Tower climbing robot for power transmission line steel tube tower

Abstract

The invention provides a tower climbing robot for a power transmission line steel pipe pole tower, the tower climbing robot for the power transmission line steel pipe pole tower comprises a climbing device, a power device and a rope falling prevention device, the climbing device comprises a synchronous belt, a synchronous belt upper shaft and a synchronous belt lower shaft, and the synchronous belt upper shaft and the synchronous belt lower shaft are arranged up and down; the synchronous belt is annularly wound on the synchronous belt upper shaft and the synchronous belt lower shaft, a plurality of synchronous belt check blocks are arranged on the synchronous belt in the length direction of the synchronous belt, hooking grooves used for hooking steel pipe tower foot nails are formed in the synchronous belt check blocks, and at least two synchronous belt check blocks are hooked on two steel pipe tower foot nails respectively in the whole rotating process of the synchronous belt; the power device is at least connected with the synchronous belt upper shaft or the synchronous belt lower shaft and used for driving the synchronous belt to rotate. The anti-falling rope device is located below the climbing device. Through the arrangement, reliable climbing of the tower climbing robot can be achieved on the premise that an anti-falling track is not preassembled, and therefore the anti-falling rope is hung on the tower top of a steel pipe tower.

Description

Technical Field

[0001] This application relates to the technical field of transmission line tower climbing, and in particular to a tower climbing robot for steel pipe towers of transmission lines. Background Art

[0002] Since transmission lines are exposed to the natural environment for a long time, the lines and towers are prone to equipment defects and problems threatening the safety of the lines due to the influence of the surrounding environment and natural changes. Therefore, regular power outage maintenance of transmission lines has become an important part of ensuring power transmission, and the power outage maintenance mainly adopts the method of climbing towers for manual maintenance.

[0003] In order to solve the problem of high-altitude falling during the tower climbing process of power maintenance personnel and improve the climbing safety, in the prior art, a tower climbing robot is used to bring the anti-falling rope to the top of the tower and then climb using the anti-falling rope, which can greatly improve the climbing safety.

[0004] Chinese Patent, Publication No.: CN113895536B, Publication Date: September 27, 2022, discloses a bionic tower climbing robot, which mainly includes a main control body module and a clamping and moving structure module; both ends of the main control body module are respectively connected to a clamping and moving mechanism module through elastic universal joints, and the two clamping and moving mechanism modules can alternately lock and release the anti-falling track of the iron tower. By alternately pushing the clamping and moving mechanism module at its upper end and pulling the clamping and moving mechanism module at its lower end through the main control body module, the robot can climb along the anti-falling track. The above technical solution has the following technical problems: The tower climbing robot needs to climb along the pre-installed "anti-falling track". If the transmission line tower does not have a pre-installed "anti-falling track", the above tower climbing robot cannot be used to hang the anti-falling rope. Summary of the Invention

[0005] In order to solve the deficiencies of the prior art, the purpose of this application is to provide a tower climbing robot for steel pipe towers of transmission lines, which can realize the reliable climbing of the tower climbing robot without pre-installing an "anti-falling track", so as to hang the anti-falling rope to the top of the steel pipe tower.

[0006] To achieve the above purpose, this application adopts the following technical solutions: The present application provides a tower-climbing robot for a steel pipe tower of a transmission line. The tower-climbing robot for the steel pipe tower of the transmission line includes: a climbing device, which includes a synchronous belt, an upper synchronous belt shaft, and a lower synchronous belt shaft. The upper synchronous belt shaft and the lower synchronous belt shaft are arranged vertically. The synchronous belt is annularly wound around the upper synchronous belt shaft and the lower synchronous belt shaft. A plurality of synchronous belt stoppers are arranged along the length direction of the synchronous belt. A hooking groove for hooking the foot nails of the steel pipe tower is arranged on the synchronous belt stopper. During the whole process of the rotation of the synchronous belt, at least two synchronous belt stoppers are respectively hooked on two foot nails of the steel pipe tower; a power device, which is at least connected to the upper synchronous belt shaft or the lower synchronous belt shaft for driving the synchronous belt to rotate; and a fall-prevention rope device, which is located below the climbing device.

[0007] As a preferred technical solution, the fall-prevention rope device includes: a fall-prevention rope hanging member for hanging the fall-prevention rope; a lock, which includes a first lock member, a second lock member, and a hinge seat. The hinge seat is installed at one end of the first lock member and the second lock member, so that the first lock member and the second lock member can rotate relative to the hinge seat. The other ends of the first lock member and the second lock member can be opened and closed. After the first lock member and the second lock member are closed, they are annularly locked and fixed on the outer circumference of the steel pipe tower; a lock opening and closing mechanism, which is connected to the hinge seat to drive the first lock member and the second lock member to rotate relative to the hinge seat; and a lock fastener and a locking driving component of the lock. The lock fastener of the lock is rotatably connected to the opening and closing end of the second lock member. The lock fastener of the lock has a locking portion. A locking groove is arranged at the opening and closing end of the first lock member. The locking driving component is connected to the lock fastener of the lock to drive the locking portion to be embedded into the locking groove, so that the first lock member and the second lock member are locked and fixed.

[0008] As a preferred technical solution, the tower-climbing robot for the steel pipe tower of the transmission line further includes: a foot nail surrounding device, which includes: a left robotic arm, a right robotic arm, and a surrounding driving component. The upper and lower ends of the left robotic arm are respectively rotatably connected to the left end of the upper synchronous belt shaft and the left end of the lower synchronous belt shaft. The upper and lower ends of the right robotic arm are respectively rotatably connected to the right end of the upper synchronous belt shaft and the right end of the lower synchronous belt shaft. The surrounding driving component is used to drive the left robotic arm and the right robotic arm to rotate. By pressing the left robotic arm and the right robotic arm against the other side of the foot nail of the steel pipe tower relative to the climbing device, the left robotic arm and the right robotic arm are surrounded around the outer circumference of the foot nail of the steel pipe tower.

[0009] As a preferred technical solution, both the left robotic arm and the right robotic arm further include a main arm and two right-angle arms at the upper and lower ends of the main arm. One end of the right-angle arm is connected to the main arm, and the other end of the right-angle arm is rotatably connected to the upper synchronous belt shaft or the lower synchronous belt shaft. The surrounding driving component is an electric telescopic rod. One end of the electric telescopic rod is rotatably connected to the upper synchronous belt shaft or the lower synchronous belt shaft, and the other end of the electric telescopic rod is rotatably connected to the right-angle arm.

[0010] As a preferred technical solution, the middle section of the main arm is in a straight plate shape, and the upper and lower ends of the main arm are bent away from the steel pipe tower; a rotating belt is provided on the side of the main arm close to the steel pipe tower.

[0011] As a preferred technical solution, the climbing device further includes a plurality of guiding pulleys arranged vertically in sequence, and the guiding pulleys cooperate with the steel pipe.

[0012] As a preferred technical solution, the lock opening and closing mechanism includes a push-pull rod, a push-pull rod spring, a first electromagnetic telescopic rod and two connecting rods. The first electromagnetic telescopic rod is connected to the rear end of the push-pull rod to control the movement of the push-pull rod along the length direction of the push-pull rod. Along the length direction of the connecting rod, a first connecting portion, a second connecting portion and a third connecting portion are provided. The first locking member or the second locking member and the hinge seat are both rotatably connected to the first connecting portion. The first locking member or the second locking member is rotatably connected to the first connecting portion. A guiding groove perpendicular to the length direction of the push-pull rod is provided at the front end of the push-pull rod. The third connecting portion is slidably connected in the guiding groove. The push-pull rod spring is sleeved on the push-pull rod. One end of the push-pull rod spring abuts against the push-pull rod, and the other end of the push-pull rod spring abuts against the first electromagnetic telescopic rod.

[0013] As a preferred technical solution, the locking driving component is a second electromagnetic telescopic rod and a locking member spring. The middle part of the lock locking member is rotatably connected to the second locking member. The second electromagnetic telescopic rod is rotatably connected to the end of the lock locking member away from the locking portion to control the locking portion to be embedded in and disengaged from the locking groove. One end of the locking member spring abuts against the lock locking member, and the other end of the locking member spring abuts against the second electromagnetic telescopic rod.

[0014] As a preferred technical solution, the anti-falling rope device of the transmission line tower climbing robot further includes: an anti-falling rope fixing mechanism, which is installed below the anti-falling rope hanging member. The anti-falling rope fixing mechanism includes a clamping member mounting frame, a first clamping member, a second clamping member, a guiding screw rod, a pressing spring and an adjusting bolt; both the first clamping member and the second clamping member are slidably connected to the clamping member mounting frame; one end of the guiding screw rod is fixedly installed on the clamping member mounting frame, a guiding groove is provided on the first clamping member, and the other end of the guiding screw rod is installed in the guiding groove. The pressing spring is sleeved on the guiding screw rod. One end of the pressing spring abuts against the clamping member mounting frame, and the other end of the pressing spring abuts against the first clamping member; one end of the adjusting bolt is fixedly installed on the clamping member mounting frame, and the other end of the adjusting bolt abuts against the second clamping member.

[0015] As a preferred technical solution, the anti-falling rope fixing mechanism further includes a support rod and a supporting spring. The support rod is arranged vertically, and the supporting spring is sleeved on the support rod. The upper end of the supporting spring is connected to the lock, and the lower end of the supporting spring is connected to the clamping member mounting frame.

[0016] Compared with the prior art, the beneficial effects of the present application are as follows: In the tower climbing robot of the present application, the power device drives the upper shaft or the lower shaft of the synchronous belt to rotate, so as to drive the synchronous belt to rotate; as the synchronous belt rotates, the foot nails on the steel pipe pole tower are sequentially inserted into the hook grooves on each synchronous belt block, the foot nail at the bottom is disengaged from the synchronous belt block, and the foot nail at the top is inserted into the synchronous belt block, and this cycle is repeated to enable the tower climbing robot to climb along the steel pipe pole tower; the anti-fall rope device carries the anti-fall rope and follows the tower climbing robot to the top of the steel pipe pole tower. Therefore, the tower climbing robot of the present application can achieve reliable climbing of the tower climbing robot without pre-installing the "anti-fall track", thereby hanging the anti-fall rope to the top of the steel pipe pole tower. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the structure of a tower climbing robot for a steel pipe tower of a power transmission line in this application; Figure 2 A side view of a tower climbing robot for a steel pipe tower of a power transmission line in this application; Figure 3 This is a schematic diagram of the structure of the power device of this application; Figure 4 This is a schematic diagram of the working status of the anti-fall rope device of this application; Figure 5 Schematic diagram of the structure of the anti-falling rope device of the present application, wherein the first locking member and the second locking member are opened; Figure 6 It is a structural schematic diagram of the anti-fall rope device of the present application, wherein the first locking member and the second locking member are closed, and the locking member is opened; Figure 7 It is a schematic diagram of the structure of the anti-fall rope device of the present application, wherein the first locking member and the second locking member are closed, and the locking member is locked; Figure 8 This is a schematic diagram of the structure of the anti-fall rope fixing mechanism of the present application; Figure 9 This is a schematic diagram of the structure of the foot nail embracing device of this application; Figure 10 This is a schematic diagram of the structure of the main arm of this application; in: 11. Fall prevention rope hanging component; 12. Lock; 121. First locking component; 1211. Locking groove; 122. Second locking component; 123. Hinge seat; 13. Lock opening and closing mechanism; 131. Push-pull rod; 1311. Guide groove; 132. Push-pull rod spring; 133. First electromagnetic telescopic rod; 134. Connecting rod; 1341. First connecting part; 1342. Second connecting part; 1343. Third connecting part; 14. Lock locking component; 141. Locking part; 15. Locking driving component; 151. Second electromagnetic telescopic rod; 152. Locking component spring; 16. Fall prevention rope fixing mechanism; 161. Clamping part mounting frame; 162. First clamping part; 163. Second clamping part; 164. Guide screw; 165. Compression spring; 166. Adjusting bolt; 167. Support rod; 168. Supporting spring; 169. Anti-wear rubber; 21. Fall prevention rope; 22. Steel pipe; 23. Foot peg; 31. Synchronous belt; 32. Upper synchronous belt shaft; 33. Lower synchronous belt shaft; 34. Synchronous belt stopper; 35. Synchronous belt mounting plate; 36. Guide pulley; 41. Battery pack; 42. DC motor; 43. Reduction gearbox; 44. First sprocket; 45. Chain; 46. Second sprocket; 51. Left robotic arm; 52. Right robotic arm; 53. Encircling driving component; 54. Main arm; 55. Right-angle arm; 56. Robotic arm mounting seat; 57. Rotating belt. Detailed implementation manners

[0018] In order to enable those skilled in the art to better understand the solution of this application, the technical solutions in the specific implementation manners of this application will be clearly and completely described below in conjunction with the accompanying drawings in the implementation manners of this application.

[0019] This application provides a tower climbing robot for transmission line steel pipe towers, which is used to carry a fall prevention rope 21 and install one end of the fixed fall prevention rope 21 on the top of the steel pipe tower. Such steel pipe towers generally include a steel pipe 22 and foot pegs 23 alternately installed on both sides of the steel pipe 22.

[0020] As Figure 1 and Figure 2 shown, the tower climbing robot for transmission line steel pipe towers includes: a climbing device, a power device, and a fall prevention rope 21 device.

[0021] The climbing device is used to enable the tower climbing robot to climb upward along the steel pipe tower. The climbing device includes a synchronous belt 31, an upper synchronous belt shaft 32 and a lower synchronous belt shaft 33. The upper synchronous belt shaft 32 and the lower synchronous belt shaft 33 are arranged vertically, and the synchronous belt 31 is wound around the upper synchronous belt shaft 32 and the lower synchronous belt shaft 33 in a loop. Along the length direction of the synchronous belt 31, a number of synchronous belt stoppers 34 are provided on the synchronous belt 31. Hook grooves for hooking the steel pipe tower foot nails 23 are provided on the synchronous belt stoppers 34. During the whole rotation process of the synchronous belt 31, at least two synchronous belt stoppers 34 are respectively hooked on two steel pipe tower foot nails 23. In this application, during the whole rotation process of the synchronous belt 31, three synchronous belt stoppers 34 are respectively hooked on three steel pipe tower foot nails 23, and the distance between adjacent upper and lower synchronous belt stoppers 34 is equal to the distance between two adjacent steel pipe tower foot nails 23, so that when the lowermost foot nail 23 disengages from the synchronous belt stopper 34, the uppermost foot nail 23 is caught by the synchronous belt stopper 34.

[0022] In this application, the synchronous belt 31 is arranged on the left or right side of the steel pipe 22. The distance between two adjacent steel pipe tower foot nails 23 refers to the distance between two adjacent steel pipe tower foot nails 23 on the left side or the right side of the steel pipe 22.

[0023] Specifically, the climbing device further includes two synchronous belt mounting plates 35. The two synchronous belt mounting plates 35 are arranged in parallel. The upper synchronous belt shaft 32 and the lower synchronous belt shaft 33 are respectively rotatably connected to the upper end and the lower end of the two synchronous belt mounting plates 35, and the synchronous belt 31 is located between the two synchronous belt mounting plates 35. Rotating bearings are provided at the connection positions of the upper synchronous belt shaft 32, the lower synchronous belt shaft 33 and the two synchronous belt mounting plates 35 for the rotational connection of the upper synchronous belt shaft 32, the lower synchronous belt shaft 33 and the two synchronous belt mounting plates 35. The synchronous belt mounting plates 35 can effectively protect the synchronous belt 31 and prevent the synchronous belt 31 from touching the steel pipe 22 or other objects.

[0024] Furthermore, the climbing device further includes a number of guide pulleys 36 arranged vertically in sequence. The guide pulleys 36 cooperate with the steel pipe 22. The guide pulleys 36 play a guiding role for the climbing device to move along the steel pipe 22. In this application, guide pulleys 36 are respectively sleeved on the upper synchronous belt shaft 32 and the lower synchronous belt shaft 33, and a guide pulley shaft 36 is fixedly installed in the middle of the two synchronous belt mounting plates 35, and a guide pulley 36 is sleeved on the guide pulley shaft 36. With the arrangement of these guide pulleys 36, during the process of the climbing device driving the tower climbing robot to move, the left and right sides remain stable and the situation of the left end sinking or the right end sinking will not occur.

[0025] The power device is used to provide power for the climbing device. The power device is at least connected to the upper synchronous belt shaft 32 or the lower synchronous belt shaft 33 to drive the synchronous belt 31 to rotate.

[0026] like Figure 3 As shown, in the present application, the power device includes a battery pack 41, a DC motor 42, a reduction box 43, a first sprocket 44, a chain 45 and a second sprocket 46. The battery pack 41 is connected to the DC motor 42 to supply power to the DC motor 42. The DC motor 42 is fixedly mounted on a synchronous belt mounting plate 35, and the DC motor 42 is connected to the reduction box 43. The first sprocket 44 is fixedly mounted on the output shaft of the reduction box 43, and the second sprocket 46 is fixedly mounted on the synchronous belt lower shaft 33. The first sprocket 44 and the second sprocket 46 are connected by a chain 45. Through the setting of the reduction box 43, the power device can output a greater torque to the synchronous belt lower shaft 33, thereby providing sufficient power for the tower climbing robot to climb.

[0027] The anti-falling rope 21 device is used to carry the anti-falling rope 21, and is used to carry the anti-falling rope 21 and install one end of the anti-falling rope 21 fixed on the top of the steel pipe tower. The anti-falling rope 21 device is located below the climbing device.

[0028] like Figures 4 - 8 As shown, the anti-falling rope device includes: an anti-falling rope hanging part 11, a lock buckle 12, a lock buckle opening and closing mechanism 13, a lock buckle locking member 14 and a locking driving component 15.

[0029] The anti-fall rope hanging part 11 is used to hang the anti-fall rope 21, and one end of the anti-fall rope 21 is hung on the anti-fall rope hanging part 11. The anti-fall rope 21 ensures that the operator will not fall from a height when climbing the tower. It should be noted that the anti-fall rope 21 does not separate from the anti-fall rope hanging part 11 when the tower climbing robot is working. After the tower climbing robot climbs to the specified position, the lock buckle 12 is locked on the steel pipe pole 22 of the transmission line tower, and the personnel use the anti-fall rope 21 to climb.

[0030] The lock 12 includes a first lock member 121, a second lock member 122 and a hinge seat 123. The hinge seat 123 is installed at one end of the first lock member 121 and the second lock member 122, so that the first lock member 121 and the second lock member 122 can rotate relative to the hinge seat 123. The other ends of the first lock member 121 and the second lock member 122 can be opened and closed, and the first lock member 121 and the second lock member 122 are locked and fixed to the outer periphery of the steel pipe 22 in an annular shape after being closed.

[0031] The locking opening and closing mechanism 13 is connected to the hinge seat 123 to drive the first locking member 121 and the second locking member 122 to rotate relative to the hinge seat 123 , so that the opening and closing of the first locking member 121 and the second locking member 122 are controlled by the locking opening and closing mechanism 13 .

[0032] The latch locking member 14 is rotatably connected to the opening and closing end of the second latch member 122. The latch locking member 14 has a locking portion 141, and a locking groove 1211 is provided at the opening and closing end of the first latch member 121. The locking drive member 15 is connected to the latch locking member 14 to drive the locking portion 141 to be inserted into the locking groove 1211, so that the first latch member 121 and the second latch member 122 are locked and fixed, and thus the first latch member 121 and the second latch member 122 are locked and opened through the latch locking member 14 and the locking drive member 15.

[0033] Through the above arrangement, the first latch member 121 and the second latch member 122 of the tower climbing robot latch 12 can be locked and fixed on the outer periphery of the steel pipe 22. Therefore, the present application can ensure that the anti-falling rope 21 is firmly hung on the pole tower, and can prevent the tower climbing robot from falling, improving the operation safety of the transmission line inspection.

[0034] As an implementation manner, the latch opening and closing mechanism 13 includes a push-pull rod 131, a push-pull rod spring 132, a first electromagnetic telescopic rod 133 and two connecting rods 134. The first electromagnetic telescopic rod 133 is connected to the rear end of the push-pull rod 131 to control the movement of the push-pull rod 131 along the length direction of the push-pull rod 131. Along the length direction of the connecting rod 134, a first connecting portion 1341, a second connecting portion 1342 and a third connecting portion 1343 are provided. Both the first latch member 121 or the second latch member 122 and the hinge seat 123 are rotatably connected to the first connecting portion 1341, and the first latch member 121 or the second latch member 122 is rotatably connected to the first connecting portion 1341. A guide groove 1311 perpendicular to the length direction of the push-pull rod 131 is provided at the front end of the push-pull rod 131, and the third connecting portion 1343 is slidably connected in the guide groove 1311. The push-pull rod spring 132 is sleeved on the push-pull rod 131. One end of the push-pull rod spring 132 abuts against the push-pull rod 131, and the other end of the push-pull rod spring 132 abuts against the first electromagnetic telescopic rod 133.

[0035] When the first electromagnetic telescopic rod 133 is not powered on, the push-pull rod spring 132 is not stressed, and the push-pull rod 131 is close to the hinge seat 123. Through the transmission of the two connecting rods 134, the first latch member 121 and the second latch member 122 are in an open state; when the first electromagnetic telescopic rod 133 is powered on, the first electromagnetic telescopic rod 133 contracts under the action of magnetic force, driving the push-pull rod 131 to move away from the hinge seat 123. Through the transmission of the two connecting rods 134, the first latch member 121 and the second latch member 122 are closed.

[0036] As an implementation, the locking and driving component 15 is the second electromagnetic telescopic rod 151 and the locking component spring 152. The middle of the locking fastener 14 is rotatably connected to the second locking component 122, and the second electromagnetic telescopic rod 151 is rotatably connected to one end of the locking fastener 14 away from the locking part 141 to control the embedding and extraction of the locking part 141 into and out of the locking groove 1211. One end of the locking component spring 152 abuts against the locking fastener 14, and the other end of the locking component spring 152 abuts against the second electromagnetic telescopic rod 151.

[0037] During the closing process of the lock 12, the second electromagnetic telescopic rod 151 is powered on, and the second electromagnetic telescopic rod 151 contracts under the action of magnetic force, causing the locking part 141 of the locking fastener 14 to be slightly lifted. After the first locking component 121 and the second locking component 122 are closed, the second electromagnetic telescopic rod 151 loses power. Under the action of the locking component spring 152, the locking part 141 of the locking fastener 14 is embedded into the locking groove 1211 of the first locking component 121, completing the fixation of the lock 12. When the lock 12 needs to be opened, before the lock 12 needs to be opened, the second electromagnetic telescopic rod 151 is powered on, the locking part 141 is withdrawn from the locking groove 1211, and then the first electromagnetic telescopic rod 133 loses power, and the first locking component 121 and the second locking component 122 are opened.

[0038] Through the above settings, when the tower climbing robot loses power, the locking part 141 of the locking fastener 14 is in a state of being embedded in the locking groove 1211 of the first locking component 121. Therefore, it can ensure that when the tower climbing robot loses power, the first locking component 121 and the second locking component 122 are tightly fixed on the steel pipe 22 of the transmission line tower, improving the safety of using the tower climbing robot for inspection.

[0039] As Figure 4 and Figure 8 shown, as an implementation, the anti-falling rope 21 device of the transmission line tower climbing robot further includes: an anti-falling rope fixing mechanism 16. The anti-falling rope fixing mechanism 16 is installed below the anti-falling rope hanging member 11. When the anti-falling rope 21 is subjected to a tensile force, the anti-falling rope 21 fixing structure plays a buffering role. The anti-falling rope fixing mechanism 16 includes a clamping member mounting frame 161, a first clamping member 162, a second clamping member 163, a guiding screw rod 164, a pressing spring 165, and an adjusting bolt 166.

[0040] Both the first clamping member 162 and the second clamping member 163 are slidably connected to the clamping member mounting frame 161, and the waterproof rope is fixedly clamped between the first clamping member 162 and the second clamping member 163.

[0041] One end of the guiding screw rod 164 is fixedly installed on the clamping member mounting bracket 161. Specifically, one end of the guiding screw rod 164 is threadedly connected to the clamping member mounting bracket 161. The first clamping member 162 is provided with a guiding groove 1311, and the other end of the guiding screw rod 164 is installed in the guiding groove 1311. The pressing spring 165 is sleeved on the guiding screw rod 164. One end of the pressing spring 165 abuts against the clamping member mounting bracket 161, and the other end of the pressing spring 165 abuts against the first clamping member 162. The pressing spring 165 presses the first clamping member 162 towards the second clamping member 163.

[0042] One end of the adjusting bolt 166 is fixedly installed on the clamping member mounting bracket 161, and the other end of the adjusting bolt 166 abuts against the second clamping member 163. By rotating the adjusting bolt 166, the position of the second clamping member 163 on the clamping member mounting bracket 161 can be adjusted, so as to adjust the clamping force of the first clamping member 162 and the second clamping member 163 on the anti-falling rope 21. In this application, the clamping force of the first clamping member 162 and the second clamping member 163 on the anti-falling rope 21 is set as follows: when the pulling force of the anti-falling rope 21 on the first clamping member 162 and the second clamping member 163 is less than 5 kg (the total weight of the anti-falling rope 21 is 5 kg), the anti-falling rope 21 is clamped between the first clamping member 162 and the second clamping member 163 and will not have relative displacement with the first clamping member 162 and the second clamping member 163; when the pulling force of the anti-falling rope 21 on the first clamping member 162 and the second clamping member 163 is greater than 5 kg, the anti-falling rope fixing mechanism 16 fails, and the slack part of the waterproof rope between the hanging ring of the anti-falling rope 21 and the anti-falling rope fixing mechanism 16 is straightened under force, and the force of the entire anti-falling rope 21 is transferred to the buckle 12.

[0043] Through the above settings, after the tower climbing robot climbs to the designated position, the anti-falling rope fixing mechanism 16 bears the pulling force of the anti-falling rope 21, and the buckle 12 is not affected by the pulling force of the anti-falling rope 21, reducing the influence of the external environment on the buckle 12 when the buckle 12 locks the steel pipe 22. When the anti-falling rope 21 is subjected to an external pulling force greater than 5 kg, through the frictional action between the anti-falling rope 21 and the first clamping member 162 and the second clamping member 163, a buffering effect on the pulling of the anti-falling rope 21 is achieved to reduce the impact of the pulling of the anti-falling rope 21 on the buckle 12. In addition, it can make the tower climbing robot body only responsible for climbing and not for bearing weight. Therefore, the tower climbing robot body can be designed very lightly, only needing to be able to carry the weight of the anti-falling rope 21.

[0044] Specifically, the anti-falling rope fixing mechanism 16 further includes a support rod 167 and a supporting spring 168. The support rod 167 is vertically arranged, and the supporting spring 168 is sleeved on the support rod 167. The upper end of the supporting spring 168 is connected to the lock 12, and the lower end of the supporting spring 168 is connected to the clamping member mounting bracket 161. When the anti-falling rope 21 is suddenly tensioned, the anti-falling rope 21 will drive the first clamping member 162, the second clamping member 163 and the clamping member mounting bracket 161 to move downward. When the clamping member mounting bracket 161 moves downward, it is subjected to the elastic force of the supporting spring 168. Therefore, the supporting spring 168 plays a buffering role in the tension of the anti-falling rope 21, reducing the impact on the lock 12 caused by the tension of the anti-falling rope 21.

[0045] Specifically, anti-wear rubbers 169 are provided on the opposite end faces of the first clamping member 162 and the second clamping member 163. The anti-wear rubbers 169 are used to prevent the anti-falling rope 21 from being damaged due to friction with the first clamping member 162 and the second clamping member 163.

[0046] Specifically, the anti-falling rope hanging member 11 is located directly above the first clamping member 162 and the second clamping member 163, so that when the anti-falling rope 21 is tensioned, the forces generated on the first clamping member 162, the second clamping member 163 and the anti-falling rope hanging member 11 are on the same vertical line. Thus, when the anti-falling rope 21 is tensioned, the tower climbing robot will not shift due to the action of horizontal forces.

[0047] As an implementation, the tower climbing robot for a transmission line steel pipe tower further includes: a stud clamping device, which is mainly used to circumferentially clamp the tower climbing robot around the outer periphery of the steel pipe tower, so that the tower climbing robot will not fall off the steel pipe tower during the climbing process.

[0048] As Figure 9 shown, the stud clamping device includes: a left robotic arm 51, a right robotic arm 52 and a clamping driving component 53. The upper and lower ends of the left robotic arm 51 are respectively rotatably connected to the left end of the upper synchronous belt shaft 32 and the left end of the lower synchronous belt shaft 33. The upper and lower ends of the right robotic arm 52 are respectively rotatably connected to the right end of the upper synchronous belt shaft 32 and the right end of the lower synchronous belt shaft 33. The clamping driving component 53 is used to drive the left robotic arm 51 and the right robotic arm 52 to rotate. By pressing the left robotic arm 51 and the right robotic arm 52 against the other side of the steel pipe tower stud 23 relative to the climbing device, the left robotic arm 51 and the right robotic arm 52 are clamped around the outer periphery of the steel pipe tower stud 23.

[0049] Further, the left robotic arm 51 and the right robotic arm 52 also each include a main arm 54 and two right-angle arms 55 at the upper and lower ends of the main arm 54. One end of the right-angle arm 55 is connected to the main arm 54, and the other end of the right-angle arm 55 is rotatably connected to the upper synchronous belt shaft 32 or the lower synchronous belt shaft 33. Specifically, robotic arm mounting seats 56 are fixedly provided at the left and right ends of the upper synchronous belt shaft 32 and the lower synchronous belt shaft 33, and the right-angle arm 55 is rotatably connected to the robotic arm mounting seat 56.

[0050] Specifically, the surrounding driving component 53 is an electric telescopic rod. One end of the electric telescopic rod is rotatably connected to the upper synchronous belt shaft 32 or the lower synchronous belt shaft 33, and the other end of the electric telescopic rod is rotatably connected to the right-angle arm 55. A signal receiver is provided inside the electric telescopic rod, and it can perform telescopic actions after receiving signals.

[0051] As Figure 10 shown, more specifically, the middle section of the main arm 54 is in the shape of a straight plate strip, and the upper and lower ends of the main arm 54 bend away from the steel pipe tower, so that during the climbing process of the tower climbing robot, the foot peg 23 can be easily guided between the left robotic arm 51 / right robotic arm 52 and the synchronous belt 31.

[0052] More specifically, a rotating belt 57 is provided on the side of the main arm 54 close to the steel pipe tower, so that the left robotic arm 51 and the right robotic arm 52 can move up and down along the steel pipe tower.

[0053] Further, the tower climbing robot further includes a remote controller, which is used for: controlling the forward and reverse rotation and stop of the DC motor 42; controlling the telescopic movement of the electric telescopic rod to control the release and grasping of the foot peg surrounding device; controlling the telescopic movement of the first electromagnetic telescopic rod 133 and the second electromagnetic telescopic rod 151 to control the opening and closing and fixing of the lock 12.

[0054] The working process of the tower climbing robot for the steel pipe tower of the transmission line includes: 1. The process of surrounding the foot peg 23: (1) The foot peg surrounding device is first in the release state; (2) The tower climbing robot approaches the steel pipe tower, and the left robotic arm 51 and the right robotic arm 52 of the foot peg surrounding device rotate so that the foot peg surrounding device grasps the steel pipe tower.

[0055] 2. The climbing process: (1) The power device drives the synchronous belt 31 to rotate; (2) As the synchronous belt 31 rotates, the foot pegs 23 on the steel pipe tower are sequentially caught in the hook grooves on each synchronous belt block 34. The lowermost foot peg 23 disengages from the synchronous belt block 34, and the uppermost foot peg 23 is caught in the synchronous belt block 34, and so on in a cycle to achieve the climbing of the tower climbing robot along the steel pipe tower.

[0056] 3. Hanging process: (1) The buckle 12 is in an open state; (2) After the tower climbing robot climbs to the designated position and receives the instruction of "hanging the buckle 12", the tower climbing robot controls the first electromagnetic telescopic rod 133 to be energized and act, so that the push-pull rod 131 drives the first buckle part 121 and the second buckle part 122 to gradually close; (3) The tower climbing robot controls the second electromagnetic telescopic rod 151 to be energized and act, so that the buckle locking part 14 opens in a direction away from the first buckle part 121; (4) When the first buckle part 121 and the second buckle part 122 are completely closed, the tower climbing robot controls the second electromagnetic telescopic rod 151 to lose power. Under the pressure of the buckle spring 152, the buckle locking part 14 rotates in a direction close to the first buckle part 121, and the locking part 141 of the buckle locking part 14 is embedded in the locking groove 1211 on the first buckle part 121, so that the first buckle part 121 and the second buckle part 122 are annularly locked and fixed on the outer circumference of the transmission line steel pipe 22. The tower climbing robot controls the first electromagnetic telescopic rod 133 to lose power; (5) Personnel use the anti-falling rope 21 and the anti-falling device to go up and down the transmission line tower.

[0057] 4. Dismantling process: (1) After the operation is completed and all personnel have descended from the tower, the tower climbing robot controls the first electromagnetic telescopic rod 133 to be energized, so that the first buckle part 121 and the second buckle part 122 are closed and tightened; (2) The tower climbing robot controls the second electromagnetic telescopic rod 151 to be energized and act, so that the buckle locking part 14 opens in a direction away from the first buckle part 121, so that the buckle locking part 14 is disengaged from the locking groove 1211 on the first buckle part 121; (3) The tower climbing robot controls the first electromagnetic telescopic rod 133 to lose power, so that the first buckle part 121 and the second buckle part 122 open, and the tower climbing robot controls the second electromagnetic telescopic rod 151 to lose power; (4) The tower climbing robot climbs to the ground with the anti-falling rope 21.

[0058] This application uses a tower climbing robot to bring the anti-falling rope 21 to the top of the tower and then climbs using the anti-falling rope 21, which can greatly improve the climbing safety.

[0059] It should be noted that the terms "first", "second" and similar terms used in the specification and claims of this application do not denote any order, quantity or importance, but are only used to distinguish different components. Similarly, terms such as "a" or "an" do not denote a quantity limitation, but rather indicate the presence of at least one. "Multiple" or "several" means at least two. Unless otherwise indicated, terms such as "front", "rear", "left", "right", "lower" and / or "upper" are for convenience only and are not limited to a particular position or spatial orientation. The terms "comprising" or "including" and similar terms are intended to mean that the elements or items appearing before "comprising" or "including" cover the elements or items listed after "comprising" or "including" and their equivalents, and do not exclude other elements or items. The terms "connected" or "coupled" and similar terms are not limited to physical or mechanical connections, and may include electrical connections, whether direct or indirect.

[0060] The singular forms "a", "the" and "said" used in the specification and appended claims of this application are also intended to include the plural forms unless the context clearly dictates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0061] It should be understood that those of ordinary skill in the art can make improvements or modifications based on the above description, and all such improvements and modifications shall fall within the protection scope of the appended claims of this application.

Claims

1. A tower-climbing robot for a steel pipe tower of a transmission line, characterized in that The tower climbing robot for the transmission line steel pipe tower includes: A climbing device, which includes a synchronous belt, an upper synchronous belt shaft and a lower synchronous belt shaft. The upper synchronous belt shaft and the lower synchronous belt shaft are arranged vertically. The synchronous belt is wound around the upper synchronous belt shaft and the lower synchronous belt shaft in a circular shape. Along the length direction of the synchronous belt, a plurality of synchronous belt stoppers are provided on the synchronous belt. Hook grooves for hooking the foot studs of the steel pipe tower are provided on the synchronous belt stoppers. During the whole rotation process of the synchronous belt, at least two synchronous belt stoppers are respectively hooked on two foot studs of the steel pipe tower. A power device, which is at least connected to the upper synchronous belt shaft or the lower synchronous belt shaft to drive the synchronous belt to rotate. An anti-falling rope device, which is located below the climbing device.

2. The tower climbing robot for a transmission line steel pipe tower according to claim 1, characterized in that, The anti-falling rope device includes: An anti-falling rope hanging member, which is used for hanging the anti-falling rope. A lock, which includes a first lock member, a second lock member and a hinge seat. The hinge seat is installed at one end of the first lock member and the second lock member, so that the first lock member and the second lock member can rotate relative to the hinge seat. The other ends of the first lock member and the second lock member can be opened and closed. After the first lock member and the second lock member are closed, they are annularly locked and fixed on the outer periphery of the steel pipe tower. A lock opening and closing mechanism, which is connected to the hinge seat to drive the first lock member and the second lock member to rotate relative to the hinge seat. A lock fastener and a locking drive component for the lock. The lock fastener is rotatably connected to the opening and closing end of the second lock member. The lock fastener has a locking portion. A locking groove is provided at the opening and closing end of the first lock member. The locking drive component is connected to the lock fastener to drive the locking portion to be inserted into the locking groove, so that the first lock member and the second lock member are locked and fixed.

3. The tower climbing robot for a steel pipe tower of a transmission line according to claim 1, wherein, The tower climbing robot for the transmission line steel pipe tower further includes: A foot stud surrounding device, which includes a left robotic arm, a right robotic arm and a surrounding drive component. The upper and lower ends of the left robotic arm are respectively rotatably connected to the left end of the upper synchronous belt shaft and the left end of the lower synchronous belt shaft. The upper and lower ends of the right robotic arm are respectively rotatably connected to the right end of the upper synchronous belt shaft and the right end of the lower synchronous belt shaft. The surrounding drive component is used to drive the left robotic arm and the right robotic arm to rotate. By pressing the left robotic arm and the right robotic arm against the other side of the foot stud of the steel pipe tower relative to the climbing device, the left robotic arm and the right robotic arm surround the outer periphery of the foot stud of the steel pipe tower.

4. The tower climbing robot for a steel pipe tower of a transmission line according to claim 2, wherein, The left robotic arm and the right robotic arm also each include a main arm and two right-angle arms at the upper and lower ends of the main arm. One end of the right-angle arm is connected to the main arm, and the other end of the right-angle arm is rotatably connected to the upper synchronous belt shaft or the lower synchronous belt shaft. The surrounding drive component is an electric telescopic rod. One end of the electric telescopic rod is rotatably connected to the upper synchronous belt shaft or the lower synchronous belt shaft, and the other end of the electric telescopic rod is rotatably connected to the right-angle arm.

5. The tower climbing robot for a steel pipe tower of a transmission line according to claim 4, wherein, The middle section of the main arm is in the shape of a straight strip, and the upper and lower ends of the main arm are bent away from the steel pipe tower; a rotating belt is provided on one side of the main arm close to the steel pipe tower.

6. The tower climbing robot for a steel pipe tower of a transmission line according to claim 1, characterized in that, The climbing device further includes a plurality of guiding pulleys arranged in sequence vertically, and the guiding pulleys are matched with the steel pipe.

7. The tower climbing robot for a steel pipe tower of a transmission line according to claim 2, characterized in that, The lock opening and closing mechanism includes a push-pull rod, a push-pull rod spring, a first electromagnetic telescopic rod, and two connecting rods. The first electromagnetic telescopic rod is connected to the rear end of the push-pull rod to control the movement of the push-pull rod along the length direction of the push-pull rod. Along the length direction of the connecting rod, a first connecting portion, a second connecting portion, and a third connecting portion are provided on the connecting rod. The first locking member or the second locking member and the hinge seat are both rotatably connected to the first connecting portion. The first locking member or the second locking member is rotatably connected to the first connecting portion. A guiding groove perpendicular to the length direction of the push-pull rod is provided at the front end of the push-pull rod, and the third connecting portion is slidably connected in the guiding groove. The push-pull rod spring is sleeved on the push-pull rod. One end of the push-pull rod spring abuts against the push-pull rod, and the other end of the push-pull rod spring abuts against the first electromagnetic telescopic rod.

8. The tower climbing robot for a steel pipe tower of a transmission line according to claim 7, characterized in that, The locking driving component is a second electromagnetic telescopic rod and a locking member spring. The middle part of the lock locking member is rotatably connected to the second locking member. The second electromagnetic telescopic rod is rotatably connected to one end of the lock locking member away from the locking portion to control the locking portion to be inserted into and withdrawn from the locking groove. One end of the locking member spring abuts against the lock locking member, and the other end of the locking member spring abuts against the second electromagnetic telescopic rod.

9. The tower climbing robot for a steel pipe transmission line tower according to claim 8, characterized in that, The anti-falling rope device further includes: An anti-falling rope fixing mechanism, which is installed below the anti-falling rope hanging member. The anti-falling rope fixing mechanism includes a clamping member mounting frame, a first clamping member, a second clamping member, a guiding screw rod, a pressing spring, and an adjusting bolt; the first clamping member and the second clamping member are both slidably connected to the clamping member mounting frame; one end of the guiding screw rod is fixedly installed on the clamping member mounting frame, a guiding groove is provided on the first clamping member, and the other end of the guiding screw rod is installed in the guiding groove. The pressing spring is sleeved on the guiding screw rod. One end of the pressing spring abuts against the clamping member mounting frame, and the other end of the pressing spring abuts against the first clamping member; one end of the adjusting bolt is fixedly installed on the clamping member mounting frame, and the other end of the adjusting bolt abuts against the second clamping member.

10. The tower climbing robot for a transmission line steel pipe tower according to claim 9, characterized in that, The anti-falling rope fixing mechanism further includes a support rod and a supporting spring. The support rod is arranged vertically, the supporting spring is sleeved on the support rod, the upper end of the supporting spring is connected to the lock, and the lower end of the supporting spring is connected to the clamping member mounting frame.

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