Electric power tower transportation robot

Abstract

The invention provides an electric power tower transportation robot, belongs to the technical field of electric power maintenance, and is used for solving the problem that high-altitude operation equipment is difficult to transport. The electric power tower transportation robot comprises a supporting body, a driving device, a pair of clamping devices and a control system. The supporting body comprises a top plate, a sliding rod, a first supporting plate and a second supporting plate. The moving device is connected between the first supporting plate and the second supporting plate. The pair of clamping devices is arranged on the first supporting plate and the second supporting plate respectively. The clamping device can be clamped on the periphery of the pole tower in an opening and closing mode. The control system is connected to the driving device and the clamping device. The control system is used for controlling the clamping device to cooperate with the driving device to act so as to realize pole climbing. According to the invention, the labor intensity of maintenance is reduced, the safety and the working efficiency are improved, and the method has no excessive requirements on the site state and is wide in application range.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of electric power maintenance, and particularly relates to a power tower transport robot. BACKGROUND

[0002] In the electric power industry, various types of towers often need to be inspected, maintained, installed and the like. Most of these operation environments are at high altitudes, and the operation device needs to be carried by manpower to climb to the operation position, or the operation device is hoisted to the operation position by hoisting equipment. However, the operation device is carried by manpower to climb to the operation position, which not only has high labor intensity, but also has great safety risks. Once a falling accident occurs, the consequences are unpredictable. The operation device is hoisted to the operation position by hoisting equipment, which has high cost and certain requirements for the site. SUMMARY

[0003] Therefore, the technical problem to be solved by the present application is to provide a power tower transport robot, which can realize high-altitude transportation of the operation device, and make the inspection, maintenance and installation operation more safe, convenient and efficient.

[0004] In order to solve the above problems, the present application provides a power tower transport robot, which comprises a support main body, a driving device, a pair of clamping devices and a control system. The support main body comprises a top plate, a slide rod, a first support plate and a second support plate. The top plate is used for supporting the operation device. The slide rod is arranged at the bottom of the top plate. The first support plate and the second support plate are slidably arranged on the slide rod. The first support plate is located above the second support plate. The driving device is connected between the first support plate and the second support plate. The driving device can drive the first support plate and the second support plate to move along the slide rod. The pair of clamping devices are arranged on the first support plate and the second support plate respectively. The clamping device can be opened and closed to clamp on the outer periphery of the tower. The control system is connected to the driving device and the clamping device respectively. The control system is used to control the clamping device to act in cooperation with the driving device to realize tower climbing.

[0005] Among them, the driving device comprises a driving motor, a crank and a rocker. The driving motor is arranged on the second support plate. The control system is connected to the driving motor. One end of the crank is connected to the output shaft of the driving motor. The bottom end of the rocker is hinged to the end of the crank away from the output shaft. The top end of the rocker is hinged to the first support plate. The driving motor drives the crank to rotate, and then drives the rocker to extend or retract, so as to drive the first support plate or the second support plate to move along the slide rod.

[0006] Among them, the bottom of the first support plate is provided with a support seat. The top end of the rocker is hinged to the support seat. The top of the second support plate is provided with a motor seat. The driving motor is fixed in the motor seat.

[0007] Each clamping device comprises a clamping part and a driving part. The clamping part comprises a hinged seat, a pair of connecting rods and a pair of clamping jaws. The pair of connecting rods are cross-shaped and hinged on the hinged seat. The clamping jaws are arc-shaped and adapted to the outer circumferential arc of the tower. Each clamping jaw is arranged at the end of a connecting rod, and the pair of clamping jaws are arranged oppositely to be able to tightly embrace the outer circumference of the tower. The driving part is connected to the end of the pair of connecting rods away from the clamping jaws. The driving part can drive the ends of the pair of connecting rods away from the clamping jaws to approach or move away from each other, thereby driving the pair of clamping jaws to tightly embrace or release the tower. The control system is connected to the driving part.

[0008] The driving part comprises a driving cylinder and a pair of driving connecting rods. The driving cylinder is fixed on the first support plate or the second support plate through a cylinder seat. The control system is connected to the driving cylinder. One end of the pair of driving connecting rods is hinged on the end of the piston rod of the driving cylinder. The end of each driving connecting rod away from the driving cylinder is hinged on the end of a connecting rod away from the clamping jaw. The driving cylinder drives the extension and contraction of the piston rod, thereby making the ends of the pair of driving connecting rods away from the driving cylinder move away from or approach each other, so as to drive the ends of the pair of connecting rods away from the clamping jaws to move away from or approach each other, thereby driving the pair of clamping jaws to release or tightly embrace the tower.

[0009] A plurality of mounting holes are arranged on the inner side of the clamping jaw along the extension direction of the clamping jaw. A ball is rollably arranged in each mounting hole.

[0010] The power tower transport robot further comprises a pair of thermal devices. The pair of thermal devices are arranged on the two sides of the top plate. Each thermal device comprises a heater, a heating pipe and a heating cover. The heater is arranged on the bottom of the top plate. The heater is connected to the control system. The bottom end of the heating pipe is connected to the heater. The top end of the heating pipe extends through the top plate and extends to the top of the top plate. The heating cover is fixed on the top of the top plate through a support rod and is located above the heating pipe.

[0011] The power tower transport robot further comprises a pair of guide devices. The pair of guide devices are arranged on the first support plate and the second support plate respectively. Each guide device comprises a top rod and a guide wheel. One end of the top rod is connected to the side of the first support plate or the second support plate. The guide wheel is rotatably arranged on the free end of the top rod. The guide wheel is used to abut on the surface of the tower. The axis of the guide wheel is perpendicular to the height direction of the tower.

[0012] One side of the top plate is provided with a circular arc-shaped groove. The inner diameter of the circular arc-shaped groove is adapted to the outer diameter of the tower.

[0013] The four slide rods are arranged in an array on the bottom of the top plate.

[0014] Beneficial effects:

[0015] The power tower transport robot provided by the application comprises a support body, a driving device, a pair of clamping devices and a control system. A top plate on the support body is used for placing a working device. In use, first, the pair of clamping devices are clamped on the outer periphery of a tower to fix the support body on the tower; then, the control system controls the clamping devices on the first support plate to loosen the tower, and controls the driving device to start and push the first support plate to move along the slide rod towards the direction of the top plate until the first support plate is lifted to a preset height, and the clamping devices on the first support plate are controlled to clamp the tower; then, the control system controls the clamping devices on the second support plate to loosen the tower, and controls the driving device to start and pull the second support plate to move along the slide rod towards the direction of the first support plate until the second support plate is lifted to a preset height, and the clamping devices on the second support plate are controlled to clamp the tower; the above steps are repeated until the power tower transport robot climbs to a working position to transport the working device to a high altitude; after the maintenance work is completed, the power tower transport robot can be controlled to descend along the tower to the ground. The power tower transport robot provided by the application can stably and efficiently transport the working device to a high-altitude working position, which not only reduces the labor intensity of maintenance, but also improves safety and work efficiency, and has no excessive requirements on the site state and wide application range. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 A perspective structural schematic view of the power tower transport robot of one embodiment provided by the application;

[0017] Figure 2 A structural schematic view of the support body of one embodiment provided by the application;

[0018] Figure 3 A front structural schematic view of the driving device of one embodiment provided by the application;

[0019] Figure 4 A side structural schematic view of the driving device of one embodiment provided by the application;

[0020] Figure 5 A structural schematic view of the clamping part of one embodiment provided by the application;

[0021] Figure 6 A structural schematic view of the driving part of one embodiment provided by the application;

[0022] Figure 7 A structural schematic view of the claw of one embodiment provided by the application;

[0023] Figure 8 A structural schematic view of the thermal device of one embodiment provided by the application;

[0024] Figure 9A structural schematic diagram of a guiding device of an embodiment provided by the present application;

[0025] Figure 10 A connection relationship schematic diagram of a control system of an embodiment provided by the present application;

[0026] Figure 11 A climbing schematic diagram of a power tower transport robot of an embodiment provided by the present application.

[0027] The reference signs are represented as:

[0028] 1, support body; 2, driving device; 3, clamping device; 4, thermal device; 5, guiding device; 6, control system; 7, tower;

[0029] 11, top plate; 12, sliding rod; 13, first support plate; 14, second support plate; 15, circular-arc-shaped groove;

[0030] 21, driving motor; 22, crank; 23, rocker; 24, support seat; 25, motor seat;

[0031] 31, clamping part; 32, driving part;

[0032] 41, heater; 42, heating pipe; 43, heating cover; 44, support rod;

[0033] 51, top rod; 52, guiding wheel;

[0034] 311, hinged seat; 312, connecting rod; 313, claw; 314, mounting hole; 315, ball;

[0035] 321, driving cylinder; 322, driving connecting rod; 323, cylinder seat; 324, piston rod. DETAILED DESCRIPTION

[0036] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0037] In addition, the terms "first", "second", "third", etc. are used only for descriptive purposes and do not connote or imply a relative importance or a specific order of precedence. Thus, features identified as "first", "second", etc. can include one or more of such features, either explicitly or implicitly.

[0038] In the present application, unless specifically defined otherwise, the terms "mount", "connect", "connection", "fixed", and the like are used broadly and encompass both direct and indirect mounting, connecting, and / or connecting options, such as fixedly connected, releasably fixedly connected, integrally formed, mechanically connected, electronically connected, and the like. Further, the terms "mounted", "connected", and "fixed" encompass both direct and indirect mounting, connecting, and / or connecting options, such as fixedly mounted, releasably fixedly mounted, integrally formed, mechanically connected, electronically connected, and the like. As will be understood by those skilled in the art, the terms "mounted", "connected", and "fixed" can have specific meanings in specific contexts. The specific meanings of the terms "mounted", "connected", and "fixed" in the present application will be apparent to those skilled in the art, and depend on the specific context in which the terms are used.

[0039] The preferred embodiments of the present application will be described herein below with reference to the accompanying drawings, in which it is understood that the preferred embodiments described herein are merely for the purpose of illustrating and explaining the present application, and are not intended to limit the present application.

[0040] The present embodiment provides a power tower transport robot. Figure 1 The present embodiment provides a power tower transport robot. Figure 2 The present embodiment provides a power tower transport robot.

[0041] As shown in Figure 1 and Figure 2 The power tower transport robot of the present embodiment includes a support body 1, a driving device 2, a pair of clamping devices 3, and a control system 6. The support body 1 includes a top plate 11, a slide rod 12, a first support plate 13, and a second support plate 14. The top plate 11 is used to support the working device. The slide rod 12 is arranged at the bottom of the top plate 11. The first support plate 13 and the second support plate 14 are slidably arranged on the slide rod 12. The first support plate 13 is located above the second support plate 14. The driving device 2 is connected between the first support plate 13 and the second support plate 14. The driving device 2 can drive the first support plate 13 and the second support plate 14 to move along the slide rod 12. The pair of clamping devices 3 are arranged on the first support plate 13 and the second support plate 14, respectively. The clamping device 3 can be opened and closed to clamp on the outer periphery of the tower 7. The control system 6 is connected to the driving device 2 and the clamping device 3, respectively. The control system 6 is used to control the clamping device 3 to act in cooperation with the driving device 2 to realize the tower climbing.

[0042] In the present embodiment, as shown in Figure 1 and Figure 2As shown, the bottom of the top plate 11 is provided with a fixing sleeve, and the top end of the slide rod 12 is inserted into the fixing sleeve. In this way, the connection between the top plate 11 and the slide rod 12 is more firm and reliable, and the top plate 11 is more stable.

[0043] In the embodiment, as shown in Figure 1 and Figure 2 As shown, the first support plate 13 and the second support plate 14 are respectively provided with a sliding sleeve. The first support plate 13 and the second support plate 14 are arranged on the slide rod 12 through the sliding sleeves. The sliding sleeves not only have a guiding effect to prevent jamming, but also make the movement of the first support plate 13 and the second support plate 14 more smooth and stable.

[0044] The power tower transport robot of the embodiment comprises a support body 1, a driving device 2, a pair of clamping devices 3, and a control system 6. The top plate 11 on the support body 1 is used to place a working device. In use, first, the pair of clamping devices 3 are clamped on the outer periphery of the tower 7 to fix the support body 1 on the tower 7; then, the control system 6 controls the clamping devices 3 on the first support plate 13 to loosen the tower 7, and controls the driving device 2 to start, pushes the first support plate 13 to move along the slide rod 12 in the direction of the top plate 11, until the first support plate 13 is lifted to a preset height, and controls the clamping devices 3 on the first support plate 13 to clamp the tower 7; then, the control system 6 controls the clamping devices 3 on the second support plate 14 to loosen the tower 7, and controls the driving device 2 to start, pulls the second support plate 14 to move along the slide rod 12 in the direction of the first support plate 13, until the second support plate 14 is lifted to a preset height, and controls the clamping devices 3 on the second support plate 14 to clamp the tower. The above steps are repeated until the power tower transport robot climbs to a working position to transport the working device to a high altitude; after the maintenance work is completed, the power tower transport robot can be controlled to descend along the tower to the ground. The power tower transport robot of the embodiment can stably and efficiently transport the working device to a high-altitude working position, which not only reduces the labor intensity of maintenance, but also improves safety and work efficiency, and has no excessive requirement on the site state, and has a wide application range.

[0045] Figure 3 A front view of a driving device 2 provided in the embodiment is shown. Figure 4 A side view of a driving device 2 provided in the embodiment is shown.

[0046] As shown in Figure 3 and Figure 4As shown, the driving device 2 comprises a driving motor 21, a crank 22 and a rocker 23. The driving motor 21 is arranged on the second support plate 14. The control system 6 is connected to the driving motor 21. One end of the crank 22 is connected to the output shaft of the driving motor 21. The bottom end of the rocker 23 is hinged to the end of the crank 22 away from the output shaft. The top end of the rocker 23 is hinged to the first support plate 13. The driving motor 21 drives the crank 22 to rotate, and in turn drives the rocker 23 to extend or retract, so as to drive the first support plate 13 or the second support plate 14 to move along the slide rod 12.

[0047] In the embodiment, as shown in Figure 3 and Figure 4 The bottom end of the slide rod 12 is provided with a limiting block. In this way, the second support plate 14 can be prevented from being detached from the slide rod 12.

[0048] The embodiment utilizes the driving motor 21 to drive the crank 22 to rotate around the output shaft, and in turn drives the rocker 23 to extend or retract between the first support plate 13 and the second support plate 14, so as to realize climbing or descending.

[0049] During the climbing process, first, the clamping device 3 on the first support plate 13 is controlled to loosen the pole tower 7, but does not need to be completely opened to avoid overturning, only needs to be loosened to have a movement allowance, then the driving motor 21 is controlled to drive the crank 22 to rotate to a vertical state, at this time, the included angle between the crank 22 and the rocker 23 is 180°, the crank 22 and the rocker 23 are located on the same straight line, and the first support plate 13 is lifted by a preset height; then the clamping device 3 on the first support plate 13 is controlled to clamp the pole tower 7, and the clamping device 3 on the second support plate 14 is controlled to loosen the pole tower 7, and again does not need to be completely opened to avoid overturning, only needs to be loosened to have a movement allowance, then the driving motor 21 is controlled to continue to drive the crank 22 to rotate, at this time, an included angle is generated between the crank 22 and the rocker 23, so as to lift the second support plate 14, until the included angle between the crank 22 and the rocker 23 is 0°, that is, the crank 22 and the rocker 23 overlap, so as to lift the second support plate 14 by a preset height; in this way, the climbing is realized through reciprocation.

[0050] When descending, first control the clamping device 3 on the second support plate 14 to loosen the pole tower 7, but not to fully open to avoid overturning, just loosen to have a margin of movement, then control the driving motor 21 to drive the crank 22 to rotate to the vertical state of the crank 22, at this time, the included angle between the crank 22 and the rocker 23 is 180°, the crank 22 and the rocker 23 are on the same straight line, and the second support plate 14 is pushed to descend a preset distance; then control the clamping device 3 on the second support plate 14 to clamp the pole tower 7, and control the clamping device 3 on the first support plate 13 to loosen the pole tower 7, but not to fully open to avoid overturning, just loosen to have a margin of movement, then control the driving motor 21 to continue to drive the crank 22 to rotate, at this time, an included angle is generated between the crank 22 and the rocker 23 to pull down the first support plate 13 until the included angle between the crank 22 and the rocker 23 is 0°, that is, the crank 22 and the rocker 23 overlap, to pull down the first support plate 13 by a preset distance; so reciprocate to realize the descending.

[0051] The driving device 2 of the embodiment can make the climbing and descending process stable, reliable, convenient and fast.

[0052] As shown in Figure 4 , the bottom of the first support plate 13 is provided with a support seat 24. The top end of the rocker 23 is hinged on the support seat 24. The top of the second support plate 14 is provided with a motor seat 25. The driving motor 21 is fixed in the motor seat 25.

[0053] In the embodiment, as shown in Figure 3 and Figure 4 , the support seat 24 includes a fixed part and a support rod. The fixed part is fixed on the bottom surface of the first support plate 13, the support rod is connected to the fixed part and extends to the outside of the first support plate 13, and the top end of the rocker 23 is hinged on the support rod. In this way, the operation of the crank 22 and the rocker 23 can be smoother and interference can be avoided.

[0054] The embodiment fixes the driving motor 21 by the motor seat 25 and connects the rocker 23 by the support seat 24, which ensures the stability of driving and is beneficial to improve the structural strength of the support main body 1.

[0055] Figure 5 A structure schematic view of a clamping part 31 provided for the embodiment. Figure 6 A structure schematic view of a driving part 32 provided for the embodiment.

[0056] As shown in Figure 5 and Figure 6As shown, each clamping device 3 includes a clamping part 31 and a driving part 32. The clamping part 31 includes a hinge seat 311, a pair of connecting rods 312, and a pair of jaws 313. The pair of connecting rods 312 are cross-shaped and hinged to the hinge seat 311. The jaws 313 are arc-shaped and conform to the outer circumference curvature of the tower 7. Each jaw 313 is disposed at the end of a connecting rod 312, and the pair of jaws 313 are arranged facing each other to grip the outer circumference of the tower 7. The driving part 32 is connected to the ends of the pair of connecting rods 312 that are away from the jaws 313. The driving part 32 can drive the ends of the pair of connecting rods 312 that are away from the jaws 313 to move closer or further apart, thereby driving the pair of jaws 313 to grip or release the tower 7. The control system 6 is connected to the driving part 32.

[0057] In this embodiment, the hinge seat 311 is fixed on the first support plate 13 and the second support plate 14 to support the connecting rod 312.

[0058] This embodiment utilizes the drive unit 32 to move a pair of claws 313 via a pair of connecting rods 312, thereby achieving the tightening and loosening of the tower 7. The action is quick and convenient. Moreover, the claws 313 are arc-shaped, adapting to the outer periphery of the tower 7. When the claws 313 tighten, they can effectively fix the tower 7. When the claws 313 loosen, they can not only move along the tower 7 with the first support plate 13 or the second support plate 14, but also guide the movement of the first support plate 13 or the second support plate 14, preventing overturning or detachment from the tower 7.

[0059] Among them, such as Figure 6 As shown, the drive unit 32 includes a drive cylinder 321 and a pair of drive connecting rods 322. The drive cylinder 321 is fixed to the first support plate 13 or the second support plate 14 via a cylinder seat 323. The control system 6 is connected to the drive cylinder 321. One end of the pair of drive connecting rods 322 is hinged to the end of the piston rod 324 of the drive cylinder 321. The end of each drive connecting rod 322 away from the drive cylinder 321 is hinged to the end of a connecting rod 312 away from the pawl 313. The drive cylinder 321 drives the extension and retraction of the piston rod 324, thereby causing the ends of the pair of drive connecting rods 322 away from the drive cylinder 321 to move away from or towards each other, thereby causing the ends of the pair of connecting rods 312 away from the pawl 313 to move away from or towards each other, thereby driving the pair of pawls 313 to release or grip the tower 7.

[0060] like Figure 5 and Figure 6As shown, the free ends of the pair of drive connecting rods 322 are connected to the free ends of the pair of connecting rods 312, respectively. When the piston rod 324 of the drive cylinder 321 extends, the end of the piston rod 324 approaches the hinged seat 311, the angle between the pair of drive connecting rods 322 gradually increases, and then the distance between the free ends of the pair of connecting rods 312 becomes larger, so that the pair of clamping jaws 313 is opened to release the tower 7. When the piston rod 324 of the drive cylinder 321 retracts, the end of the piston rod 324 is away from the hinged seat 311, the angle between the pair of drive connecting rods 322 gradually decreases, and then the distance between the free ends of the pair of connecting rods 312 becomes smaller, so that the pair of clamping jaws 313 is closed to grip the tower 7. The clamping and releasing actions of the pair of clamping jaws 313 can be realized by controlling the extension and retraction of the piston rod of the drive cylinder 321 through the control system 6, which is convenient, fast, stable and reliable.

[0061] Figure 7 A structure diagram of the clamping jaw 313 is provided for the embodiment. As shown, a plurality of mounting holes 314 are arranged on the inner side of the clamping jaw 313 along the extension direction of the clamping jaw 313. A ball 315 is rollably arranged in each mounting hole 314. Figure 7

[0062] The ball 315 is arranged on the inner side of the clamping jaw 313 in the embodiment. When the clamping jaw 313 grips the tower 7, the ball 315 is pressed against the outer wall of the tower 7 to increase the local pressure, so that the pair of clamping jaws 313 can more firmly grip the tower 7. When the clamping jaw 313 releases the tower 7 and moves along the tower 7, the clamping jaw 313 plays a role of guiding and positioning, and the ball 315 can roll on the outer wall of the tower 7, so that the clamping jaw 313 does not rub against the tower 7, and then the climbing and descending are more smooth.

[0063] Figure 8 A structure diagram of the thermal device 4 is provided for the embodiment. As shown, Figure 1 and Figure 8 The power tower transport robot further includes a pair of thermal devices 4. The pair of thermal devices 4 are arranged on the two sides of the top plate 11, respectively. Each thermal device 4 includes a heater 41, a heating pipe 42 and a heating cover 43. The heater 41 is arranged at the bottom of the top plate 11. The heater 41 is connected to the control system 6. The bottom end of the heating pipe 42 is connected to the heater 41. The top end of the heating pipe 42 penetrates through the top plate 11 and extends to the top of the top plate 11. The heating cover 43 is fixed to the top of the top plate 11 by a support rod 44 and is located above the heating pipe 42.

[0064] The heater 41 can be a fuel heater, and the heating pipe 42 can be a heat conduction pipe in the embodiment. In other embodiments, the heater 41 can be an electric heater, and a heating resistance wire is arranged in the heating pipe 42. ​

[0065] The thermal device 4 of the embodiment comprises a heater 41, a heating pipe 42 and a heating cover 43. The lower end of the heating pipe 42 is connected to the heater 41, and the heater 41 provides a stable heat source for the heating pipe 42. After the heating cover 43 is heated by the heating pipe 42, an air pressure difference is formed inside and outside the heating cover 43 to provide assistance for the climbing of the power tower transport robot. The control system 6 can adjust the size of the auxiliary lift by controlling the start-stop and heating power of the heater 41.

[0066] The power tower transport robot of the embodiment can realize thermal driving and motor driving at the same time during the climbing process, improve the efficiency and carrying capacity, and improve the fault tolerance rate, and prolong the stay time of the robot in the high altitude.

[0067] Figure 9 A structural schematic view of a guide device 5 provided by the embodiment is shown.

[0068] As shown in Figure 1 and Figure 9 , the power tower transport robot further comprises a pair of guide devices 5. The pair of guide devices 5 are respectively arranged on the first support plate 13 and the second support plate 14. Each guide device 5 comprises a top rod 51 and a guide wheel 52. One end of the top rod 51 is connected to the side of the first support plate 13 or the second support plate 14. The guide wheel 52 is rotatably arranged at the free end of the top rod 51. The guide wheel 52 is used to abut against the surface of the tower 7. The axis of the guide wheel 52 is perpendicular to the height direction of the tower 7.

[0069] The embodiment is arranged on the first support plate 13 and the second support plate 14. The axis of the guide wheel 51 of the guide device 5 is perpendicular to the height direction of the tower 7, and the rolling direction of the guide device 5 can only be along the axial direction of the tower 7. Therefore, the guide device 5 can guide the climbing and descending of the power tower transport robot and prevent the power tower transport robot from deviating from the moving direction when moving.

[0070] As shown in Figure 2 , the side of the top plate 11 is provided with a circular-arc-shaped groove 15. The inner diameter of the circular-arc-shaped groove 15 is adapted to the outer diameter of the tower 7.

[0071] The embodiment is arranged on the side of the top plate 11. The circular-arc-shaped groove 15 can play a limiting role and ensure that the robot accurately aligns with the tower 7 when climbing and avoids deviating from the path.

[0072] As shown in Figure 2 , the slide rod 12 is four and is arranged in an array at the bottom of the top plate.

[0073] The sliding rod 12 of the embodiment is made of metal material, and the surface is treated by special treatment (heat treatment or coating) to enhance the wear resistance and corrosion resistance, so as to ensure that the first support plate 13 and the second support plate 14 can slide on the sliding rod 12 stably and accurately in a complex environment.

[0074] The sliding rod 12 of the embodiment is four, which is arranged in an array at the bottom of the top plate 11, has good structural stability and good guiding effect.

[0075] Figure 10 A connection relationship diagram of a control system 6 provided in the embodiment is shown in FIG. 6. As shown in the figure, the control system 6 of the embodiment is connected to the driving device 2, the clamping device 3 and the thermal device 4 respectively. The control system 6 can receive the control instruction of the ground, and control the driving device 2, the clamping device 3 and the thermal device 4 to cooperate with each other according to the control instruction, so as to realize the climbing and descending of the power pole tower transport robot on the pole tower 7, as shown in FIG. 7. Figure 10 Figure 11

[0076] ​​When the control system 6 receives the ground climbing instruction, the power tower transport robot of the embodiment first controls the heater 41 to be turned on, and the heater 41 provides a stable heat source for the heating pipe 42. After the heating cover 43 is heated by the heating pipe 42, an air pressure difference is formed inside and outside the heating cover 43 to provide power for the climbing of the power tower transport robot. Then, the piston rod 324 of the driving cylinder 321 on the first support plate 13 is controlled to extend, so that the end of the piston rod 324 is close to the hinged seat 311, the included angle between the pair of driving connecting rods 322 is gradually increased, the distance between the free ends of the pair of connecting rods 312 is gradually increased, and then the pair of clamping jaws 313 is opened to loosen the tower 7. However, the pair of clamping jaws 313 is not completely opened to avoid overturning, but only needs to be loosened to have a certain activity allowance. Then, the driving motor 21 is controlled to drive the crank 22 to rotate to the vertical state, so that the included angle between the crank 22 and the rocker 23 is 180°, the crank 22 and the rocker 23 are located on the same straight line, and the first support plate 13 is lifted to a preset height. Then, the piston rod 324 of the driving cylinder 321 on the first support plate 13 is controlled to retract, so that the end of the piston rod 324 moves away from the hinged seat 311, the included angle between the pair of driving connecting rods 322 is gradually reduced, the distance between the free ends of the pair of connecting rods 312 is gradually reduced, and then the pair of clamping jaws 313 is closed to hold the tower 7. Then, the piston rod 324 of the driving cylinder 321 on the second support plate 14 is controlled to extend, so that the end of the piston rod 324 is close to the hinged seat 311, the included angle between the pair of driving connecting rods 322 is gradually increased, the distance between the free ends of the pair of connecting rods 312 is gradually increased, and then the pair of clamping jaws 313 is opened to loosen the tower 7. However, the pair of clamping jaws 313 is not completely opened to avoid overturning, but only needs to be loosened to have a certain activity allowance. Then, the driving motor 21 is controlled to continue to drive the crank 22 to rotate, so that the included angle between the crank 22 and the rocker 23 is generated to lift the second support plate 14, until the included angle between the crank 22 and the rocker 23 is 0°, that is, the crank 22 and the rocker 23 are overlapped, so as to lift the second support plate 14 to a preset height. In this way, the power tower transport robot is lifted to the high-altitude operation position, and the working device is stably and efficiently transported to the high-altitude operation position.

[0077] When the control system 6 receives the ground lowering instruction, first, the heater 41 is turned off, and the piston rod 324 of the driving cylinder 321 on the second support plate 14 is controlled to extend, the end of the piston rod 324 is close to the hinged seat 311, the included angle between the pair of driving connecting rods 322 is gradually increased, the distance between the free ends of the pair of connecting rods 312 is gradually increased, and then the pair of clamping jaws 313 is opened to loosen the pole tower 7, but the pair of clamping jaws 313 is not completely opened to avoid overturning, and only needs to be loosened to have a certain activity allowance; then, the driving motor 21 is controlled to drive the crank 22 to rotate to the vertical state of the crank 22, at this time, the included angle between the crank 22 and the rocker 23 is 180°, the crank 22 and the rocker 23 are located on the same straight line, the second support plate 14 is pushed to be lowered by a preset distance; then, the piston rod 324 of the driving cylinder 321 on the second support plate 14 is controlled to retract, the end of the piston rod 324 is moved away from the hinged seat 311, the included angle between the pair of driving connecting rods 322 is gradually decreased, the distance between the free ends of the pair of connecting rods 312 is gradually decreased, and then the pair of clamping jaws 313 is closed to tighten the pole tower 7; then, the piston rod 324 of the driving cylinder 321 on the first support plate 13 is controlled to extend, the end of the piston rod 324 is close to the hinged seat 311, the included angle between the pair of driving connecting rods 322 is gradually increased, the distance between the free ends of the pair of connecting rods 312 is gradually increased, and then the pair of clamping jaws 313 is opened to loosen the pole tower 7, but the pair of clamping jaws 313 is not completely opened to avoid overturning, and only needs to be loosened to have a certain activity allowance; then, the driving motor 21 is controlled to continue to drive the crank 22 to rotate, at this time, the included angle between the crank 22 and the rocker 23 is generated to pull down the first support plate 13, until the included angle between the crank 22 and the rocker 23 is 0°, that is, the crank 22 and the rocker 23 overlap, to pull down the first support plate 13 by a preset distance; in this way, the lowering is realized to stably and efficiently transport the working device to the ground position.

[0078] The power pole tower transport robot of the embodiment includes a support body 1, a driving device 2, a clamping device 3, a thermal device 4, a guiding device 5, and a control system 6, the control system 6 coordinates the cooperation of various devices to work, can realize the simultaneous driving of the thermal device and the motor in the lifting process, improves the efficiency and the carrying capacity, improves the fault tolerance, and prolongs the high-altitude stay time of the robot; the clamping device 3, the driving device 2, and the guiding device 5 cooperate to realize the climbing movement of the robot on the pole tower 7 and ensure the accurate movement of the robot along the pole body, the driving part 32 of the clamping device 3 adopts a pneumatic execution device to ensure the tightness of the clamping. The power pole tower transport robot of the embodiment adopts double climbing power, has strong endurance and carrying capacity, is safe and stable, and can be applied to various scenes and complex working conditions.

[0079] Those skilled in the art can easily understand that the above-mentioned advantageous modes can be freely combined and superimposed without conflict.

[0080] The above merely describes the preferred embodiments of the present application, and is not intended to limit the present application. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application. The above merely describes the preferred embodiments of the present application, and is not intended to limit the present application. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A power pole transport robot, characterized in that, include: Support body, drive unit, a pair of clamping devices and control system; The support body includes a top plate, a sliding rod, a first support plate, and a second support plate; the top plate is used to support the working device; the sliding rod is disposed at the bottom of the top plate; the first support plate and the second support plate are slidably disposed on the sliding rod; and the first support plate is located above the second support plate. The driving device is connected between the first support plate and the second support plate; the driving device is capable of driving the first support plate and the second support plate to move along the slide bar; A pair of clamping devices are respectively disposed on the first support plate and the second support plate; the clamping devices can be opened and closed to clamp onto the outer periphery of the tower; The control system is connected to the drive device and the clamping device respectively; the control system is used to control the clamping device to cooperate with the drive device to achieve pole climbing.

2. The power pole transport robot according to claim 1, characterized in that, The drive device includes: a drive motor, a crank, and a rocker arm; The drive motor is mounted on the second support plate; the control system is connected to the drive motor; One end of the crank is connected to the output shaft of the drive motor; The bottom end of the rocker arm is hinged to the end of the crank arm away from the output shaft; the top end of the rocker arm is hinged to the first support plate. The drive motor drives the crank to rotate, which in turn drives the rocker arm to extend and retract, thereby driving the first support plate or the second support plate to move along the slide bar.

3. The power pole transport robot according to claim 2, characterized in that, The bottom of the first support plate is provided with a support base; the top end of the rocker arm is hinged to the support base; The second support plate has a motor base on its top; the drive motor is fixed in the motor base.

4. The power pole transport robot according to claim 1, characterized in that, Each of the clamping devices includes: a clamping part and a driving part; The clamping part includes a hinge seat, a pair of connecting rods and a pair of claws; the pair of connecting rods are cross-shaped and hinged to the hinge seat; the claws are arc-shaped and adapted to the outer circumference curvature of the tower; each claw is disposed at the end of one of the connecting rods, and the pair of claws are arranged facing each other so as to be able to hold tightly on the outer circumference of the tower. The drive unit is connected to the end of the pair of connecting rods away from the claws; the drive unit can drive the ends of the pair of connecting rods away from the claws to move closer or further apart, thereby driving the pair of claws to grip or release the tower; the control system is connected to the drive unit.

5. The power pole transport robot according to claim 4, characterized in that, The drive unit includes: a drive cylinder and a pair of drive linkages; The drive cylinder is fixed to the first support plate or the second support plate by a cylinder seat; the control system is connected to the drive cylinder; One end of each pair of drive links is hinged to the piston rod end of the drive cylinder; the end of each drive link away from the drive cylinder is hinged to the end of a connecting rod away from the pawl. The drive cylinder drives the piston rod to extend and retract, thereby causing the ends of the pair of drive connecting rods away from the drive cylinder to move away from or towards each other, so as to drive the ends of the pair of connecting rods away from the pawls to move away from or towards each other, thereby driving the pair of pawls to release or grip the tower.

6. The power pole transport robot according to claim 5, characterized in that, On the inner side of the jaw, a plurality of mounting holes are provided along the extending direction of the jaw; a ball bearing is rotatably mounted in each mounting hole.

7. The power pole transport robot according to claim 1, characterized in that, It also includes a pair of heating devices; the pair of heating devices are respectively disposed on both sides of the top plate; each heating device includes: a heater, a heating tube and a heating cover; The heater is disposed at the bottom of the top plate; the heater is connected to the control system; The bottom end of the heating tube is connected to the heater; the top end of the heating tube passes through the top plate and extends to the top of the top plate; The heating cover is fixed to the top of the top plate by a support rod and is located above the heating tube.

8. The power pole transport robot according to claim 1, characterized in that, It also includes a pair of guide devices; the pair of guide devices are respectively disposed on the first support plate and the second support plate; each guide device includes a push rod and a guide wheel; One end of the top rod is connected to the side of the first support plate or the second support plate; The guide wheel is rotatably mounted on the free end of the top rod; the guide wheel is used to abut against the surface of the tower; the axis of the guide wheel is perpendicular to the height direction of the tower.

9. The power pole transport robot according to claim 1, characterized in that, One side of the top plate is provided with an arc-shaped groove; the inner diameter of the arc-shaped groove is adapted to the outer diameter of the tower.

10. The power pole transport robot according to claim 1, characterized in that, There are four sliding rods, which are arranged in an array at the bottom of the top plate.

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