagnet 17 separately, so as to avoid the phenomenon that the gravity sensor 11 and the second electromagnet 17 fail to work when the robot falls due to the exhaustion of the battery 9, causing the robot to crash;

[0047] When the robot needs to climb the power tower, the staff first removes the bolt 15 to stop the cap 14 from being limited. At this time, the cap 14 is limited in the storage tube 13 only by friction. Then the staff sends an electrical signal to the wireless controller 8 to control the robot, so that the first electromagnet 6 at the bottom of the first mounting platform 1 is activated to generate magnetism. Then the staff places the robot on the tower. At this time, the first mounting platform 1 is adsorbed on the power tower by the magnetism of the first electromagnet 6 at the bottom of the first mounting platform 1.

[0048] When linear motion is required, the four electric cylinders 5 extend at the same time to increase the distance between the first mounting platform 1 and the second mounting platform 2. Then, the first electromagnet 6 at the bottom of the second mounting platform 2 starts to attract the power tower. At the same time, the first electromagnet 6 at the bottom of the first mounting platform 1 is turned off. Then, the four electric cylinders 5 shorten at the same time to move the first mounting platform 1 toward the second mounting platform 2. Finally, the first electromagnet 6 at the bottom of the first mounting platform 1 attracts the tower to complete a step. Then, the robot can climb straight on the tower by reciprocating the above operation.

[0049] During the reverse linear motion, the first electromagnet 6 at the bottom of the second installation platform 2 starts to attract the power iron tower. After the four electric cylinders 5 are extended at the same time, the distance between the first installation platform 1 and the second installation platform 2 is increased. Then, the first electromagnet 6 at the bottom of the first installation platform 1 attracts the iron tower. At the same time, the first electromagnet 6 at the bottom of the second installation platform 2 is closed. Then, the four electric cylinders 5 are shortened at the same time, so that the second installation platform 2 moves toward the first installation platform 1. Finally, the first electromagnet 6 at the bottom of the second installation platform 2 attracts the iron tower to complete a step. After that, the robot can climb the iron tower in the reverse linear direction by reciprocating the above operations.

[0050] When turning is required, one electric cylinder 5 is shortened and the other three electric cylinders 5 are extended, or two adjacent electric cylinders 5 are shortened and the other two electric cylinders 5 are extended, and at the same time, the ball head rod 4 is forced to rotate in the ball head seat 3, so that the second mounting platform 2 rotates and moves in the direction of the shortened electric cylinder 5, thereby facilitating the robot to rotate in four directions: front, back, left, and right;

[0051] When the robot fails and falls, the gravity sensor 11 detects that the acceleration is too large and determines that the robot is in a falling state. Then the gravity sensor 11 sends an electrical signal to the sub-controller 12. After receiving the electrical signal, the sub-controller 12 processes the information. Then the sub-controller 12 automatically turns on the second electromagnet. After the second electromagnet 17 is turned on, it generates a magnetic field that repels the push plate 18, so that the push plate 18 pushes the parachute 19. Then the parachute 19 pushes the cover 14. After the cover 14 is pushed, it separates from the storage tube 13 and falls off. Then the push plate 18 ejects the parachute 19. Then the parachute 19 is deployed to slow down the falling speed of the robot, thereby reducing the damage caused by the robot falling from a high altitude. Because the parachute 19 is deployed, the second mounting platform 2 faces the ground. When the robot lands, the airbag 20 is used for cushioning to reduce the impact of the robot landing, further reducing the damage caused by the robot falling from a high altitude.

[0052] If the robot does not fall but is retrieved by the staff remotely, the staff will first install the bolt 15 back into the storage tube 13, so that the bolt 15 enters the slot 16 to limit the cover 14, to prevent the cover 14 from falling off during transportation and storage, causing the parachute 19 to spread out and extend from the storage tube 13; if the robot falls but lands safely with the cooperation of the parachute 19 and the airbag 20, the staff can rotate the storage tube 13 to remove the used parachute 19 from the outer shell 7, and then the staff will prepare a new storage tube 13 with the cover 14, bolt 15, slot 16, push plate 18 and parachute 19, and rotate the new storage tube 13 to tighten it on the outer shell 7 through the thread.

[0053] Although an embodiment of the present invention has been shown and described, this specific embodiment is only an explanation of the present invention and is not a limitation of the invention. The specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. After reading this specification, those skilled in the art may make modifications, substitutions and variations to the embodiments without creative contribution as needed without departing from the principles and purpose of the present invention. However, as long as they are within the scope of the claims of the present invention, they are protected by patent law.

Claims

1. A power tower climbing robot, comprising a first mounting platform (1) and a second mounting platform (2), characterized in that: One side of the first mounting platform (1) and the second mounting platform (2) are respectively connected to two groups of ball head seats (3), and the two groups of ball head seats (3) are internally connected to ball head rods (4), and an electric cylinder (5) is installed between the two groups of ball head rods (4). The bottom of the first mounting platform (1) and the second mounting platform (2) are both installed with a first electromagnet (6); an air bag (20) is fixed to the other side of the second mounting platform (1), and the other side of the first mounting platform (1) is connected to a shell (7), and the outer shell (7) is The surface is connected with a storage cylinder (13); a cover (14) is passed through one side of the storage cylinder (13), and a slot (16) is provided on the outer ring of the cover (14); a bolt (15) is passed through the outer surface of the storage cylinder (13); a push plate (18) and a parachute (19) are respectively connected inside the storage cylinder (13); a second electromagnet (17) is installed in the middle of one side of the shell (7); and a battery compartment (10), a gravity sensor (11) and a sub-controller (12) are respectively installed on one side of the shell (7).

2. The power tower climbing robot according to claim 1, characterized in that: The two ends of the electric cylinder (5) are rotatably connected to the first mounting platform (1) and the second mounting platform (2) respectively through a ball head seat (3) and a ball head rod (4).

3. The power tower climbing robot according to claim 2, characterized in that: Four electric cylinders (5) are provided, and the four electric cylinders (5) are distributed in a ring array.

4. The power tower climbing robot according to claim 1, characterized in that: The first installation platform (1) and the second installation platform (2) are both installed with storage batteries (9), and the housing (7) is installed with a wireless controller (8).

5. The power tower climbing robot according to claim 4, characterized in that: The electric cylinder (5), the first electromagnet (6) and the storage battery (9) are all electrically connected to the wireless controller (8).

6. The power tower climbing robot according to claim 1, characterized in that: The sealing cover (14) is detachably connected to the storage tube (13), and the sealing cover (14) is made of PVC material.

7. The power tower climbing robot according to claim 6, characterized in that: The push plate (18) abuts against the parachute (19), and the parachute (19) abuts against the cover (14), and the push plate (18) is made of a permanent magnet.

8. The power tower climbing robot according to claim 1, characterized in that: The battery compartment (10), the gravity sensor (11) and the second electromagnet (17) are all electrically connected to the secondary controller (12).

9. The power tower climbing robot according to claim 1, characterized in that: Two bolts (15) are provided, and both bolts (15) abut against the clamping groove (16).

10. The power tower climbing robot according to claim 1, characterized in that: The storage cylinder (13) is threadedly connected to the first mounting platform (1).

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