Multi-module motion self-adaptive double-platform angle steel tower operation and maintenance robot

Abstract

The multi-module motion self-adaption double-platform angle steel tower operation and maintenance robot comprises a main controller, a tail end processor tool magazine is arranged at the top of the main controller, first hydraulic telescopic rods and hooks are fixedly connected to the two ends of the main controller correspondingly, and frames are arranged at the telescopic ends of the first hydraulic telescopic rods; the device has the beneficial effects that the device can be clamped and fixed to an angle steel tower through a clamping mechanism in the middle, the climbing mechanisms arranged on the two sides of the main controller 1 can alternately operate, so that the main controller 1 is pushed to move, and the operation and maintenance work efficiency is improved. The angle steel tower climbing device can stably move on an angle steel tower, the adopted clamping mechanism can be suitable for clamping different complex angle steel structures, meanwhile, the clamping mechanism is matched with linkage of a hydraulic telescopic rod and a spherical hinge, obstacle crossing is facilitated when the device climbs, and therefore the climbing effect is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of angle steel tower operation and maintenance, and particularly relates to a multi-module motion adaptive double-platform angle steel tower operation and maintenance robot. BACKGROUND

[0002] As a core carrier of power transmission lines, communication base stations and high-rise structures, the angle steel tower has an irreplaceable role in the field of energy and information transmission. However, the traditional manual climbing maintenance method has the problems of high risk of high-altitude operation, low efficiency, high maintenance cost and the like.

[0003] With the development of intelligent robot technology, the climbing robot becomes a key direction to solve the above problems, and the existing climbing robot has certain disadvantages. The existing robot clamping jaw is difficult to adapt to the irregular surface of the angle steel tower caused by corrosion, installation error, stud protrusion and the like, and is prone to problems such as jamming, slipping and inability to continuously move. Therefore, a multi-module motion adaptive double-platform angle steel tower operation and maintenance robot is needed to solve the above problems. SUMMARY

[0004] To solve the above problems, the application provides a multi-module motion adaptive double-platform angle steel tower operation and maintenance robot, which is realized through the following technical solutions.

[0005] The multi-module motion adaptive double-platform angle steel tower operation and maintenance robot comprises a main controller, the top of the main controller is provided with an end processor tool magazine, the two ends of the main controller are fixedly connected with first hydraulic telescopic rods and hooks, the telescopic end of the first hydraulic telescopic rod is provided with a frame, the front end of the frame is provided with a second camera, and the multi-module motion adaptive double-platform angle steel tower operation and maintenance robot further comprises:

[0006] A climbing mechanism is arranged on the main controller and is used for driving the displacement of the main controller.

[0007] An operation and maintenance mechanism is arranged on the main controller and is used for controlling operation through two symmetrical mechanical arm assemblies.

[0008] A power supply system is arranged on the main controller and is used for providing power operation for the climbing mechanism and the operation and maintenance mechanism.

[0009] Further, the climbing mechanism comprises a frame, the frame is connected to the telescopic end of the first hydraulic telescopic rod through a universal shaft ball hinge, two slide rods are fixedly connected in the frame, a sliding seat is movably connected to the two slide rods, a first servo motor is fixedly connected to one end in the frame, a lead screw is fixedly connected to the output shaft of the first servo motor, the lead screw is threadedly matched with the sliding seat, and a clamping mechanism is arranged on the bottom of the main controller and the sliding seat.

[0010] Further, the clamping mechanism comprises a hanger and a second servo motor, the top of the hanger is fixedly connected with a second hydraulic telescopic rod, the inside of the hanger is symmetrically connected with a first electromagnetic claw clamp and a second electromagnetic claw clamp, the shaft rod of the first electromagnetic claw clamp is fixedly connected with a first gear, the shaft rod of the second electromagnetic claw clamp is fixedly connected with a second gear, the output shaft of the second servo motor is fixedly connected with the second gear, and the hanger is fixedly connected with the hanger through a support.

[0011] Further, the first electromagnetic claw clamp and the second electromagnetic claw clamp are made of cast aluminum, and the outer surfaces of the first electromagnetic claw clamp and the second electromagnetic claw clamp are covered with anti-skid rubber.

[0012] Further, the power supply system comprises a solar cell panel, a battery pack, a photovoltaic inverter and a control module, the solar cell panel is fixedly connected with the frame, and the battery pack, the photovoltaic inverter and the control module are fixed with the frame and electrically connected with the solar cell panel.

[0013] Further, the mounting interface arranged on the control module is used for connecting the climbing mechanism and the operation and maintenance mechanism.

[0014] Further, the end processor tool magazine adopts a quick-change tool magazine, and six end tools are arranged in the end processor tool magazine, including a bolt wrench, a derusting spray gun and a weld detection probe.

[0015] The device can be clamped on the angle steel tower through the intermediate clamping mechanism, the climbing mechanisms arranged on the two sides of the main controller can be alternately operated, so that the main controller is displaced, and the main controller can be stably displaced on the angle steel tower, the clamping mechanism can be suitable for clamping different complex angle steel structures, and the linkage of the clamping mechanism, the hydraulic telescopic rod and the ball hinge facilitates obstacle crossing when the device climbs, and the climbing effect is improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the present application, the following will briefly introduce the drawings needed in the specific implementation manner. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0017] Figure 1 The structure diagram of the multi-module motion adaptive double-platform angle steel tower operation and maintenance robot is shown in the figure.

[0018] Figure 2 The connection diagram of the frame and the sliding seat is shown in the figure.

[0019] Figure 3The first electromagnetic claw clamp and the second electromagnetic claw clamp of the application are shown in the schematic diagram of the clamping structure.

[0020] The reference signs are as follows:

[0021] 1, main controller; 11, first hydraulic telescopic rod; 12, hook; 13, end processor tool magazine;

[0022] 2, frame; 21, universal shaft; 22, sliding rod; 221, sliding seat; 23, first servo motor; 231, screw rod;

[0023] 3, hanging seat; 31, second servo motor; 311, support; 32, first electromagnetic claw clamp; 321, first gear; 33, second electromagnetic claw clamp; 331, second gear; 34, second hydraulic telescopic rod;

[0024] 4, solar panel;

[0025] 5, first camera;

[0026] 6, second camera;

[0027] 7, mechanical arm assembly. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the application.

[0029] As shown in the drawings, the application has the following specific embodiments. Figures 1-3

[0030] Embodiment 1

[0031] The multi-module motion adaptive double-platform angle steel tower operation and maintenance robot comprises a main controller 1, the top of the main controller 1 is provided with an end processor tool magazine 13, both ends of the main controller 1 are fixedly connected with a first hydraulic telescopic rod 11 and a hook 12, the telescopic end of the first hydraulic telescopic rod 11 is provided with a frame 2, the front end of the frame 2 is provided with a second camera 6, and the frame 2 further comprises:

[0032] The climbing mechanism is used for driving the main controller 1 to displace;

[0033] The operation and maintenance mechanism is used for controlling operation through two symmetrical mechanical arm assemblies 7, and the telescopic end of the mechanical arm assembly 7 is provided with a first camera 5;

[0034] ​The power supply system is used for providing power operation for the climbing mechanism and the operation mechanism.

[0035] Preferably, the power supply system comprises a solar panel 4, a battery pack, a photovoltaic inverter and a control module, the solar panel 4 is fixedly connected to the frame 2, and the battery pack, the photovoltaic inverter and the control module are fixed to the frame 2 and electrically connected to the solar panel 4.

[0036] Preferably, the mounting interface provided on the control module is used for connecting the climbing mechanism and the operation mechanism.

[0037] In this embodiment, as shown in Figure 1 Firstly, the device can be clamped on the fixed angle steel tower through the intermediate clamping mechanism, the climbing mechanism provided on both sides of the main controller 1 can be alternately operated, so as to push the main controller 1 to displace, so that it can stably displace on the angle steel tower, and the clamping mechanism can be suitable for clamping different complex angle steel structures, and the linkage of the clamping mechanism with the hydraulic telescopic rod and the ball hinge facilitates obstacle crossing when the device climbs, thereby improving the climbing effect.

[0038] Embodiment 2

[0039] The difference between this embodiment and embodiment 1 is that this embodiment discloses a climbing mechanism and a clamping mechanism.

[0040] The climbing mechanism comprises a frame 2, the frame 2 is connected to the telescopic end of the first hydraulic telescopic rod 11 through the universal shaft 21 ball hinge, two slide rods 22 are fixedly connected in the frame 2, a sliding seat 221 is movably connected to the two slide rods 22, a first servo motor 23 is fixedly connected to one end in the frame 2, a lead screw 231 is fixedly connected to the output shaft of the first servo motor 23, and the lead screw 231 is threadedly matched with the sliding seat 221, and the sliding seat 221 and the bottom of the main controller 1 are both provided with a clamping mechanism.

[0041] Preferably, the clamping mechanism comprises a hanging seat 3 and a second servo motor 31, the top of the hanging seat 3 is fixedly connected with a second hydraulic telescopic rod 34, the inside of the hanging seat 3 is symmetrically rotatably connected with a first electromagnetic claw 32 and a second electromagnetic claw 33, a first gear 321 is fixedly connected to the shaft rod of the first electromagnetic claw 32, a second gear 331 is fixedly connected to the shaft rod of the second electromagnetic claw 33, the output shaft of the second servo motor 31 is fixedly connected to the second gear 331, and the hanging seat 3 is fixedly connected to the hanging seat 3 through the support 311.

[0042] In this embodiment, as shown in Figure 2 and 3As shown, the two groups of clamping mechanisms of the climbing mechanism can alternately clamp and push the angle steel tower, that is, the clamping mechanism on the left end frame 2 releases the clamping of the angle steel tower, at this time, the slide 221 is driven by the first servo motor 23 to displace forward by a certain distance, and the clamping mechanism on the other side frame 2 clamps and fixes the angle steel tower to keep it stable support, the clamping mechanisms on both sides and the first servo motor 23 are alternately operated, so that the device climbs upward;

[0043] Wherein, by opening the first servo motor 23 to drive the screw rod 231 to rotate, the slide 221 threadedly matched with the screw rod 231 slides on the slide rod 22, the slide rod 22 drives the clamping mechanism hung thereon to displace, so that the relative frame 2 displaces;

[0044] For further description of this embodiment, when the clamping mechanism is clamped, the second servo motor 31 is opened to drive the second gear 331 to rotate, the second gear 331 drives the second electromagnetic claw 33 to rotate through the shaft rod, at the same time, the second gear 331 can drive the first gear 321 meshing with each other to rotate in the opposite direction, the first gear 321 drives the connected first electromagnetic claw 32 to rotate in the opposite direction through the shaft rod, so that the first electromagnetic claw 32 and the second electromagnetic claw 33 can clamp, and the second hydraulic telescopic rod 34 can drive the clamping mechanism to lift, so that the clamping mechanism can avoid obstacles and the device can climb over obstacles.

[0045] Embodiment 3

[0046] The end processor tool magazine 13 adopts a quick-change tool magazine, and six end tools are arranged in the end processor tool magazine 13, including a bolt wrench, a derusting spray gun and a weld detection probe.

[0047] In this embodiment, as shown in the figure, Figure 1 The mechanical arm assembly 7 can move in multiple axes, the first camera 5 connected to the mechanical arm assembly 7 can monitor and transmit high-definition image data for environment recognition and path planning, so that the mechanical arm assembly 7 can accurately take and operate the tools in the end processor tool magazine 13.

[0048] Working principle of the application:

[0049] When using the device, the device can be lifted by the hook 12 on the device through a crane or a drone, and then placed on the angle steel tower and fixed on the angle steel tower through the clamping mechanism at the bottom of the main controller 1.

[0050] When climbing, the two groups of clamping mechanisms arranged by the climbing mechanism can alternately clamp and push the angle steel tower, that is, the clamping mechanism on the left end frame 2 releases the clamping of the angle steel tower, at this time, the slide 221 is driven by the first servo motor 23 to displace forward by a certain distance, while the clamping mechanism on the other side frame 2 clamps and fixes the angle steel tower to keep it stable support, the clamping mechanisms on both sides and the first servo motor 23 are alternately operated, so that the device climbs upward;

[0051] Wherein, by opening the first servo motor 23 to drive the screw rod 231 to rotate, the slide 221 threadedly matched with the screw rod 231 slides on the slide rod 22, the slide rod 22 drives the clamping mechanism hung thereon to displace, so that the relative frame 2 displaces;

[0052] When the clamping mechanism is clamping, the second servo motor 31 is opened to drive the second gear 331 to rotate, the second gear 331 drives the second electromagnetic claw 33 to rotate through the shaft rod, at the same time, the second gear 331 can drive the first gear 321 meshing with each other to rotate reversely, the first gear 321 drives the connected first electromagnetic claw 32 to rotate reversely through the shaft rod, so that the first electromagnetic claw 32 and the second electromagnetic claw 33 can clamp, and the second hydraulic telescopic rod 34 can pull the clamping mechanism to lift, so that the clamping mechanism can avoid obstacles and make the device climb over the obstacles;

[0053] Then, the mechanical arm assembly 7 arranged can move in multiple axes, the first camera 5 connected on the mechanical arm assembly 7 can monitor, so as to transmit high-definition image data, for environment recognition and path planning, so that the mechanical arm assembly 7 accurately takes and operates the tool in the end processor tool magazine 13;

[0054] Finally, the solar cell panel 4 arranged on the frame 2 can absorb solar energy, convert the solar energy into electric energy through the photovoltaic inverter, and store the electric energy through the storage battery, so as to provide kinetic energy for the operation of the device, which has energy-saving effect.

[0055] The preferred embodiments disclosed above are only used to help explain the present application. The preferred embodiments do not describe all the details and do not limit the present application to the specific embodiments. Obviously, according to the content of the specification, many modifications and changes can be made. The embodiments are selected and described in detail in order to better explain the principles and practical applications of the present application, so that those skilled in the art can well understand and utilize the present application. The present application is limited by the claims and their entire scope and equivalents.

Claims

1. A multi-module motion adaptive dual-platform angle steel tower operation and maintenance robot, comprising a main controller (1), characterized in that: The top of the main controller (1) is provided with a terminal processor magazine (13), both ends of the main controller (1) are fixedly connected with a first hydraulic telescopic rod (11) and a hook (12), the telescopic end of the first hydraulic telescopic rod (11) is provided with a frame (2), the front end of the frame (2) is provided with a second camera (6), and further includes: A climbing mechanism, the climbing mechanism being used to drive the main controller (1) to move; An operation and maintenance mechanism, wherein the operation and maintenance mechanism is controlled by two symmetrically arranged mechanical arm assemblies (7), and a first camera (5) is provided on the telescopic end of the mechanical arm assembly (7); A power supply system is used to provide power to the climbing mechanism and the operation and maintenance mechanism.

2. The multi-module motion adaptive dual-platform angle steel tower operation and maintenance robot according to claim 1 is characterized by: The climbing mechanism comprises a frame (2), the frame (2) being connected to the telescopic end of the first hydraulic telescopic rod (11) via a universal joint (21) ball joint, two slide bars (22) being fixedly connected inside the frame (2), a slide seat (221) being movably connected to the two slide bars (22), one end inside the frame (2) being fixedly connected to a first servo motor (23), an output shaft of the first servo motor (23) being fixedly connected to a screw rod (231), and the screw rod (231) being threadedly matched with the slide seat (221), and a clamping mechanism being provided at the bottom of the slide seat (221) and the main controller (1).

3. The multi-module motion adaptive dual-platform angle steel tower operation and maintenance robot according to claim 2 is characterized in that: The clamping mechanism comprises a hanging seat (3) and a second servo motor (31); a second hydraulic telescopic rod (34) is fixedly connected to the top of the hanging seat (3); a first electromagnetic claw clamp (32) and a second electromagnetic claw clamp (33) are symmetrically rotatably connected inside the hanging seat (3); a first gear (321) is fixedly connected to the shaft of the first electromagnetic claw clamp (32); a second gear (331) is fixedly connected to the shaft of the second electromagnetic claw clamp (33); an output shaft of the second servo motor (31) is fixedly connected to the second gear (331); and the hanging seat (3) is fixedly connected to the hanging seat (3) via a bracket (311).

4. The multi-module motion adaptive dual-platform angle steel tower operation and maintenance robot according to claim 3 is characterized by: The first electromagnetic claw clamp (32) and the second electromagnetic claw clamp (33) are both made of cast aluminum, and the outer surfaces of the first electromagnetic claw clamp (32) and the second electromagnetic claw clamp (33) are covered with anti-slip rubber.

5. The multi-module motion adaptive dual-platform angle steel tower operation and maintenance robot according to claim 1, characterized in that: The power supply system comprises a solar panel (4), a battery pack, a photovoltaic inverter and a control module, wherein the solar panel (4) is fixedly connected to the frame (2), and the battery pack, the photovoltaic inverter and the control module are fixed to the frame (2) and electrically connected to the solar panel (4).

6. The multi-module motion adaptive dual-platform angle steel tower operation and maintenance robot according to claim 6 is characterized in that: The installation interface provided on the control module is used to connect the climbing mechanism and the operation and maintenance mechanism.

7. The multi-module motion adaptive dual-platform angle steel tower operation and maintenance robot according to claim 1, characterized in that: The end processor tool magazine (13) adopts a quick-change tool magazine, and six types of end tools are arranged in the end processor tool magazine (13), including a bolt wrench, a rust removal spray gun and a weld detection probe.

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