Wearable power-assisted robot for electric pole climbing

Abstract

The invention provides a wearable power-assisted robot for electric pole climbing, and relates to the technical field of special operation robotics.The power-assisted robot comprises a leg wearing mechanism, a supporting mechanism, a treading assembly and a holding assembly, and the treading assembly and the holding assembly are both used for being arranged on the surface of an electric pole in a sleeving mode; the robot comprises a treading assembly and a holding assembly, outer protruding plates are welded to the side edge of the treading assembly and the side edge of the holding assembly correspondingly, first hydraulic rods are connected between the outer protruding plates on the treading assembly and the outer protruding plates on the holding assembly in a screwed mode, and the number of the first hydraulic rods is two. And the clamping mechanism part can directly turn over, so that the power-assisted robot can be quickly connected with the surface of the electric pole when being worn, and the connecting process is efficient and convenient. The climbing difficulty is reduced, and the operation process can be achieved only through control keys of the holding assembly part. And a leaning and sitting area can be provided after climbing to a top operation area.

Description

Technical Field

[0001] The present invention relates to the technical field of special operation robots, and in particular to a wearable power-assisting robot for climbing electric poles. Background Art

[0002] Pole climbing is a common high-altitude work task in the power, communications and other industries. It is mainly used for equipment installation, line maintenance, troubleshooting and other work. The work content includes installing insulators, grounding rings, cable brackets and other equipment to ensure the safe operation of power lines, conduct regular inspections of wires and cables, repair damaged or aging parts to prevent faults, and quickly locate and repair problems in the event of power outages or line failures to restore power supply.

[0003] The existing working methods include traditional manual climbing, where workers use tools such as foot clips and safety belts to climb poles and operate directly at high altitudes. This method requires high physical strength and poses great safety risks. There are also mechanically assisted working solutions in the existing technology, which use robots or exoskeleton equipment to assist in climbing and working. For example, intelligent pole-climbing live working robots can replace manual labor to complete complex actions such as stripping insulation and crimping leads, significantly improving efficiency and safety. However, conventional climbing wearable power-assist robots can only assist in providing a fixed effect, and the main points of force are still the hands and feet. Therefore, once the worker's body leans back, it will still be dangerous. Summary of the Invention

[0004] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide a wearable power-assisted robot for pole climbing to solve the problems raised in the above-mentioned background technology. The present invention is simple and convenient to assemble and disassemble, can completely lift the workers, further reduce the climbing pressure, and also provide a leaning and support area.

[0005] In order to achieve the above-mentioned objectives, the present invention is implemented through the following technical solutions: a wearable power-assisting robot for climbing electric poles, comprising an power-assisting robot body, the power-assisting robot body comprising a leg wearing mechanism, a support mechanism, a treading assembly and a gripping assembly, the treading assembly and the gripping assembly are both used to be sleeved on the surface of the electric pole, and the sides of the treading assembly and the gripping assembly are welded with outer convex plates, a first hydraulic rod is screwed between the outer convex plates on the treading assembly and the gripping assembly, and the number of the first hydraulic rods is two, the side of the treading assembly is connected to the leg wearing mechanism, the top of the leg wearing mechanism is installed with a support mechanism, the outer side of the support mechanism is integrally formed with a rewinding box, the top of the rewinding box is screwed with a motor, the output end of the motor is inserted with a drive shaft, the surface of the drive shaft is wound with a strap, the strap is used to be sleeved on the surface of the electric pole, and the strap is always in a position between the treading assembly and the gripping assembly, and the top of the treading assembly and the gripping assembly are both installed with a clamping mechanism.

[0006] Furthermore, the gripping assembly includes a top plywood and a gripping rod, and the pedaling assembly includes a bottom plywood and a fixing column. One side of the top plywood and the bottom plywood is integrally formed with a ring, the outer side of the gripping rod is screwed with a side guard rod, and the surface of the gripping rod is embedded with a control button.

[0007] Furthermore, the fixing column is inserted into the outer side of the bottom splint, the overall ring is a semicircular structure, one end of the top splint and the bottom splint are both open, and the pedal assembly is connected to the leg wearing mechanism through the fixing column.

[0008] Furthermore, the clamping mechanism includes a first base, a second base and a second hydraulic rod, a fixed shaft is welded in the middle of the first base, a flip plate is connected to the surface of the fixed shaft, and a rotating sleeve is provided at the other end of the flip plate.

[0009] Furthermore, a locking rod is inserted in the middle of the second base, and the end of the locking rod is screwed into the interior of the second base through a threaded structure. A second hydraulic rod is screwed on the surface of the flip plate.

[0010] Furthermore, an extrusion plate is screwed to the end of the second hydraulic rod, and the extrusion plate is used to lean against the surface of the pole, and a gap is set between the two ends of the extrusion plate and the inner wall of the top plywood or the bottom plywood, and the locking rod is used to pass through the inside of the rotating sleeve.

[0011] Furthermore, the leg wearing mechanism includes a pedal, a support leg and a retaining ring. The pedal is welded to the side of the fixed column, the rear end of the pedal is connected to the support leg, the side of the support leg is connected to the retaining ring, and movable joints are provided in the middle and bottom of the support leg.

[0012] Furthermore, the support mechanism includes a top plate, an extension plate and a support plate. The top of the support leg is screwed with a connecting plate, the edge of the connecting plate is integrally formed with a connecting shaft, and the surface of the connecting shaft is welded with an extension plate.

[0013] Furthermore, the end of the extension plate is hinged with an elastic plate, the surface of the extension plate is screwed with a third hydraulic rod, the top of the third hydraulic rod is connected to the elastic plate part through an axis, the top of the elastic plate is welded with a column, and the column is welded to the bottom of the top plate.

[0014] Furthermore, a winding box is integrally formed on the surface of the support plate, a clamping plate is integrally formed on the surface of the drive shaft, one end of the strap is connected to a locking plate, the locking plate is fixed to one end of the support plate by bolts, a through hole is opened on the surface of the winding box, and the strap passes through the inside of the through hole.

[0015] Beneficial effects of the present invention:

[0016] 1. The wearable power-assisting robot for pole climbing is equipped with independent clamping mechanisms in both the pedal assembly and the gripping assembly. The clamping mechanism can perform direct flipping movements, so that the robot can be quickly connected to the surface of the pole when worn, and the connection process is efficient and convenient.

[0017] 2. The wearable power-assisted robot for pole climbing has a treadle assembly and a gripping assembly that are directly connected through a first hydraulic rod. Therefore, during the climbing process, the treadle assembly can be directly pulled upward to move, and the worker can be lifted directly upward from the leg area, further reducing the difficulty of climbing. The operation process can be achieved only through the control buttons of the gripping assembly.

[0018] 3. The wearable power-assist robot for pole climbing is provided with a support mechanism at the rear. The support mechanism can provide cushioning protection for the waist of the wearer and can always provide a barrier effect. Therefore, even if an accident occurs during the climbing process and causes the gripping component or the pedaling component to lose power, the support mechanism can still provide protection. At the same time, it can also provide a leaning and sitting area after climbing to the top working area. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic structural diagram of the appearance of a wearable power-assisting robot for pole climbing according to the present invention;

[0020] Figure 2 This is a schematic structural diagram of the grip assembly portion of the present invention;

[0021] Figure 3 This is an exploded view of the clamping mechanism of the present invention;

[0022] Figure 4 for Figure 1 Enlarged view of area A in the middle;

[0023] Figure 5 This is a schematic diagram of the structure of the leg wearing mechanism of the present invention;

[0024] Figure 6 It is a structural schematic diagram of the supporting mechanism part of the present invention;

[0025] Figure 7 This is a schematic diagram of the connection of the strap portion of the present invention;

[0026] Figure: 1, pedal assembly; 2, grip assembly; 3, leg wearing mechanism; 4, support mechanism; 5, clamping mechanism; 6, collar; 7, top splint; 8, grip bar; 9, control button; 10, side guard bar; 11, outer convex plate; 12, first hydraulic rod; 13, first base; 14, fixed axis; 15, flip plate; 16, second hydraulic rod; 17, rotating sleeve; 18, second base; 19, locking rod; 2 0. Extrusion plate; 21. Bottom plywood; 22. Fixed column; 23. Pedal; 24. Support leg; 25. Enclosure ring; 26. Binding strap; 27. Connecting plate; 28. Connecting shaft; 29. ​​Extension plate; 30. Third hydraulic rod; 31. Elastic plate; 32. Column; 33. Top plate; 34. Support plate; 35. Rewinding box; 36. Motor; 37. Through hole; 38. Drive shaft; 39. Card plate; 40. Locking plate. DETAILED DESCRIPTION

[0027] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0028] See also Figures 1 to 7The present invention provides the following technical solutions: a wearable power-assisting robot for climbing electric poles, comprising a power-assisting robot body, the power-assisting robot body comprising a leg wearing mechanism 3, a supporting mechanism 4, a treading assembly 1 and a gripping assembly 2, the treading assembly 1 and the gripping assembly 2 are both used to be sleeved on the surface of the electric pole, and the sides of the treading assembly 1 and the gripping assembly 2 are welded with an outer convex plate 11, a first hydraulic rod 12 is screwed between the outer convex plates 11 on the treading assembly 1 and the gripping assembly 2, and the number of the first hydraulic rods 12 is two, the side of the treading assembly 1 is connected to the leg wearing mechanism 3, the A support mechanism 4 is installed at the top of the leg wearing mechanism 3, and a reeling box 35 is integrally formed on the outer side of the support mechanism 4. A motor 36 is screwed to the top of the reeling box 35, and a drive shaft 38 is inserted into the output end of the motor 36. A strap 26 is wound around the surface of the drive shaft 38, and the strap 26 is used to be sleeved on the surface of the pole, and the strap 26 is always in a position between the treading component 1 and the gripping component 2. A clamping mechanism 5 is installed on the top of the treading component 1 and the gripping component 2. The wearable robot is used in special operations, specifically to assist workers in climbing on poles.

[0029] When the present invention is used, the entire wearable power-assisting robot is first put on the legs of the worker, and then the treading assembly 1 and the gripping assembly 2 can be simultaneously pushed forward in a horizontal direction until they are against the bottom area of ​​the pole, and then the clamping mechanism 5 is rotated to enclose the pole from the other side, and then the top gripping assembly 2 can be pulled, and the control button 9 on the gripping assembly 2 can be operated. With the help of the control button 9, the second hydraulic rod 16 on the treading assembly 1 and the gripping assembly 2 and the first hydraulic rod 12 in the middle are controlled respectively, so that the treading assembly 1 and the gripping assembly 2 alternately generate clamping force, and the treading assembly 1 is pulled upward with the help of the first hydraulic rod 12, and the rear support mechanism 4 and the leg wearing mechanism 3 can achieve the auxiliary effect of pulling the worker upward, and the support mechanism 4 part also always provides traction from the middle to avoid the problem of unstable center of gravity or even falling of the worker due to loss of strength of the hands or feet.

[0030] In this embodiment, the gripping assembly 2 includes a top plywood 7 and a gripping rod 8, and the treading assembly 1 includes a bottom plywood 21 and a fixed column 22. A collar 6 is integrally formed on one side of each of the top plywood 7 and the bottom plywood 21. A side bar 10 is screwed onto the outside of the gripping rod 8, and a control button 9 is embedded on the surface of the gripping rod 8. The fixed column 22 is inserted into the outside of the bottom plywood 21. The collar 6 is an overall semicircular structure. One end of each of the top plywood 7 and the bottom plywood 21 is open. The treading assembly 1 is connected to the leg wearing mechanism 3 via the fixed column 22. The treading assembly 1 and the gripping assembly 2 are directly connected via a first hydraulic rod 12. Therefore, during climbing, the treading assembly 1 can be directly pulled upward, thereby directly lifting the worker upward from the leg area, further reducing the difficulty of climbing. Furthermore, the operation process can be achieved solely through the control button 9 of the gripping assembly 2.

[0031] Specifically, in the gripping assembly 2, directly pull the gripping rod 8 part, and directly control the second hydraulic rod 16 on the treading assembly 1 and the gripping assembly 2 and the first hydraulic rod 12 in the middle by pressing the control button 9. When the control button 9 is pressed at the same time, the second hydraulic rod 16 in the gripping assembly 2 is started, and the second hydraulic rod 16 on the treading assembly 1 is released, and then the first hydraulic rod 12 is automatically started to pull the treading assembly 1 upward, so that an upward traction force can be applied to the worker's legs from the bottom to assist the worker in climbing operations. When any one of the control buttons 9 is released, the second hydraulic rod 16 in the treading assembly 1 can be started, and the second hydraulic rod 16 on the gripping assembly 2 can be released. At this time, the gripping assembly 2 can be manually pulled to move it upward, and the above process can be repeated to achieve the purpose of climbing.

[0032] In this embodiment, the clamping mechanism 5 comprises a first base 13, a second base 18, and a second hydraulic rod 16. A fixed shaft 14 is welded to the center of the first base 13. A flip plate 15 is attached to the surface of the fixed shaft 14, and a rotating sleeve 17 is formed at the other end of the flip plate 15. A locking rod 19 is inserted through the center of the second base 18. The end of the locking rod 19 is screwed into the interior of the second base 18 via a threaded structure. The second hydraulic rod 16 is screwed to the surface of the flip plate 15. The end of the second hydraulic rod 16 is screwed to an extrusion plate 20. The extrusion plate 20 is designed to rest against the surface of the pole, with gaps between its ends and the inner walls of the top clamping plate 7 or the bottom clamping plate 21. The locking rod 19 is designed to pass through the interior of the rotating sleeve 17. Both the pedal assembly 1 and the grip assembly 2 are equipped with independent clamping mechanisms 5. Part of the clamping mechanism 5 is capable of direct flipping, allowing for quick and efficient connection to the pole surface when the power-assist robot is worn.

[0033] Specifically, in the clamping assembly, after the locking rod 19 is removed, the flip plate 15 can be manually controlled to rotate. The rotation process of the flip plate 15 will also synchronously drive the second hydraulic rod 16 and the extrusion rod to rotate. Therefore, in the initial state, the second hydraulic rod 16 is in a contracted rotation, which can pull the extrusion plate 20 away from the surface of the pole. Therefore, after rotating the flip plate 15, the second hydraulic rod 16 and the extrusion plate 20 can be rotated to a position aligned with the pole, and then the locking rod 19 is used to pass through the inside of the second base 18 and tighten it to limit the flip plate 15 to avoid reverse rotation again. After the second hydraulic rod 16 is started subsequently, the extrusion plate 20 can be pressed against the surface of the pole, and the ring 6 is cooperated to achieve the purpose of clamping and fixing the pole in this position.

[0034] In this embodiment, the leg wearing mechanism 3 includes a pedal 23, a support leg 24 and a retaining ring 25. The pedal 23 is welded to the side of the fixed column 22. The rear end of the pedal 23 is connected to the support leg 24. The side of the support leg 24 is connected to the retaining ring 25. The middle and bottom of the support leg 24 are both provided with movable joints. The support mechanism 4 includes a top plate 33, an extension plate 29 and a support plate 34. The top of the support leg 24 is screwed with a connecting plate 27. The edge of the connecting plate 27 is integrally formed with a connecting shaft 28. The surface of the connecting shaft 28 is welded with an extension plate 29. The end of the extension plate 29 is hinged with an elastic plate 31. The surface of the extension plate 29 is screwed with a third hydraulic rod 30. The top of the third hydraulic rod 30 is connected to the elastic plate 31 part by an axis. The top of the elastic plate 31 is welded with a column 32. The column 32 is welded to the bottom of the top plate 33. A reel box 35 is integrally formed on the surface of the support plate 34, and a clamping plate 39 is integrally formed on the surface of the drive shaft 38. A locking plate 40 is connected to one end of the strap 26 and bolted to one end of the support plate 34. A through hole 37 is formed on the surface of the reel box 35, through which the strap 26 passes. A support mechanism 4 is provided at the rear, providing cushioning protection for the wearer's waist and providing a constant barrier effect. Therefore, even if an accident occurs during climbing and causes the grip assembly 2 or the pedal assembly 1 to lose strength, the support mechanism 4 can still provide resistance. It also provides a place to lean on and sit after reaching the top working area.

[0035] Specifically, the top arc-shaped support plate 33 can have a higher elastic force through the rear elastic plate 31. Therefore, even if the gripping component 2 loses strength, the support plate 33 can still provide support from the rear, and the pedal component 1 at the bottom can also provide support at the bottom to ensure that the staff can still maintain balance. In the process of climbing, the degree of retraction of the strap 26 is regulated by the motor 36, so as to control the support effect of the top support plate 33 on the waist, and further regulate the degree of obstruction of the upper body movement of the staff while providing protection. When the staff reaches the highest point, the third hydraulic rod 30 can be extended, and the motor 36 can be used to reel in the strap 26 to further move the support plate 33 backward. At this time, the staff can directly sit on the support plate 34 to carry out subsequent work.

[0036] The basic principles, main features and advantages of the present invention are shown and described above. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention.

[0037] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A wearable power-assisting robot for pole climbing, comprising a power-assisting robot body, characterized in that: The power-assist robot body comprises a leg wearing mechanism (3), a supporting mechanism (4), a treading assembly (1) and a holding assembly (2), wherein the treading assembly (1) and the holding assembly (2) are both used to be sleeved on the surface of the pole, and the sides of the treading assembly (1) and the holding assembly (2) are welded with an outer convex plate (11), and a first hydraulic rod (12) is screwed between the outer convex plates (11) on the treading assembly (1) and the holding assembly (2), and the number of the first hydraulic rods (12) is two, and the side of the treading assembly (1) is connected to the leg wearing mechanism (3), and the leg wearing mechanism (12) is connected to the leg wearing mechanism (3). A support mechanism (4) is installed at the top of the mechanism (3), a reel box (35) is integrally formed on the outer side of the support mechanism (4), a motor (36) is screwed to the top of the reel box (35), a drive shaft (38) is inserted into the output end of the motor (36), a strap (26) is wound around the surface of the drive shaft (38), the strap (26) is used to be sleeved on the surface of the pole, and the strap (26) is always located between the pedal assembly (1) and the grip assembly (2), and a clamping mechanism (5) is installed on the top of both the pedal assembly (1) and the grip assembly (2).

2. The wearable power-assisting robot for pole climbing according to claim 1, characterized in that: The gripping assembly (2) comprises a top-layer clamping plate (7) and a gripping rod (8), and the pedaling assembly (1) comprises a bottom-layer clamping plate (21) and a fixing column (22). A collar (6) is integrally formed on one side of the top-layer clamping plate (7) and the bottom-layer clamping plate (21). A side stopper (10) is screwed onto the outer side of the gripping rod (8), and a control button (9) is embedded on the surface of the gripping rod (8).

3. The wearable power-assisting robot for pole climbing according to claim 2 is characterized in that: The fixing column (22) is inserted into the outer side of the bottom splint (21); the collar (6) is in a semicircular structure as a whole; one end of the top splint (7) and the bottom splint (21) are both in an open state; and the pedal assembly (1) is connected to the leg wearing mechanism (3) via the fixing column (22).

4. The wearable power-assisting robot for pole climbing according to claim 2, characterized in that: The clamping mechanism (5) comprises a first base (13), a second base (18) and a second hydraulic rod (16); a fixed shaft (14) is welded in the middle of the first base (13); a flip plate (15) is connected to the surface of the fixed shaft (14); and a rotating sleeve (17) is provided at the other end of the flip plate (15).

5. The wearable power-assisting robot for pole climbing according to claim 4 is characterized in that: A locking rod (19) is inserted in the middle of the second base (18), and the end of the locking rod (19) is screwed into the inside of the second base (18) through a threaded structure. A second hydraulic rod (16) is screwed on the surface of the flip plate (15).

6. The wearable power-assisting robot for pole climbing according to claim 5, characterized in that: An extrusion plate (20) is screwed to the end of the second hydraulic rod (16), and the extrusion plate (20) is used to lean against the surface of the pole, and gaps are provided between the two ends of the extrusion plate (20) and the inner wall of the top clamping plate (7) or the bottom clamping plate (21), and the locking rod (19) is used to pass through the inside of the rotating sleeve (17).

7. The wearable power-assisting robot for pole climbing according to claim 2, characterized in that: The leg wearing mechanism (3) comprises a pedal (23), a supporting leg (24) and a retaining ring (25); the pedal (23) is welded to the side of a fixing column (22); the rear end of the pedal (23) is connected to the supporting leg (24); the side of the supporting leg (24) is connected to the retaining ring (25); and movable joints are provided in the middle and at the bottom of the supporting leg (24).

8. The wearable power-assisting robot for pole climbing according to claim 7, characterized in that: The support mechanism (4) comprises a supporting plate (33), an extension plate (29) and a support plate (34); a connecting plate (27) is screwed to the top of the support leg (24); a connecting shaft (28) is integrally formed at the edge of the connecting plate (27); and an extension plate (29) is welded to the surface of the connecting shaft (28).

9. The wearable power-assisting robot for pole climbing according to claim 8, characterized in that: The end of the extension plate (29) is hinged with an elastic plate (31), the surface of the extension plate (29) is screwed with a third hydraulic rod (30), the top end of the third hydraulic rod (30) is connected to the elastic plate (31) through an axis, the top end of the elastic plate (31) is welded with a column (32), and the column (32) is welded to the bottom of the top support plate (33).

10. The wearable power-assisting robot for pole climbing according to claim 9, characterized in that: A reel box (35) is integrally formed on the surface of the support plate (34), a clamping plate (39) is integrally formed on the surface of the drive shaft (38), one end of the binding belt (26) is connected to a locking plate (40), and the locking plate (40) is fixed to one end of the support plate (34) by bolts. A through hole (37) is opened on the surface of the reel box (35), and the binding belt (26) passes through the inside of the through hole (37).

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