A power tower climbing robot
By designing a power tower climbing robot, climbing and rotation are achieved using a combination of a ball head seat, ball head rod, electric cylinder and electromagnet. Equipped with a gravity sensor, parachute and airbag to reduce injuries from falling from heights, the safety and efficiency issues of power tower inspections are solved.
Patent Information
- Application Number
- CN202510082072.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-20
- Publication Date
- 2025-09-30
- Estimated Expiration
- 2045-01-20
AI Technical Summary
Existing inspections of power towers require manual climbing, which poses safety risks and is time-consuming and labor-intensive.
A power tower climbing robot is designed. The robot uses a combination of a ball head seat, a ball head rod, an electric cylinder and an electromagnet to achieve adsorption, climbing and rotation on the tower. It is equipped with a gravity sensor, a parachute and an airbag to reduce the risk of falling from a high altitude in the event of a fault.
It enables safe and convenient climbing of power towers, reduces the safety hazards of manual climbing, and effectively reduces the damage caused by robots falling from high altitudes in the event of a fault.
Smart Images
Figure CN119872721B_ABST
Abstract
Description
Technical Field
[0001] The present 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 structures used for power transmission. Their structural characteristics are that all tower types are spatial trusses, with members primarily composed of single equilateral angle steel or composite angle steel. Members are connected using crude bolts, which are used to withstand shear forces. The entire tower is composed of angle steel, connecting steel plates, and bolts. Some components, such as the tower foot, are welded together from several steel plates.
[0003] When inspecting existing power towers, manual climbing is usually used. Workers climb up the tower and then inspect components such as insulators to check for faults and repair them. 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 tube is connected to the outer surface of the outer shell; a cover is passed through one side of the storage tube, and a slot is provided on the outer ring of the cover, and a bolt is passed through the outer surface of the storage tube; a push plate and a parachute are respectively connected to the inside of the storage tube, 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 mounting platform is activated to generate magnetism, so that the first mounting platform is adsorbed on the power tower. When the four electric cylinders are extended at the same time, the distance between the first mounting platform and the second mounting platform is increased. Then, the first electromagnet at the bottom of the second mounting platform is activated to attract the power tower. At the same time, the first electromagnet at the bottom of the first mounting platform is closed. Then, the four electric cylinders are shortened at the same time, so that the first mounting platform moves toward the second mounting platform. Finally, the first electromagnet at the bottom of the first mounting platform attracts the tower to complete a step. After that, the above operation is repeated to enable the robot to continue climbing up 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 malfunctions 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, causing the push plate to push 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 deploys to slow down the robot's falling speed, thereby reducing the damage caused by the robot falling from a high altitude. Moreover, due to the deployment of the parachute, the second mounting platform faces the ground. When the robot lands, the airbag is used to cushion the impact of the robot landing, further reducing the damage caused by falling from a high altitude.
[0007] Furthermore, both 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. 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 shifts in the direction of the shortened electric cylinder, thereby facilitating the robot to rotate in the 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 extend and shorten simultaneously to facilitate linear motion of the robot, one electric cylinder shortens and the other three extend, or two adjacent electric cylinders shorten and the other two extend to facilitate turning of the robot.
[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 using the robot, two batteries are used to power the electric cylinder, the first electromagnet, the wireless controller and the subsequently installed inspection module. The wireless controller is convenient for sending and receiving radio signals, thereby facilitating remote control of the robot by 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 facilitating the staff to remotely control the opening and closing of the electric cylinder and the first electromagnet.
[0015] Furthermore, the cover is detachably connected to the storage tube, and the cover is made of PVC material.
[0016] By adopting the above technical solution, the parachute pushes the cover, and after the cover is pushed, it separates from the storage tube and falls off, 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, causing the push plate to push 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 robot's falling speed, thereby reducing the risk of the robot falling from a high altitude.
[0019] Furthermore, the battery compartment, gravity sensor and 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 independently powered by the battery compartment, and the sub-controller independently receives and processes the electrical signal of the gravity sensor, and independently switches the second electromagnet, 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 thanks to the cooperation of the parachute and 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 the thread.
[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 mounting platform is activated to generate magnetism, so that the first mounting platform is adsorbed on the power tower. When the four electric cylinders are extended at the same time, the distance between the first mounting platform and the second mounting platform is increased. Then, the first electromagnet at the bottom of the second mounting platform is activated to attract the power tower. At the same time, the first electromagnet at the bottom of the first mounting platform is closed. Then, the four electric cylinders are shortened at the same time, so that the first mounting platform moves toward the second mounting platform. Finally, the first electromagnet at the bottom of the first mounting platform attracts the tower to complete a step. Then, the above operation is repeated to enable the robot to continue climbing up the tower, and the reverse movement enables the robot to climb down. If a turning situation 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 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. 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 the power tower without the need for workers to climb, thereby improving safety and physical exertion.
[0027] 2. The present invention is equipped with a gravity sensor, a storage tube, a cover, a second electromagnet, a push plate, a parachute and an airbag. When the robot malfunctions 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 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 of the robot falling from a high altitude. Moreover, since the parachute is unfolded, the second mounting platform is facing the ground. When the robot lands, the airbag is used to cushion the impact of the robot landing, further reducing the damage of falling from a high altitude; effectively reducing the phenomenon of damage to the robot caused by falling from a high altitude due to malfunction. 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 This 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. Sub-controller; 13. Storage tube; 14. Cover; 15. Bolt; 16. Card 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 should not be understood as limiting the present invention.
[0035] The following describes an embodiment of the present invention based on its overall structure.
[0036] Example 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. Flanges, threaded structures, snap-on structures, etc. are arranged on the top of the first mounting platform 1 and the second mounting platform 2 to facilitate disassembly and assembly with self-produced cameras, robotic arms and other inspection modules; two groups of ball head seats 3 are connected to one side of the first mounting platform 1 and the second mounting platform 2 respectively, and ball head rods 4 are connected to the inside of the two groups of ball head seats 3. An electric cylinder 5 is installed between the two groups of ball head rods 4, and both ends of the electric cylinder 5 are rotatably connected to the first mounting platform 1 and the second mounting platform 2 respectively through the ball head seats 3 and the ball head rod 4. Four electric cylinders 5 are provided, and the four electric cylinders 5 are distributed in a circular array. The four electric cylinders 5 are extended or shortened to make the robot move in a straight line and turn; a first electromagnet 6 is installed at the bottom of the first mounting platform 1 and the second mounting platform 2, and the robot is adsorbed on the power tower by the magnetism of the first electromagnet 6.
[0038] See Figure 1 、 Figure 2 、 Figure 3 and Figure 5In the above embodiment, a housing 7 is connected to the other side of the first mounting platform 1, and batteries 9 are installed inside the first mounting platform 1 and the second mounting platform 2. A wireless controller 8 is installed inside the housing 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 two batteries 9 are used to power the electric cylinder 5, the first electromagnet 6, the wireless controller 8 and the subsequently installed inspection module. The wireless controller 8 is convenient for sending and receiving radio signals, thereby facilitating remote control of the robot by the staff.
[0039] Example 2:
[0040] On the basis of the above embodiment 1, in order to facilitate the protection of the robot, the following settings are now set.
[0041] See Figure 1-Figure 4In the above embodiment, an airbag 20 is fixed on the other side of the second mounting platform 2. As the parachute 19 is deployed, the second mounting platform 2 is facing the ground. When the robot lands, the airbag 20 is used to cushion the impact of the robot landing, thereby further reducing the risk of falling from a high altitude. A storage tube 13 is connected to the outer surface of the shell 7. The storage tube 13 is threadedly connected to the first mounting platform 1. If the robot falls but lands safely with the help of the parachute 19 and the airbag 20, the staff can rotate the storage tube 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 is passed 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; the push plate 18 and the parachute 19 are respectively connected inside the storage tube 13. The parachute 19 is in contact with the push plate 18, 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, it generates a magnetic field that repels the push plate 18, so that the push plate 18 pushes the parachute 19. Then the push plate 18 pops out the parachute 19, and 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; a battery compartment 10, a gravity sensor 11 and a secondary control are installed on one side of the shell 7. The 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 independently powered by the battery compartment 10, and the sub-controller 12 independently receives and processes the electrical signal of the gravity sensor 11, and independently switches the second electromagnet 17, thereby avoiding the phenomenon that the robot crashes due to the failure of the gravity sensor 11 and the second electromagnet 17 to work when the battery 9 is exhausted.
[0042] Example 3:
[0043] On the basis of the above-mentioned embodiment 2, 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 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 is passed 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, thereby preventing 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 figures are only used to illustrate 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, snap-fit structures, etc. are provided 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. The wireless controller 8 is convenient for sending and receiving radio signals, thereby facilitating remote control of the robot by staff. At the same time, the gravity sensor 11, the secondary controller 12, and the second electromagnet 17 are independently powered by the battery compartment 10. The secondary controller 12 independently receives and processes the electrical signal of the gravity sensor 11, and independently switches the second electromagnet 17. This prevents the robot from crashing due to the failure of the gravity sensor 11 and the second electromagnet 17 to work when the battery 9 is exhausted.
[0047] When the robot needs to climb a power tower, the staff first removes the bolts 15 to stop the cover 14 from being limited. At this time, the cover 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 simultaneously 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 simultaneously 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 one step. After that, the above operation is repeated repeatedly to enable the robot to climb linearly on the tower.
[0049] During reverse linear motion, the first electromagnet 6 at the bottom of the second mounting platform 2 is activated to attract the power tower. After the four electric cylinders 5 extend at the same time, the distance between the first mounting platform 1 and the second mounting platform 2 is increased. Then, the first electromagnet 6 at the bottom of the first mounting platform 1 attracts the tower. At the same time, the first electromagnet 6 at the bottom of the second mounting platform 2 is turned off. Then, the four electric cylinders 5 are shortened at the same time, causing the second mounting platform 2 to move toward the first mounting platform 1. Finally, the first electromagnet 6 at the bottom of the second mounting platform 2 attracts the tower to complete one step. After that, the above operation is repeated over and over again to enable the robot to climb the tower in a reverse linear manner.
[0050] When turning is required, one electric cylinder 5 shortens and the other three electric cylinders 5 lengthen, or two adjacent electric cylinders 5 shorten and the other two electric cylinders 5 lengthen. At the same time, the ball rod 4 is forced to rotate in the ball seat 3, causing the second mounting platform 2 to rotate and move in the direction of the shortened electric cylinder 5, thereby facilitating the robot to rotate in the four directions of front, back, left, and right.
[0051] When the robot malfunctions and falls, the gravity sensor 11 detects excessive acceleration and determines that the robot is in a falling state. The gravity sensor 11 then sends an electrical signal to the sub-controller 12. The sub-controller 12 processes the information after receiving the electrical signal. The sub-controller 12 then 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, causing the push plate 18 to push the parachute 19. The parachute 19 then pushes the cover 14. After the cover 14 is pushed, it separates from the storage tube 13 and falls off. The push plate 18 then ejects the parachute 19, which then deploys to slow down the robot's falling speed, thereby reducing the risk of the robot falling from a high altitude. Since the parachute 19 is deployed, the second mounting platform 2 faces the ground. When the robot lands, the airbag 20 cushions the impact of the robot's landing, further reducing the risk of 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 scatter 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 invention and is not a limitation of the invention. The specific features, structures, materials or characteristics described may be combined in an appropriate 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 embodiment 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) is respectively connected to two groups of ball head seats (3), and the inside of the two groups of ball head seats (3) is connected to a ball head rod (4), and an electric cylinder (5) is installed between the two groups of ball head rods (4), and the two ends of the electric cylinder (5) are respectively rotatably connected to the first mounting platform (1) and the second mounting platform (2) through the ball head seat (3) and the ball head rod (4), and four electric cylinders (5) are provided, and the four electric cylinders (5) are distributed in a ring array shape, and the bottom of the first mounting platform (1) and the second mounting platform (2) are both installed with a first electromagnet (6); the other side of the second mounting platform (2) An airbag (20) is fixed thereto, the other side of the first mounting platform (1) is connected to a housing (7), and the outer surface of the housing (7) is connected to a storage tube (13); a cover (14) is passed through one side of the storage tube (13), and a slot (16) is provided on the outer ring of the cover (14), and a bolt (15) is passed through the outer surface of the storage tube (13); a push plate (18) and a parachute (19) are respectively connected inside the storage tube (13), a second electromagnet (17) is installed in the middle of one side of the housing (7), and a battery compartment (10), a gravity sensor (11) and a sub-controller (12) are respectively installed on one side of the housing (7).
2. The power tower climbing robot according to claim 1, characterized in that: A battery (9) is installed inside the first installation platform (1) and the second installation platform (2), and a wireless controller (8) is installed inside the housing (7).
3. The power tower climbing robot according to claim 2, characterized in that: The electric cylinder (5), the first electromagnet (6) and the battery (9) are all electrically connected to the wireless controller (8).
4. The power tower climbing robot according to claim 1, characterized in that: The sealing cover (14) is detachably connected to the storage cylinder (13), and the sealing cover (14) is made of PVC material.
5. The power tower climbing robot according to claim 4, 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.
6. 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).
7. The power tower climbing robot according to claim 1, characterized in that: Two bolts (15) are provided, and both bolts (15) abut against the slot (16).
8. 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).