Aerial work platform

Abstract

The aerial work platform comprises a self-built channel, a climbing module, a working arm and a working module, the working module is connected with the climbing module through the working arm, the climbing module is connected with the self-built channel, and the self-built channel is used for providing a climbing path for the climbing module; the climbing module comprises a first rolling assembly and a second rolling assembly, the first rolling assembly and the second rolling assembly are symmetrically arranged on the two opposite sides of the self-built channel respectively and make rolling contact with the self-built channel through rolling wheels, and the rolling wheels are made of elastic materials; the two opposite sides of the first rolling assembly are connected with the second rolling assembly through the contraction fixing pieces correspondingly, the contraction fixing pieces are used for controlling and fixing the distance between the first rolling assembly and the second rolling assembly, and therefore when rolling wheels do not rotate, the rolling wheels in the first rolling assembly and the second rolling assembly can generate extrusion force on the self-built channel, and the self-built channel is formed. And the climbing module is stabilized on the self-built channel. The stability and adaptability of the aerial work platform are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of climbing devices, and in particular to an aerial work platform. Background Art

[0002] Aerial work on power grids refers to the work of installing, maintaining, inspecting, etc. transmission lines and equipment by staff in an aerial environment in the power transmission and distribution system. Due to the complexity of working conditions and the high voltage of power equipment, aerial work on power grids has become a high-risk power maintenance work. Therefore, using robots to replace part of the aerial work on power grids has become a trend. Existing aerial work robots are usually fixed on utility poles through mechanical claws, and then climb vertically along the utility pole by driving a crawler system, and complete specified operations after reaching the predetermined position. Existing aerial work robots usually have the following defects:

[0003] 1. Insufficient adaptability: Current aerial work robots are difficult to adapt to different types of utility poles. Especially for non-standard or damaged utility poles, the robots cannot effectively grip or safely climb.

[0004] 2. Insufficient stability: Utility poles are in the outdoor environment for a long time. When the surface of the utility pole is wet or frozen, the robot may slip and cannot safely climb. Summary of the Invention

[0005] The present invention provides an aerial work platform to solve the problems of poor adaptability of existing aerial work robots to non-standard or damaged utility poles and insufficient stability caused by slipping with utility poles.

[0006] An aerial work platform provided by the present invention includes: a self-built channel, a climbing module, a working arm, and an operating module. The operating module is connected to the climbing module through the working arm, the climbing module is connected to the self-built channel, and the self-built channel is used to provide a climbing path for the climbing module;

[0007] The climbing module includes two rolling components and at least one retractable fixing member. The two rolling components are respectively a first rolling component and a second rolling component. The first rolling component and the second rolling component both include rolling wheels. The first rolling component and the second rolling component are symmetrically arranged on opposite sides of the self-built channel respectively and are in rolling contact with the self-built channel through the rolling wheels. The rolling wheels are made of elastic materials;

[0008] The relative two sides of the first rolling assembly are respectively connected to the second rolling assembly through the shrinkage fixing member, and the shrinkage fixing member is used to control and fix the distance between the first rolling assembly and the second rolling assembly, so that when the rolling wheels do not rotate, the rolling wheels in the first rolling assembly and the second rolling assembly can generate extrusion force on the self-built channel, making the climbing module stable on the self-built channel.

[0009] Further, an annular groove is provided on the rolling surface of the rolling wheel, and the annular groove cooperates with the protruding portion of the self-built channel to ensure that the rolling wheel will not deviate from the self-built channel in its axial direction during movement.

[0010] Further, a single rolling assembly includes a first rolling wheel, a driving assembly, and a second rolling wheel arranged along the moving direction of the self-built channel. The driving assembly includes a motor, an output gear, a first transmission gear, and a second transmission gear. One end of the first transmission gear is meshed and connected to the output gear, and the other end of the first transmission gear is meshed and connected to the first rolling wheel; one end of the second transmission gear is meshed and connected to the output gear, and the other end of the second transmission gear is meshed and connected to the second rolling wheel.

[0011] Further, the climbing module further includes two outer shells, namely a first outer shell and a second outer shell. The first rolling assembly is arranged on the first outer shell, the second rolling assembly is arranged on the second outer shell, one end of the shrinkage fixing member is fixed on the first outer shell, the other end of the shrinkage fixing member is fixed on the second outer shell, and the shrinkage fixing member is used to control the distance between the first outer shell and the second outer shell so as to adjust the distance between the first rolling assembly and the second rolling assembly.

[0012] Further, the shrinkage fixing member includes a first fixing block, a second fixing block, an outer cover, and a buckle rod. The first fixing block is arranged on one of the outer shells, and the first fixing block is provided with a hook hole. The second fixing block is arranged on the other outer shell. One end of the outer cover is rotatably connected to the second fixing block, and a bayonet is provided in the middle of the outer cover. One end of the buckle rod is provided with a hook corresponding to the hook hole, the other end of the buckle rod is rotatably connected to the end of the outer cover close to the second fixing block, and an anti-detachment elastic piece corresponding to the bayonet is arranged in the middle of the buckle rod. The other end of the outer cover is used to rotate around the second fixing block, driving the buckle rod to move linearly along the connection line direction of the first fixing block and the second fixing block to shorten or extend the distance between the first fixing block and the second fixing block. The bayonet of the outer cover is used to be caught by the anti-detachment elastic piece when the hook of the buckle rod hooks the hook hole and the outer cover rotates towards the direction close to the first fixing block, thereby fixing the distance between the first fixing block and the second fixing block.

[0013] Further, a guiding module is provided on one side of the shrinkage fixing member. The guiding module includes a first fixing sleeve, a second fixing sleeve, and a connecting rod. The first fixing sleeve is provided on one of the outer shells, the second fixing sleeve is provided on the other outer shell, one end of the connecting rod is fixed in the first fixing sleeve, the other end of the connecting rod penetrates through the second fixing sleeve and is movably connected to the second fixing sleeve. An anti - detachment member is provided at the end of the connecting rod that penetrates through the second fixing sleeve, and the anti - detachment member abuts against the second fixing sleeve. An elastic member is sleeved on the portion of the connecting rod between the first fixing sleeve and the second fixing sleeve. One end of the elastic member is connected to the first fixing sleeve, and the other end of the elastic member is connected to the second fixing sleeve.

[0014] Further, the working arm is rotatably connected to the climbing module through a rotating assembly. A detection module and a control module are provided on the rotating assembly. The control module is respectively connected to the detection module and the rotating assembly. The control module is configured to control the rotating assembly to drive the working arm to rotate and avoid obstacles when the detection module detects an obstacle in the advancing direction of the climbing module.

[0015] Further, the rotating assembly includes a fixed component and a rotating component. The fixed component includes a fixed gear portion. The rotating component includes a rotating gear portion, a connecting member, and a driver. The rotating gear portion meshes with the fixed gear portion. The connecting member is provided above the rotating gear portion and the fixed gear portion. One end of the connecting member is rotatably connected to the fixed gear portion, and the other end of the connecting member is fixedly connected to the rotating gear portion. The driver, the control module, and the detection module are all provided on the connecting member. The rotating shaft of the driver passes through the connecting member and is connected to the rotating gear portion to control the rotation of the rotating gear portion so that the rotating component rotates around the fixed component.

[0016] Further, the working arm includes a terminal arm, an extension arm, and quick - connecting members. The quick - connecting members are respectively a first quick - connecting member and a second quick - connecting member. One end of the extension arm is fixedly connected to the rotating gear portion through the first quick - connecting member. The other end of the extension arm is connected to one end of the terminal arm through the second quick - connecting member. The other end of the terminal arm is connected to the operation module;

[0017] The quick-connecting piece includes a wedge block, a wedge sleeve and an adjuster. The wedge block is arranged on the end arm or the rotating gear part. The wedge sleeves are respectively arranged at both ends of the extension arm. The wedge sleeve includes an adapter block arranged on the end face of the extension arm. Three sides of the adapter block are provided with a first inclined-plane stop strip, a second inclined-plane stop strip and a third inclined-plane stop strip which are connected in sequence. The third inclined-plane stop strip is movably connected to the adapter block through the adjuster. The adjuster is connected to one side of the third inclined-plane stop strip for controlling the third inclined-plane stop strip to move away from or close to the first inclined-plane stop strip. A notch is arranged between the first inclined-plane stop strip and the third inclined-plane stop strip, and the notch is used for the wedge block to be inserted into the wedge sleeve.

[0018] Further, the end arm is connected to the operation module through a lifting module. The lifting module includes a jacking rack, a rack driving assembly and a limiting member. The jacking rack penetrates and is perpendicular to the end arm. The rack driving assembly is arranged on the tooth surface side of the rack. The rack driving assembly includes a jacking gear and a jacking motor. The jacking gear meshes with the tooth surface of the rack. The output shaft of the jacking motor is connected to the central part of the jacking gear. The limiting member is fixedly arranged on the end arm and slidably abuts against the side of the jacking rack away from the tooth surface of the rack, so that the jacking rack is stabilized between the limiting member and the jacking gear.

[0019] It can be seen from the above technical solutions that the present invention has the following advantages:

[0020] In this embodiment, a self-built channel is provided to provide a climbing path for the climbing module. There is no need to arrange the climbing module on buildings such as utility poles, avoiding the direct contact of the climbing module with non-standard or damaged buildings, and improving the adaptability of the climbing module. The climbing module adopts a first rolling assembly and a second rolling assembly composed of rolling wheels made of elastic materials. The first rolling assembly and the second rolling assembly are respectively distributed on opposite sides of the self-built channel. The distance between the first rolling assembly and the second rolling assembly is shortened and fixed by a contraction fixing member to realize the rolling contact between the climbing module and the self-built channel. The first rolling assembly and the second rolling assembly can not only realize the rolling contact between the climbing module and the self-built channel through the rolling property of the wheels to drive the climbing module to move along the self-built channel, but also strengthen the frictional contact between the rolling wheels and the self-built channel through the elastic property of the elastic material of the rolling wheels, so that when the rolling wheels stop rolling, the climbing module can be stabilized on the self-built channel, solving the stability problem of the climbing module and reducing the risk of the climbing module slipping. Therefore, by improving the stability and adaptability of the climbing module, the working arm connected to the climbing module can smoothly reach the working position of the high-altitude building, and the operation error caused by the shaking or displacement of the climbing module can also be reduced, making the operation of the working arm more accurate. Description of the Drawings

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0022] Figure 1 Schematic diagram of the overall structure of an aerial work platform provided by an embodiment of the present invention;

[0023] Figure 2 Schematic diagram of the overall structure of the climbing module in an aerial work platform provided by an embodiment of the present invention;

[0024] Figure 3 Schematic diagram of the rolling assembly structure of the climbing module in an aerial work platform provided by an embodiment of the present invention;

[0025] Figure 4 Schematic diagram of the rolling assembly structure of the climbing module in an aerial work platform provided by an embodiment of the present invention;

[0026] Figure 5 Schematic diagram of the guiding module structure of the climbing module in an aerial work platform provided by an embodiment of the present invention;

[0027] Figure 6 Schematic diagram of the rotating assembly structure in an aerial work platform provided by an embodiment of the present invention;

[0028] Figure 7 Schematic diagram of the working arm structure in an aerial work platform provided by an embodiment of the present invention;

[0029] Figure 8 Schematic diagram of the quick-connecting part structure in an aerial work platform provided by an embodiment of the present invention.

[0030] Description of reference numerals: 1, self-built channel; 2, climbing module; 3, working arm; 4, operation module; 5, rotating assembly; 201, rolling assembly; 202, first rolling assembly; 203, second rolling assembly; 204, shrinkage fixing piece; 205, rolling wheel; 206, annular groove; 207, first rolling wheel; 208, driving assembly; 209, second rolling wheel; 210, motor; 211, output gear; 212, first transmission gear; 213, second transmission gear; 214, housing; 215, first housing; 216, second housing; 217, first fixing block; 218, second fixing block; 219, outer cover; 220, buckling rod; 221, hook hole; 222, hook member; 223, anti-disengagement elastic piece; 224, guiding module; 225, first fixing sleeve; 226, second fixing sleeve; 227, connecting rod; 228, anti-disengagement piece; 229, elastic member; 230, bayonet; 301, end arm; 302, extension arm; 303, quick connector; 305, first quick connector; 304, second quick connector; 306, wedge block; 307, wedge sleeve; 308, adjuster; 309, adapter block; 310, first inclined surface stop bar; 311, second inclined surface stop bar; 312, third inclined surface stop bar; 313, notch; 314, lifting module; 315, jacking rack; 316, rack driving assembly; 317, limiting member; 318, jacking gear; 319, jacking motor; 320, tooth surface; 501, detection module; 502, control module; 503, fixing assembly; 504, rotating assembly; 505, fixed gear part; 506, rotating gear part; 507, connecting piece; 508, driver. Detailed implementation manners

[0031] In order to make the invention purposes, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the embodiments described below are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts shall fall within the protection scope of the present invention.

[0032] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and drawings of the present invention are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that comprises a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0033] Please refer to Figure 1 , Figure 1 a high-altitude work platform provided by an embodiment of the present invention.

[0034] A modular splicing high-altitude work platform provided by the present invention includes a self-built channel 1, a climbing module 2, a working arm 3, and an operation module 4. The operation module 4 is connected to the climbing module 2 through the working arm 3, and the climbing module 2 is connected to the self-built channel 1. The self-built channel 1 is used to provide a climbing path for the climbing module 2;

[0035] The climbing module 2 includes a first rolling component 202, a second rolling component 203, and a contraction fixing member 204. Both the first rolling component 202 and the second rolling component 203 include rolling wheels 205. The first rolling component 202 and the second rolling component 203 are respectively arranged on opposite sides of the self-built channel 1 and are in rolling contact with the self-built channel 1 through the rolling wheels 205. The rolling wheels 205 are made of elastic materials;

[0036] The opposite sides of the first rolling component 202 are respectively connected to the second rolling component 203 through the contraction fixing member 204. The contraction fixing member 204 is used to shorten and fix the distance between the first rolling component 202 and the second rolling component 203, so that when the rolling wheels 205 do not rotate, the rolling wheels 205 in the first rolling component 202 and the second rolling component 203 can generate a squeezing force on the self-built channel 1, enabling the climbing component to be stable on the self-built channel 1.

[0037] It can be understood that in specific implementation, in this embodiment, a self-built channel 1 is provided to supply a climbing path for the climbing module 2. There is no need to arrange the climbing module 2 on a building such as a utility pole, which avoids the direct contact of the climbing module 2 with non-standard or damaged buildings and improves the adaptability of the climbing module 2. The climbing module 2 adopts a first rolling assembly 202 and a second rolling assembly 203 composed of rolling wheels 205 made of elastic materials. The first rolling assembly 202 and the second rolling assembly 203 are respectively distributed on opposite sides of the self-built channel 1. By cooperating with the contraction fixing member 204 to shorten and fix the distance between the first rolling assembly 202 and the second rolling assembly 203, rolling contact between the climbing module 2 and the self-built channel 1 is achieved. The first rolling assembly 202 and the second rolling assembly 203 can drive the climbing module 2 to move along the self-built channel 1 through the rolling property of the wheels to realize rolling contact between the climbing module 2 and the self-built channel 1, and can also strengthen the frictional contact between the rolling wheels 205 and the self-built channel 1 through the elastic property of the elastic materials of the rolling wheels 205. When the rolling wheels 205 stop rolling, the climbing module 2 can be stabilized on the self-built channel 1, solving the stability problem of the climbing module 2 and reducing the risk of slipping of the climbing module 2. Therefore, by improving the stability and adaptability of the climbing module 2, the working arm connected to the climbing module 2 can smoothly reach the working position of the high-rise building, and the operation error caused by the shaking or displacement of the climbing module 2 can also be reduced, making the operation of the working arm more accurate.

[0038] In a more specific embodiment, the self-built channel 1 is composed of a plurality of standard rods fixedly connected in combination, and the top of the self-built channel 1 is hung on a high-rise building such as a utility pole. It can be understood that in specific implementation, on the one hand, in this embodiment, a plurality of standard rods are fixedly connected in combination to form the self-built channel 1, so that the self-built channel 1 can adapt to working positions at different heights, and the self-built channel 1 can be disassembled into a plurality of standard rods for convenient carrying; on the other hand, in this embodiment, by hanging the top of the self-built channel 1 on a high-rise building such as a utility pole, the self-built channel 1 can be suspended and separated from the ground, so that the climbing module 2 can be sleeved from the bottom of the self-built channel 1, improving the convenience and installation efficiency of the climbing module 2 and the self-built channel 1.

[0039] In a more specific embodiment, the elastic material is rubber, and the rolling wheel 205 is a rubber rolling wheel 205. It can be understood that rubber itself has a relatively high coefficient of friction. During the rolling process, it can closely fit the surface of the material being rolled, generating a large frictional force to ensure that there is no easy slipping phenomenon between the rolling wheel 205 and the material, enabling the rolling action to be carried out stably and precisely. The rubber rolling wheel 205 has a certain rigidity and can provide stable support for the climbing module 2 during rolling movement. Even under the condition of bearing a large pressure and load, it can maintain the relative stability of its shape, ensuring the accuracy of the rotation axis and rolling direction of the rolling wheel 205.

[0040] In a more specific embodiment, an annular groove 206 is provided on the rolling surface of the rolling wheel 205. The annular groove 206 cooperates with the protruding portion of the self-built channel 1 to ensure that the rolling wheel 205 does not disengage from the self-built channel 1 in its axial direction during movement. It can be understood that during specific implementation, by providing the annular groove 206 on the rolling surface of the rolling wheel 205 to cooperate with the protruding portion of the self-built channel 1, the annular groove 206 can limit the movement of the rolling wheel 205 on the self-built channel 1 and prevent it from deviating in the radial direction.

[0041] In a more specific embodiment, a single rolling assembly 201 includes a first rolling wheel 207, a driving assembly 208, and a second rolling wheel 209 arranged along the moving direction of the self-built channel 1. The driving assembly 208 includes a motor 210, an output gear 211, a first transmission gear 212, and a second transmission gear 213. One end of the first transmission gear 212 is meshed and connected to the output gear 211, and the other end of the first transmission gear 212 is meshed and connected to the first rolling wheel 207; one end of the second transmission gear 213 is meshed and connected to the output gear 211, and the other end of the second transmission gear 213 is meshed and connected to the second rolling wheel 209. It can be understood that during specific implementation, by arranging the driving assembly 208 between the two driving wheels, the two rolling wheels 205 can form two-point supports on one side of the self-built channel 1. Compared with setting a single rolling wheel 205, the balance of the rolling assembly 201 can be better maintained, and the two rolling wheels 205 can more accurately define the movement trajectory of the device, enabling it to move only along the direction of the climbing rod, thereby realizing the stable movement of the climbing module 2.

[0042] In a more specific embodiment, the climbing module 2 further includes two outer shells 214, namely a first outer shell 215 and a second outer shell 216. The first rolling assembly 202 is arranged on the first outer shell 215, and the second rolling assembly 203 is arranged on the second outer shell 216. One end of the contraction fixing member 204 is fixed to the first outer shell 215, and the other end of the contraction fixing member 204 is fixed to the second outer shell 216. The contraction fixing member 204 is used to control the distance between the first outer shell 215 and the second outer shell 216, thereby realizing the adjustment of the distance between the first rolling assembly 202 and the second rolling assembly 203. It can be understood that during specific implementation, by arranging the rolling wheel 205 assembly on the outer shell 214 and fixing the two ends of the contraction fixing member 204 to the first outer shell 215 and the second outer shell 216 respectively, the distance between the first outer shell 215 and the second outer shell 216 can be adjusted by adjusting the contraction fixing member 204, thereby realizing the modular synchronous control of the distance between the first rolling assembly 202 and the second rolling assembly 203 and improving the installation and fixing efficiency of the climbing module 2 on the self-built channel 1.

[0043] In a more specific embodiment, the contraction fixing member 204 includes a first fixing block 217, a second fixing block 218, an outer cover 219, and a buckle rod 220. The first fixing block 217 is disposed on one of the outer shells 214, and the first fixing block 217 is provided with a hook hole 221. The second fixing block 218 is disposed on the other outer shell 214. One end of the outer cover 219 is rotatably connected to the second fixing block 218. A bayonet 230 is formed in the middle of the outer cover 219. One end of the buckle rod 220 is provided with a hook member 222 corresponding to the hook hole 221. The other end of the buckle rod 220 is rotatably connected to the end of the outer cover 219 near the second fixing block 218. An anti - detachment elastic piece 223 corresponding to the bayonet 230 is disposed in the middle of the buckle rod 220. The other end of the outer cover 219 is used to rotate around the second fixing block 218, driving the buckle rod 220 to move linearly along the connection line direction of the first fixing block 217 and the second fixing block 218 to shorten or extend the distance between the first fixing block 217 and the second fixing block 218. The bayonet 230 of the outer cover 219 is used to snap into the anti - detachment elastic piece 223 during the rotation of the outer cover 219 towards the first fixing block 217 after the hook member 222 of the buckle rod 220 hooks the hook hole 221, thereby fixing the distance between the first fixing block 217 and the second fixing block 218.

[0044] It can be understood that during specific implementation, by fixing the first fixing block 217 on the first outer shell 214, fixing the second fixing block 218 on the second outer shell 216, rotatably connecting one end of the outer cover 219 to the second fixing block 218, and rotatably connecting one end of the buckle rod 220 to the end of the outer cover 219 near the second fixing block 218, the connection between the first fixing block 217 and the second fixing block 218 is realized by hooking the hook hole 221 on the first fixing block 217 with the hook member 222 at the other end of the buckle rod 220. The outer cover 219 rotates around the second fixing block 218 towards the first fixing block 217, driving the end of the buckle rod 220 connected to the outer cover 219 to move linearly away from the first fixing block 217, shortening the distance between the first fixing block 217 and the second fixing block 218. When the bayonet in the middle of the outer cover 219 snaps into the anti - detachment elastic piece 223 disposed in the middle of the buckle rod 220, the distance between the first fixing block 217 and the second fixing block 218 is fixed, that is, the distance between the first outer shell 215 and the second outer shell 216 is fixed, so that the rolling wheels 205 on the first rolling assembly 202 and the second rolling assembly 203 generate a squeezing force on the self - built channel 1. When disassembling the climbing module 2, the anti - detachment elastic piece 223 is disengaged from the bayonet 230, the outer cover 219 rotates around the second fixing block 218 away from the first fixing block 217, driving the end of the buckle rod 220 connected to the outer cover 219 to move linearly towards the first fixing block 217, increasing the distance between the first fixing block 217 and the second fixing block 218, and then disengaging the hook member 222 from the hook hole 221 to complete the release of the contraction fixing member 204.

[0045] In a more specific embodiment, a guiding module 224 is provided on one side of the shrinkage fixing member 204. The guiding module 224 includes a first fixing sleeve 225, a second fixing sleeve 226 and a connecting rod 227. The first fixing sleeve 225 is arranged on one of the outer shells 214, the second fixing sleeve 226 is arranged on the other outer shell 214, one end of the connecting rod 227 is fixed in the first fixing sleeve 225, the other end of the connecting rod 227 penetrates through the second fixing sleeve 226 and is movably connected with the second fixing sleeve 226. An anti-disengagement member 228 is arranged at the end of the connecting rod 227 that penetrates through the second fixing sleeve 226. The anti-disengagement member 228 abuts against the second fixing sleeve 226. An elastic member 229 is sleeved on the portion of the connecting rod 227 between the first fixing sleeve 225 and the second fixing sleeve 226. One end of the elastic member 229 is connected with the first fixing sleeve 225, and the other end of the elastic member 229 is connected with the second fixing sleeve 226.

[0046] In a more specific embodiment, the elastic member 229 is a spring.

[0047] It can be understood that during specific implementation, by fixing the first fixing sleeve 225 on the first outer shell 215 and fixing the second fixing sleeve 226 on the second outer shell 216, when the shrinkage fixing member 204 shortens and fixes the distance between the first outer shell 215 and the second outer shell 216, the spring located between the first fixing sleeve 225 and the second fixing sleeve 226 is compressed, the anti-disengagement member 228 moves away from the second fixing sleeve 226, and there is a gap between the anti-disengagement member 228 and the second fixing sleeve 226; when the shrinkage fixing member 204 is released, under the stretching action of the spring, the connecting rod 227 moves in the second fixing sleeve 226, the distance between the second fixing member and the anti-disengagement member 228 shortens, and the anti-disengagement member 228 abuts against the second fixing sleeve 226, realizing that the first outer shell 215 and the second outer shell 216 are kept connected through the guiding module 224 when the shrinkage fixing member 204 is released, avoiding the first rolling assembly 202 and the second rolling assembly 203 from spreading apart. During the disassembly and installation process, the climbing module 2 can be sleeved into the self-built channel 1 as a whole or taken out from the self-built channel 1, improving the disassembly and installation efficiency of the climbing module 2. In addition, through the guiding action of the connecting rod 227 moving in the second fixing sleeve 226, the shrinkage fixing member 204 is prevented from shifting, skewing, etc. during the operation process, reducing the operation difficulty of the shrinkage fixing member 204 to shorten the first outer shell 215 and the second outer shell 216.

[0048] In a more specific embodiment, the working arm 3 is rotatably connected to the climbing module 2 through a rotating assembly 5. A detection module 501 and a control module 502 are provided on the rotating assembly 5. The control module 502 is respectively connected to the detection module 501 and the rotating assembly 5. The control module 502 is configured to control the rotating module to drive the working arm 3 to rotate to avoid obstacles when the detection module 501 detects an obstacle in the advancing direction of the climbing module 2. When the detection module 501 detects an obstacle in the advancing direction of the climbing module 2, the control module 502 controls the working arm 3 to rotate through the rotating assembly 5, thereby achieving obstacle avoidance.

[0049] In a more specific embodiment, the detection module 501 includes a camera and a lidar. During the climbing process of the climbing module 2, the on-site environment can be detected in real time through the camera and the lidar, and the attitude of the working arm 3 can be freely adjusted through the control module 502 to complete obstacle avoidance.

[0050] In a more specific embodiment, the rotating assembly 5 includes a fixed component 503 and a rotating component 504. The fixed component 503 includes a fixed gear portion 505. The rotating component 504 includes a rotating gear portion 506, a connecting member 507, and a driver. The rotating gear portion 506 meshes with the fixed gear portion 505. The connecting member 507 is disposed above the rotating gear portion 506 and the fixed gear portion 505. One end of the connecting member 507 is rotatably connected to the fixed gear portion 505, and the other end of the connecting member 507 is fixedly connected to the rotating gear portion 506. The driver control module 502 and the detection module 501 are both disposed on the connecting member 507. The rotating shaft of the driver passes through the connecting member 507 and is connected to the rotating gear portion 506 for controlling the rotating gear portion 506 to rotate so that the rotating component 504 rotates around the fixed component 503. It can be understood that during specific implementation, the rotating gear is driven by the driver to rotate around the fixed gear with which it meshes, driving the rotating component 504 and the connecting member 507 to rotate smoothly.

[0051] In a more specific embodiment, the working arm 3 includes a terminal arm 301, an extension arm 302, and quick connectors 303. The quick connectors 303 are respectively a first quick connector 305 and a second quick connector 304. One end of the extension arm 302 is fixedly connected to the rotating gear part 506 through the first quick connector 305. The other end of the extension arm 302 is connected to one end of the terminal arm 301 through the second quick connector 304. The other end of the terminal arm 301 is connected to the operation module 4. The quick connector 303 includes a wedge 306, a wedge sleeve 307, and an adjuster 308. The wedge 306 is arranged on the terminal arm 301 or the rotating gear part 506. The wedge sleeves 307 are respectively arranged at both ends of the extension arm 302. The wedge sleeve 307 includes an adapter block 309 arranged on the end face of the extension arm 302. The first inclined surface stop strip 310, the second inclined surface stop strip 311, and the third inclined surface stop strip 312 are sequentially connected to three sides of the adapter block 309. The third inclined surface stop strip 312 is movably connected to the adapter block 309 through the adjuster 308. The adjuster 308 is connected to one side of the third inclined surface stop strip 312 for controlling the third inclined surface stop strip 312 to move away from or close to the first inclined surface stop strip. A notch 313 is arranged between the first inclined surface stop strip 310 and the third inclined surface stop strip 312. The notch 313 is used for the wedge 306 to be inserted into the wedge sleeve 307.

[0052] It can be understood that during specific implementation, by inserting the wedge 306 into the wedge sleeve 307 from the notch 313 of the wedge sleeve 307, the wedge 306 is limited by the first inclined surface stop strip 310, the second inclined surface stop strip 311, the third inclined surface stop strip 312, and the adapter block 309. By shortening the distance between the third inclined surface stop strip 312 and the adapter block 309 through the adjuster 308, the distance between the third inclined surface stop strip 312 and the first inclined surface stop strip 310 is further shortened, clamping the wedge 306, so that the wedge 306 is fixed in the wedge sleeve 307.

[0053] In a more specific embodiment, the adjuster 308 is a hand-tightening screw. The hand-tightening screw sequentially passes through the first inclined surface stop strip 310 and is connected to the adapter block 309. When the hand-tightening screw is tightened towards the adapter block 309, the distance between the third inclined surface stop strip 312 and the first inclined surface stop strip 310 is shortened. When the hand-tightening screw is loosened, the distance between the third inclined surface stop strip 312 and the first inclined surface stop strip 310 becomes longer.

[0054] In a more specific embodiment, the side surface of the wedge 306 is an inclined surface, corresponding to the inclined surface of the inclined surface stop strip. When the wedge 306 is inserted into the wedge sleeve 307, the inclined surface of the inclined surface stop strip fits with the inclined surface of the wedge 306, realizing the blocking of the wedge 306 from moving along the axial direction of the extension arm 302.

[0055] In a more specific embodiment, the end arm 301 is connected to the operation module 4 through a lifting module 314. The lifting module 314 includes a jacking rack 315, a rack driving assembly 316, and a limiting member 317. The rack penetrates and is perpendicular to the end arm 301. The rack driving assembly 316 is arranged on the side of the tooth surface 320 of the rack. The rack driving assembly 316 includes a jacking gear 318 and a jacking motor 319. The jacking gear 318 meshes with the tooth surface 320 of the rack. The output shaft of the jacking motor 319 is connected to the central part of the jacking gear 318. The limiting member 317 is fixedly arranged on the end arm 301 and slidably abuts against the side of the jacking rack 315 away from the tooth surface 320 of the rack, so that the jacking rack 315 is stably located between the limiting member 317 and the jacking gear 318.

[0056] It can be understood that during specific implementation, the rotation of the jacking gear 318 is controlled by the jacking motor 319, and the jacking gear 318 is driven to drive the rack meshing with it to achieve the vertical movement of the rack on the end arm 301 under the limiting action of the limiting member 317. In this embodiment, through the cooperation of the jacking gear 318 and the rack, on the one hand, the rotation of the gear is converted into the linear motion of the rack, and then the operation module 4 is driven to rise or fall along the vertical direction, realizing the adjustment of the operation module 4 at different height positions to meet the requirements of actual work; on the other hand, by controlling the rotation angle and number of turns of the gear, the rising or falling height of the operation module 4 can be accurately controlled to meet the high-precision requirements for the position of the operation module 4. On the other hand, the structure of the gear and the rack in this embodiment is relatively simple and firm, and it is not easy to appear unstable situations such as shaking or jitter during the working process. At the same time, the cooperation of the gear and the rack can provide a stable driving force, so that the operation module 4 can run smoothly during the lifting process without sudden acceleration or deceleration.

[0057] The embodiment of the present invention also provides a control system, including a tablet terminal. The tablet terminal is communicatively connected to the operation module 4, realizing that the modular splicable aerial work platform can quickly, safely, and efficiently complete the high-altitude power grid operation tasks in complex environments.

[0058] In summary, the self-built channel 1, the rotating assembly 5, the climbing module 2, the working arm 3, and the lifting module 314 of the embodiments of the present invention all adopt modular design, with simple structures, and are modularly spliced into an aerial work platform. This aerial work platform is small in size and light in weight, and can be quickly modularly spliced according to actual work needs. After splicing, it can climb vertically upward based on the self-built channel 1. During the climbing process, the on-site environment can be detected in real time through cameras and lidar, and the attitude of the working arm 3 can be freely adjusted through an advanced control system to avoid obstacles. After reaching the working height, the operators below can achieve automatic operation or semi-automatic operation of the operation module 4 through a tablet terminal, realizing that the modularly splicable aerial work robot can quickly, safely, and efficiently complete the high-altitude power grid operation tasks in complex environments. In addition, the invention aims to improve the efficiency of high-altitude power grid operations while enhancing operation safety. Through this innovation, the present invention can significantly optimize high-altitude power grid operations, solving the problems in the prior art such as large size, heavy weight, cumbersome assembly, complex preliminary preparation, and complex modification work when changing the working mode of high-altitude operation robots.

[0059] Among them, the self-operation mode is as follows: after the climbing module 2 climbs to a predetermined position, the rotating assembly 5 adjusts the working arm 3 to a specified working position, and the jacking motor 319 drives the jacking rack 315 to jack up the operation module 4 to a predetermined height, and the operation module 4 completes the predetermined operation; the semi-automatic operation mode is as follows: for work scenarios that cannot be completed in the automatic operation mode, ground operators can remotely operate the robot through a tablet terminal to assist in completing some precision operations.

[0060] The embodiments of the present invention provide a working method for an aerial work platform:

[0061] Preparation stage:

[0062] S01. Build the self-built channel 1: Splice the self-built channel 1 section by section, and after completion, hang it on the top of high-altitude buildings such as utility poles.

[0063] S02. Splice the aerial work platform: Insert the rotating assembly 5 and the climbing module 2 into the self-built channel 1 from the bottom of the self-built channel 1, fasten the outer cover 219 of the shrinkage fixing part 204, select a suitable extension arm 302 according to actual operation requirements and splice it with the rotating assembly 5, splice the end arm 301 to the other end of the extension arm 302, dock a jacking rack 315 of appropriate length according to work needs, and connect the operation module 4 for voltage detection and grounding at the top of the rack.

[0064] S03. Initialize the aerial work platform: Start the aerial work platform, and the climbing module 2 and the rotating assembly 5 control the working arm 3 to move between the axis of the utility pole and the axis of the self-built channel 1.

[0065] Climbing stage:

[0066] S11. Vertical Climbing: The climbing module 2 drives the operation module 4 to climb vertically along the self-built channel 1.

[0067] S12. Attitude Adjustment: During the climbing process, the climbing module 2 may rotate radially around the self-built channel 1. After the lidar and camera detect the pose deflection, the control module 502 will control the rotation assembly 5 to adjust in real time to ensure no collision occurs during the vertical climbing process.

[0068] S13. Completion of Climbing: The lidar and camera can detect the real-time position of the aerial work robot relative to the live conductor to be measured in real time. After reaching the predetermined height, the climbing stops.

[0069] Operation Stage:

[0070] S14. Reaching the Operation Position: The rotation assembly 5 controls the working arm 3 to move the live-line voltage detection and grounding operation unit to the specified XOY plane position, and the end lifting motor 319 moves the live-line voltage detection and grounding operation unit to the precise height position through the rack and pinion drive.

[0071] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An aerial work platform, characterized in that: The invention comprises a self-built passage (1), a climbing module (2), a working arm (3) and an operation module (4), wherein the operation module (4) is connected to the climbing module (2) via the working arm (3), the climbing module (2) is connected to the self-built passage (1), and the self-built passage (1) is used to provide a climbing path for the climbing module (2); The climbing module (2) comprises two rolling assemblies (201) and at least one shrinking fixing member (204); the two rolling assemblies (201) are respectively a first rolling assembly (202) and a second rolling assembly (203); the first rolling assembly (202) and the second rolling assembly (203) both comprise rolling wheels (205); the first rolling assembly (202) and the second rolling assembly (203) are respectively and symmetrically arranged on opposite sides of the self-built channel (1) and are in rolling contact with the self-built channel (1) via the rolling wheels (205); the rolling wheels (205) are made of elastic material; The opposite sides of the first rolling assembly (202) are respectively connected to the second rolling assembly (203) via the shrinking fixing member (204), and the shrinking fixing member (204) is used to control and fix the distance between the first rolling assembly (202) and the second rolling assembly (203), so that when the rolling wheels (205) do not rotate, the rolling wheels (205) in the first rolling assembly (202) and the second rolling assembly (203) can generate a squeezing force on the self-built channel (1), so that the climbing module (2) is stabilized on the self-built channel (1).

2. The aerial work platform according to claim 1, characterized in that: The rolling surface of the rolling wheel (205) is provided with an annular groove (206), and the annular groove (206) cooperates with the protruding portion of the self-built channel (1) to ensure that the rolling wheel (205) will not separate from the self-built channel (1) in its axial direction during movement.

3. An aerial work platform according to claim 1 or 2, characterized in that: A single rolling assembly (201) comprises a first rolling wheel (207), a driving assembly (208) and a second rolling wheel (209) arranged along the moving direction of the self-built channel (1); the driving assembly (208) comprises a motor (210), an output gear (211), a first transmission gear (212) and a second transmission gear (213); one end of the first transmission gear (212) is meshed and connected with the output gear (211), and the other end of the first transmission gear (212) is meshed and connected with the first rolling wheel (207); one end of the second transmission gear (213) is meshed and connected with the output gear (211), and the other end of the second transmission gear (213) is meshed and connected with the second rolling wheel (209).

4. The aerial work platform according to claim 3, characterized in that: The climbing module (2) also includes two shells (214), namely a first shell (215) and a second shell (216). The first rolling assembly (202) is arranged on the first shell (215), and the second rolling assembly (203) is arranged on the second shell (216). One end of the shrinkage fixing member (204) is fixed on the first shell (215), and the other end of the shrinkage fixing member (204) is fixed on the second shell (216). The shrinkage fixing member (204) is used to control the distance between the first shell (215) and the second shell (216) so as to adjust the distance between the first rolling assembly (202) and the second rolling assembly (203).

5. The aerial work platform according to claim 4, characterized in that: The shrinkage fixing member (204) includes a first fixing block (217), a second fixing block (218), an outer cover (219), and a buckle rod (220), wherein the first fixing block (217) is arranged on one of the outer shells (214), the first fixing block (217) is provided with a hook hole (221), the second fixing block (218) is arranged on the other outer shell (214), one end of the outer cover (219) is rotatably connected to the second fixing block (218), a bayonet (230) is provided on the middle part of the outer cover (219), one end of the buckle rod (220) is provided with a hook member (222) corresponding to the hook hole (221), the other end of the buckle rod (220) is rotatably connected to the end of the outer cover (219) close to the second fixing block (218), and the An anti-dropping elastic sheet (223) corresponding to the bayonet (230) is arranged in the middle of the buckle rod (220); the other end of the outer cover (219) is used to rotate around the second fixed block (218), driving the buckle rod (220) to make a linear motion along the connecting line direction of the first fixed block (217) and the second fixed block (218) to shorten or lengthen the distance between the first fixed block (217) and the second fixed block (218); the bayonet (230) of the outer cover (219) is used to engage the anti-dropping elastic sheet (223) when the hook (222) of the buckle rod (220) hooks the hook hole (221) and the outer cover (219) rotates in a direction close to the first fixed block (217), thereby fixing the distance between the first fixed block (217) and the second fixed block (218).

6. The aerial work platform according to claim 5, characterized in that: A guide module (224) is provided on one side of the shrinkage fixing member (204), and the guide module (224) comprises a first fixing sleeve (225), a second fixing sleeve (226) and a connecting rod (227), wherein the first fixing sleeve (225) is provided on one of the housings (214), and the second fixing sleeve (226) is provided on the other housing (214), one end of the connecting rod (227) is fixed in the first fixing sleeve (225), and the other end of the connecting rod (227) passes through the second fixing sleeve (226) and is connected to the second fixing sleeve (226). The connecting rod (227) is movably connected to the second fixed sleeve (226); one end of the connecting rod (227) passing through the second fixed sleeve (226) is provided with an anti-slip component (228); the anti-slip component (228) abuts against the second fixed sleeve (226); a portion of the connecting rod (227) located between the first fixed sleeve (225) and the second fixed sleeve (226) is sleeved with an elastic component (229); one end of the elastic component (229) is connected to the first fixed sleeve (225), and the other end of the elastic component (229) is connected to the second fixed sleeve (226).

7. The aerial work platform according to claim 1, characterized in that: The working arm (3) is rotationally connected to the climbing module (2) via a rotating assembly (5); a detection module (501) and a control module (502) are provided on the rotating assembly (5); the control module (502) is connected to the detection module (501) and the rotating assembly (5) respectively; the control module (502) is used to control the rotating assembly (5) to drive the working arm (3) to rotate to avoid the obstacle when the detection module (501) detects that there is an obstacle in the forward direction of the climbing module (2).

8. The aerial work platform according to claim 7, characterized in that: The rotating assembly (5) comprises a fixed component (503) and a rotating component (504), wherein the fixed component (503) comprises a fixed gear portion (505), and the rotating component (504) comprises a rotating gear portion (506), a connecting member (507) and a driver (508), wherein the rotating gear portion (506) is meshed with the fixed gear portion (505), and the connecting member (507) is arranged above the rotating gear portion (506) and the fixed gear portion (505), and one end of the connecting member (507) is connected to the rotating gear portion (506) and the fixed gear portion (505). The fixed gear part (505) is rotatably connected, and the other end of the connecting member (507) is fixedly connected to the rotating gear part (506). The driver (508), the control module (502) and the detection module (501) are all arranged on the connecting member (507). The rotating shaft of the driver (508) passes through the connecting member (507) and is connected to the rotating gear part (506) for controlling the rotation of the rotating gear part (506) so that the rotating component (504) rotates around the fixed component (503).

9. The aerial work platform according to claim 8, characterized in that: The working arm (3) comprises an end arm (301), an extension arm (302) and a quick connector (303), wherein the quick connector (303) is respectively a first quick connector (305) and a second quick connector (304), one end of the extension arm (302) is fixedly connected to the rotating gear part (506) via the first quick connector (305), the other end of the extension arm (302) is connected to one end of the end arm (301) via the second quick connector (304), and the other end of the end arm (301) is connected to the operation module (4); The quick connector (303) includes a wedge block (306), a wedge sleeve (307) and an adjuster (308), wherein the wedge block (306) is arranged on the end arm (301) or the rotating gear portion (506), the wedge sleeve (307) is respectively arranged at both ends of the extension arm (302), the wedge sleeve (307) includes a transfer block (309) arranged on the end surface of the extension arm (302), and the transfer block (309) is provided with a first inclined surface block (310), a second inclined surface block (311) and a third inclined surface block (312) connected in sequence on three sides thereof. A bevel baffle (312), wherein the third bevel baffle (312) is movably connected to the adapter block (309) via an adjuster (308), wherein the adjuster (308) is connected to one side of the third bevel baffle (312) for controlling the third bevel baffle (312) to move away from or close to the first bevel baffle (310), and a notch (313) is provided between the first bevel baffle (310) and the third bevel baffle (312), wherein the notch (313) is used for inserting the wedge sleeve (307) into the wedge block (306).

10. The aerial work platform according to claim 9, characterized in that: The end arm (301) is connected to the operation module (4) via a lifting module (314); the lifting module (314) comprises a lifting rack (315), a rack drive assembly (316) and a stopper (317); the lifting rack (315) penetrates and is perpendicular to the end arm (301); the rack drive assembly (316) is arranged on the tooth surface (320) side of the rack; the rack drive assembly (316) comprises a lifting gear (318) and a lifting motor (319). The lifting gear (318) is meshed with the tooth surface (320) of the lifting rack (315), the output shaft of the lifting motor (319) is connected to the center of the lifting gear (318), the limiting member (317) is fixedly arranged on the end arm (301), and is slidably abutted with the side of the lifting rack (315) away from the tooth surface (320) of the rack, so that the lifting rack (315) is stabilized between the limiting member (317) and the lifting gear (318).

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