Safe anti-falling robot for iron tower

Abstract

The invention relates to the technical field of power equipment, in particular to an iron tower safety anti-falling robot which comprises a robot body, a visual recognition system mounted on the robot body, and front wheel feet and rear wheel feet which are arranged at the two ends of the robot body and used for surrounding and clamping a tower to walk. And the rear part of the machine body is also connected with an anti-falling device and a clamping mechanism for fixing the anti-falling device through a turnover mechanism. After the robot carries the anti-falling device bound with the anti-falling safety rope to the iron tower and installs the anti-falling device, an operator carries out tower climbing operation under the protection of the anti-falling safety rope, the tower climbing state of the operator is monitored through the visual identification system, and the operation safety is improved.

Description

Technical Field

[0001] The invention relates to the technical field of power equipment, and in particular to an iron tower safety anti-falling robot. Background Art

[0002] As a tall structure, steel towers are widely used in overhead power transmission lines, communications, meteorological observation, radio and television and other fields.

[0003] When multiple workers need to climb the tower for inspection and installation, the first climber will alternately hook the hooks of the double-hook safety rope connected to the front hanging point of the full-body safety belt on the tower as a fall protection measure to climb up the tower, and then install the guide rope type fall protection safety rope at a high altitude. The ground personnel will fix the fall protection safety rope under the tower, and other workers will use the fall protection safety rope and the self-locking device to perform the climbing work. However, for the first person to install the fall protection safety rope and the last person to remove the fall protection safety rope, it is difficult to climb during the process of going up and down the tower. In addition, since the hooks of the double-hook safety rope are alternately hooked on the tower as the only fall protection measure, if the hooks are not correctly and firmly hung, there will be a risk of falling from a height. Summary of the invention

[0004] In order to solve the problems in the prior art of great climbing difficulty and potential safety hazards faced by the first person to install an anti-fall safety rope and the last person to remove the anti-fall safety rope when manually climbing an iron tower, the present invention provides an iron tower safety anti-fall robot to ensure the safety of tower climbers.

[0005] In order to achieve the above objectives, the following technical solutions are provided:

[0006] The tower safety anti-fall robot includes a robot body, a visual recognition system installed on the robot body, and front and rear wheel feet at both ends of the body for embracing and clamping the tower. The rear part of the body is also connected to an anti-fall device and a clamping mechanism for fixing the anti-fall device through a flip mechanism.

[0007] Furthermore, the flipping mechanism includes a wheel plate frame, a flipping arm and a flipping drive device, one end of the flipping arm is rotatably mounted on the wheel plate frame and is transmission-connected to the flipping drive device, and the other end of the flipping arm is rotatably connected to the anti-falling device.

[0008] Furthermore, the anti-fall device is an L-shaped frame, including a transverse frame and a vertical frame connected to each other, and the inner sides of the transverse frame and the vertical frame are both provided with serrated protrusions.

[0009] Furthermore, the clamping mechanism includes a fastening piece slidably arranged on the inner side of a frame body on one side of the anti-fall device, and the fastening piece is transmission-connected to a sliding drive device; the sliding drive device includes a screw motor, a screw and a slider on the screw; the screw motor is installed on the frame body on the same side as the fastening piece, and a slide groove is provided on the side frame body, the screw rod is threadedly connected to the slider, the slider is slidably arranged inside the slide groove, one end of the screw rod is transmission-connected to the screw motor, and the other end is rotatably installed on the frame body.

[0010] Furthermore, a fall prevention safety rope is fixed on the fall prevention device.

[0011] The beneficial effects of the present invention are:

[0012] After the robot carries the anti-fall device to the tower, the control unit inside the robot operates the wheel-foot mechanism to embrace and fix it on the tower. The robot then controls the flipping mechanism to fix the anti-fall device on the tower. An anti-fall safety rope is placed on the anti-fall device. The operator climbs the tower under the protection of the anti-fall safety rope, and the visual recognition system monitors the operator's climbing status, thereby improving operation safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 A schematic diagram of the structure of the iron tower safety anti-falling robot of the present invention;

[0014] Figure 2 A schematic diagram of the structure of the anti-falling device in the present invention;

[0015] Figure 3 This is a schematic diagram of a state in which the iron tower safety anti-falling robot of the present invention fixes the anti-falling device on the horizontal truss;

[0016] Figure 4 Schematic diagram of the fall arrest device cooperating with the workers to climb the tower;

[0017] In the figure: 1. Robot body; 2. Visual recognition system; 3. Front wheel foot; 4. Rear wheel foot; 5. Anti-fall device; 6. Wheel plate frame; 7. Flip arm; 8. Horizontal frame; 9. Vertical frame; 10. Serrated protrusion; 11. Fastening piece; 12. Screw motor; 13. Screw; 14. Slider; 15. Anti-fall safety rope; 16. Tower; 17. Horizontal angle steel; 18. Slide; 19. Depth camera; 20. Flip drive device. DETAILED DESCRIPTION

[0018] The iron tower safety anti-falling robot of the present invention is described in detail below in conjunction with specific embodiments.

[0019] like Figure 1 , Figure 2As shown, a tower safety anti-fall robot includes a robot body 1, a visual recognition system 2 installed on the robot body 1, and front wheel feet 3 and rear wheel feet 4 at both ends of the body for embracing and clamping a tower 16, and the rear part of the body is also connected to an anti-fall device 5 and a clamping mechanism for fixing the anti-fall device 5 through a flip mechanism.

[0020] The front wheel foot 3 and the rear wheel foot 4 are both provided with a clamping mechanism that can be controlled and operated by the robot internal control unit, and can be suitable for angle steels of different specifications. The front wheel foot 3 and the rear wheel foot 4 can adopt the clamping assembly in the prior art CN112356940B.

[0021] In this embodiment, if Figure 3 , Figure 4 As shown, an anti-falling safety rope 15 is fixed on the anti-falling device 5. The robot brings the anti-falling safety rope 15 to a high place, and clamps and fixes it on the angle steel of the iron tower through the front wheel foot 3 and the rear wheel foot 4. Then, the anti-falling device 5 is lifted to the top of the horizontal angle steel 17 by adjusting the robot posture. The control unit inside the robot controls the flipping mechanism to flip, flip the anti-falling device 5 and place it on the horizontal angle steel 17. Then, the control unit drives the clamping mechanism to fix the anti-falling device 5 on the angle steel. After the anti-falling safety rope 15 is hung down, the staff performs climbing operations under the protection of the anti-falling safety rope 15. When the operation is completed, the robot control unit controls the clamping device to release the angle steel, and then controls the flipping mechanism to remove the anti-falling device 5 from the angle steel, and the robot returns to the ground. This process replaces the manual climbing of the tower to fix the anti-falling safety rope 15, improves the safety of the operation, and also solves the problem of no protection and high risk when the anti-falling safety rope 15 is manually removed after the work is completed.

[0022] In this embodiment, the visual recognition system 2 includes a camera located at the front end of the robot body 1, and a depth camera 19 at the bottom of the front wheel foot 3 and the rear wheel foot 4. The image recognition capability of the visual recognition system 2 can be used to monitor the safety protection of the staff climbing the iron tower, such as incorrect wearing of the safety belt, no wearing of the safety belt, loss of protection of the safety belt, etc. The backstage management personnel can also understand the tower climbing process in real time, which helps to improve the safety of the personnel during the tower climbing process. The visual recognition algorithm can adopt the mature algorithm in the prior art, which will not be described in detail here. The visual recognition system 2 can adopt but is not limited to the Xike Ranger3 three-dimensional visual detection system.

[0023] The anti-falling device 5 is installed on the wheel plate frame 6 behind the robot body 1 through a flipping mechanism. The flipping mechanism includes the wheel plate frame 6, a flipping arm 7 and a flipping drive device 20. One end of the flipping arm 7 is rotatably installed on the wheel plate frame 6 and is transmission-connected to the flipping drive device 20. The other end of the flipping arm 7 is rotatably connected to the anti-falling device 5.

[0024] The turning drive device 20 is used to drive the turning arm 7 to rotate, so that the anti-falling device 5 can be placed on or removed from the tower angle steel. In this embodiment, the turning drive device 20 is a steering gear or a rotary motor.

[0025] In this embodiment, if Figure 2 As shown, the anti-fall device 5 is an L-shaped frame, including a transverse frame 8 and a vertical frame 9 connected to each other, and the inner sides of the transverse frame 8 and the vertical frame 9 are provided with a serrated protrusion 10. The right angle of the L-shaped frame can be attached to the right angle side of the angle steel. The serrated protrusion 10 can increase the friction with the surface of the angle steel. When the staff climbs the iron tower, if there is an unexpected fall, the anti-fall safety rope 15 forms a wedge-shaped locking structure through the engagement of the serrated protrusion with the edge of the angle steel, further preventing separation and shaking.

[0026] The clamping mechanism includes a fastening piece 11 slidably arranged on the inner side of a frame body on one side of the anti-fall device 5, and the fastening piece 11 is transmission-connected with a sliding drive device; the sliding drive device includes a screw motor 12, a screw rod 13 and a slider 14 on the screw rod; the screw motor 12 is installed on the frame body on the same side as the fastening piece 11, and a slide groove 18 is provided on the side frame body, the screw rod 13 is threadedly connected with the slider 14, and the slider 14 is slidably arranged inside the slide groove 18, one end of the screw rod 13 is transmission-connected with the screw motor 12, and the other end is rotatably installed on the frame body.

[0027] In this embodiment, the fastening member 11 is an L-shaped fastener, and the bottom of the L-shaped fastener is exposed from the inside of the horizontal bracket so as to be able to fasten the inside of the angle steel. After the anti-falling device 5 falls on the horizontal angle steel 17, the fastening member 11 is driven to slide by the sliding drive device, and the anti-falling device 5 is fixed to the horizontal angle steel 17 by the fastening member 11. In addition, the end of the L-shaped fastener is a wedge-shaped structure, which can extend into the inside of the angle steel and can also adapt to angle steels of different thicknesses, thereby increasing the scope of application.

Claims

1. The tower safety anti-fall robot is characterized by: The robot comprises a robot body (1), a visual recognition system (2) installed on the robot body (1), and front wheel feet (3) and rear wheel feet (4) at both ends of the body for embracing and clamping a tower (16); the rear part of the body is also connected to an anti-falling device (5) and a clamping mechanism for fixing the anti-falling device (5) through a flipping mechanism.

2. The iron tower safety anti-falling robot according to claim 1, characterized in that: The turning mechanism comprises a wheel plate frame (6), a turning arm (7) and a turning drive device (20); one end of the turning arm (7) is rotatably mounted on the wheel plate frame (6) and is transmission-connected to the turning drive device (20); the other end of the turning arm (7) is rotatably connected to the anti-falling device (5).

3. The iron tower safety anti-falling robot according to claim 1 or 2, characterized in that: The anti-falling device (5) is an L-shaped frame, comprising a transverse frame (8) and a vertical frame (9) connected to each other, and the inner sides of the transverse frame (8) and the vertical frame (9) are both provided with sawtooth-shaped protrusions (10).

4. The iron tower safety anti-falling robot according to claim 1 or 2, characterized in that: The clamping mechanism comprises a fastening member (11) which is slidably arranged on the inner side of a frame body on one side of the anti-falling device (5), and the fastening member (11) is transmission-connected with a sliding drive device; the sliding drive device comprises a screw motor (12), a screw rod (13) and a slider (14) on the screw rod (13); the screw motor (12) is installed on the frame body on the same side as the fastening member (11), and a slide groove (18) is provided on the side frame body, the screw rod (13) is threadedly connected to the slider (14), and the slider (14) is slidably arranged inside the slide groove (18), one end of the screw rod (13) is transmission-connected with the screw motor (12), and the other end is rotationally installed on the frame body.

5. The iron tower safety anti-falling robot according to claim 3, characterized in that: The clamping mechanism comprises a fastening member (11) which is slidably arranged on the inner side of a frame body on one side of the anti-falling device (5), and the fastening member (11) is transmission-connected with a sliding drive device; the sliding drive device comprises a screw motor (12), a screw rod (13) and a slider (14) on the screw rod (13); the screw motor (12) is installed on the frame body on the same side as the fastening member (11), and a slide groove (18) is provided on the side frame body, the screw rod (13) is threadedly connected to the slider (14), and the slider (14) is slidably arranged inside the slide groove (18), one end of the screw rod (13) is transmission-connected with the screw motor (12), and the other end is rotationally installed on the frame body.

6. The iron tower safety anti-falling robot according to claim 1, 2 or 5, characterized in that: An anti-falling safety rope (15) is fixed on the anti-falling device (5).

7. The iron tower safety anti-falling robot according to claim 3, characterized in that: An anti-falling safety rope (15) is fixed on the anti-falling device (5).

8. The iron tower safety anti-falling robot according to claim 4, characterized in that: An anti-falling safety rope (15) is fixed on the anti-falling device (5).

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