Rolling climbing type angle steel tower climbing robot

Abstract

The invention relates to the technical field of electric power tools, in particular to a rolling climbing type angle steel tower climbing robot. The device comprises two sets of magnetic attraction climbing units symmetrically hinged to the two sides of a connecting block, the hinge axes of the magnetic attraction climbing units are arranged in the advancing direction of the magnetic attraction climbing units, and the two sets of magnetic attraction climbing units are clamped to the two side edges of the right angle of an angle steel body correspondingly. The climbing robot can stably walk on a narrow climbing channel of an angle steel tower according to a set route, and technical support is provided for stable and accurate operation of the climbing robot.

Description

Technical Field

[0001] This invention relates to the field of power tool technology, specifically a rolling climbing angle steel tower climbing robot. Background Technology

[0002] Angle steel towers are lattice-type steel structures primarily constructed from angle steel profiles, connected by bolts. They are a common type of tower structure in fields such as power, telecommunications, and broadcasting. Angle steel tower climbing robots are intelligent devices that replace manual high-altitude work. When used by supervision or maintenance units, these robots, equipped with cameras, can climb to the top of the angle steel to inspect construction work or monitor the working conditions above the tower.

[0003] Most current climbing robots, as described in the text of Chinese Patent Publication No. CN103587604B entitled "A Magnetic Climbing Vehicle", include a tracked walking mechanism composed of sprockets and chains, and magnetic suction cups distributed around the outer edge of the tracked walking mechanism. When the walking mechanism rotates, the magnetic suction cups on its outer edge alternately generate an attraction force with the angle steel tower, thereby realizing magnetic climbing.

[0004] When this climbing robot is applied to climbing angle steel towers, such as Figure 5 As shown, because the angle steel main bodies a of the angle steel tower are connected to each other by transverse connecting rods b, the passage on the angle steel main body a that allows the climbing robot to climb upwards is relatively narrow. Consequently, when the climbing robot using the cited patent climbs along this narrow passage, on the one hand, the magnetic attraction area provided by the climbing passage to the climbing robot is small. Even small external disturbances or internal load changes can disrupt the magnetic balance, causing the robot to roll sideways or even fall off the angle steel, compromising operational safety and reliability. In particular, the transverse connecting rods b of the angle steel main body are also equipped with thin pressure plates b1 to increase the assembly area of ​​the connecting rods b. The lateral tilting of the climbing robot is especially noticeable when crossing these thin pressure plates b1. On the other hand, it is often difficult to configure a steering structure for this climbing robot. With the thin pressure plates b1 on the surface of the angle steel main body a that need to be crossed, the climbing robot is easily subjected to bumps, causing its path to deviate. As the walking distance increases, the path deviation will generate serious cumulative errors, causing the robot to completely deviate from the intended working area. Therefore, a solution is urgently needed. Summary of the Invention

[0005] To avoid and overcome the technical problems existing in the prior art, the present invention provides a rolling climbing angle steel tower climbing robot that can stably walk along a predetermined route on the narrow climbing passage of the angle steel tower, providing technical support for the stable and accurate operation of the climbing robot.

[0006] To achieve the above object, the present application provides the following technical solutions. A rolling climbing type angle steel tower climbing robot comprises two groups of magnetic climbing units symmetrically hinged on both sides of a connecting block, and the hinge axes thereof are arranged along the advancing direction of the magnetic climbing units, and the two groups of magnetic climbing units are clamped on the two side edges at the right angles of the angle steel body respectively.

[0007] As a further scheme of the present application, one connecting block and two groups of magnetic climbing units form a climbing mechanism, and the climbing mechanisms are arranged at least two along the advancing direction thereof, the connecting blocks of all the climbing mechanisms are hinged on the bridging rods, and the hinge axes thereof are perpendicular to the symmetry planes of the two groups of magnetic climbing units.

[0008] As a further scheme of the present application, the magnetic climbing unit comprises a support plate hingedly connected with the connecting block, the length direction of the support plate is arranged along the advancing direction, both ends of the support plate are hingedly connected with driving wheels, the axes of the driving wheels are perpendicular to the advancing direction and parallel to the planes where the corresponding side edges of the angle steel body are located, at least one driving wheel constitutes a power wheel, and the outer edges of the two driving wheels are connected with a transmission belt, the annular outer surface of the transmission belt is circumferentially uniformly distributed with permanent magnets which are magnetically attracted to the side edges of the angle steel body.

[0009] As a further scheme of the present application, the annular outer surface of the transmission belt is circumferentially uniformly distributed with protrusions, and the protrusions are arranged at intervals, and all the permanent magnets are fixed one by one to the outer surfaces of all the protrusions.

[0010] As a further scheme of the present application, the support plate of each magnetic climbing unit is fixed with a power motor which is power-connected with any driving wheel thereon.

[0011] As a further scheme of the present application, the power motors are arranged on the similar sides of the two groups of magnetic climbing units.

[0012] Compared with the prior art, the present application has the following beneficial effects: 1. Two groups of magnetic climbing units are symmetrically hinged on both sides of a connecting block, and the hinge axes thereof are arranged along the advancing direction of the magnetic climbing units, which makes the two groups better adhere to the two side surfaces of the angle steel body when rotating. By clamping the two groups of magnetic climbing units on the two side edges at the right angles of the angle steel body, a fundamental change from "single-side plane adsorption" to "double-side clamping adsorption" is realized.

[0013] On the one hand, compared with the traditional scheme, only the narrow channel on one side of the angle steel body can be used for adsorption, the adsorption area is small, the application clamps and adsorbs on both sides of the right angle of the angle steel body, so that the magnetic contact area is doubled, and meanwhile, the two form a bidirectional adsorption force, like a "tweezers" clamps the angle steel body from two directions, can effectively resist the overturning moment from multiple directions, prevent the robot from rolling over or twisting. On the other hand, the two vertical sides of the angle steel are ingeniously converted into natural physical guide rails, and the symmetrical clamping structure of the two sides of the magnetic adsorption climbing unit passively and compulsorily restricts the lateral freedom degree of the robot, so that the robot can travel along the axis direction of the angle steel as much as possible, and ensures the high accuracy of the travel direction, and the long-distance straight walking can be realized without complex active control system.

[0014] 2、The connecting block of the climbing mechanism is hingedly connected with the bridging rod, the hinge axis is perpendicular to the symmetry plane of the two groups of magnetic adsorption climbing units, so that the whole climbing mechanism can swing around the axis as a whole, for example, when the climbing robot needs to cross the thin pressure plate connected with the angle steel body, the first climbing mechanism on the front side rolls to the thin pressure plate, at this time, the first climbing mechanism is inclined relative to the plane of the angle steel body, and meanwhile, the bridging rod also swings correspondingly to prevent the second climbing mechanism on the rear side from inclining, that is, the first climbing mechanism in the two climbing mechanisms forms an unstable state of inclination, and the second climbing mechanism forms a stable state of adhesion, the two-stage design makes the whole climbing robot not need to incline during crossing the obstacle, and the stability of crossing the obstacle is high.

[0015] 3、In order to avoid the motion interference between the power motor and the connecting rod on the angle steel body during the travel of the power motor, the two power motors are preferably arranged on the similar sides of the two groups of magnetic adsorption climbing units. DETAILED DESCRIPTION

[0016] Figure 1 It is a structural schematic view of the application.

[0017] Figure 2 It is a top view structural schematic view of the application connected with the angle steel body.

[0018] Figure 3 It is a structural schematic view of the magnetic adsorption climbing unit in the application.

[0019] Figure 4 It is a three-dimensional structural schematic view of the application connected with the angle steel body.

[0020] Figure 5 It is a top view structural schematic view of the angle steel body.

[0021] In the diagram: 10, bridging rod; 20, connecting block; 30, magnetic climbing unit; 31, support plate; 32, drive wheel; 33, transmission belt; 331, protrusion; 34, permanent magnet; 35, power motor; a, angle steel body; b, connecting rod; b1, thin pressure plate. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] For ease of understanding, the specific structure and operation of the present invention will be further described below with reference to the accompanying drawings: The specific structure of this invention is as follows: Figures 1-4 As shown, its main structure includes a bridging rod 10 arranged along the direction of travel of the climbing robot and at least two sets of climbing mechanisms arranged along the length of the bridging rod 10.

[0024] Among them, such as Figure 2 Each climbing mechanism shown includes a connecting block 20 and two sets of magnetic climbing units 30 symmetrically hinged to both sides of the connecting block 20.

[0025] like Figure 2 As shown, the two sets of magnetic climbing units 30 are arranged along the robot's direction of travel relative to the hinge axis of the connecting block 20. This design allows the magnetic climbing units 30 on both sides to rotate independently around their hinge axis with the connecting block 20, thereby better fitting the two sides of the angle steel body a. By clamping the two sets of magnetic climbing units 30 onto the two sides at the right angle of the angle steel body a, a fundamental change from "single-sided planar adsorption" to "double-sided clamping adsorption" is achieved.

[0026] On the one hand, compared to traditional solutions that can only utilize the narrow channel on one side of the angle steel body a for adsorption, resulting in a small adsorption area, this application uses the two sides of the angle steel body a at the right angle for adsorption, which doubles the magnetic contact area. Simultaneously, the two sides form a bidirectional adsorption force, clamping the angle steel body a from two directions like a "pliers," effectively resisting overturning moments from multiple directions and preventing the robot from tipping over or twisting. On the other hand, this application cleverly transforms the two vertical sides of the angle steel into natural physical guide rails. The symmetrical clamping structure of the magnetic climbing units 30 on both sides passively and forcibly constrains the robot's lateral degree of freedom, allowing the robot to move along the axis of the angle steel body a as much as possible, ensuring high precision in the direction of travel, and enabling long-distance straight-line movement without a complex active control system.

[0027] As shown in Figure 1 and Figure 3 , the connecting block 20 of the climbing mechanism is hingedly connected with the bridging rod 10, and the hinging axis is perpendicular to the symmetry plane of the two groups of magnetic attraction climbing units 30 (i.e. the direction of the projection plane shown by the dashed line), so that the whole climbing mechanism can swing as a whole around the axis, so that the climbing robot can realize stable obstacle crossing. Figure 2

[0028] Specifically, taking the case of setting two groups of climbing mechanisms, as shown in Figure 4 , when the climbing robot needs to cross the thin pressure plate b1 connected with the angle steel body a by the connecting rod b, the first climbing mechanism on the front side rolls to the thin pressure plate b1, at this time, the first climbing mechanism is inclined relative to the plane where the angle steel body a is located, at the same time, the bridging rod 10 also swings correspondingly to prevent the second climbing mechanism on the rear side from being inclined, that is, the first climbing mechanism in the two groups of climbing mechanisms forms an unstable state of inclination, while the second climbing mechanism forms a stable state of adhesion, and the two-stage design makes it unnecessary for the whole climbing robot to be inclined as a whole during obstacle crossing, and the stability of obstacle crossing is strong.

[0029] As shown in Figure 1 and Figure 3 , each magnetic attraction climbing unit 30 includes a support plate 31, and the hinging connection between the support plate 31 and the connecting block 20 forms the hinging connection between the magnetic attraction climbing unit 30 and the connecting block 20. The two ends of the support plate 31 are hingedly connected with drive wheels 32 through bearings, the axis of the drive wheels 32 is perpendicular to the direction of travel and parallel to the plane where the side of the angle steel body a to be adhered is located. At least one of the two drive wheels 32 is a driving wheel, and the other is a driven wheel. A transmission belt 33 is sleeved on the two drive wheels 32, which can be a synchronous belt or a chain, and the drive wheels 32 are corresponding pulleys or sprockets.

[0030] As shown in Figure 3 , the annular outer surface of the transmission belt 33 is circumferentially and uniformly provided with a plurality of permanent magnets 34, which are used to generate magnetic attraction force with the side of the angle steel body a.

[0031] As shown in Figure 3 , in order to improve the crossing ability of the magnetic attraction climbing unit 30 during obstacle crossing, a plurality of protrusions 331 are circumferentially and uniformly arranged on the annular outer surface of the transmission belt 33, and there are intervals between the protrusions 331. The permanent magnets 34 are fixed one by one on the inner side of the outer surface of the protrusions 331.

[0032] As shown in Figure 3 ​As shown, one power motor 35 is fixedly installed on the support plate 31 of each magnetic climbing unit 30. The output shaft of the power motor 35 is connected with one of the driving wheels 32 through a reducer or direct connection to provide power for the driving wheel 32. In order to avoid the motion interference between the power motor 35 and the connecting rod b on the angle steel body a during the movement of the power motor 35, preferably, the two power motors 35 are arranged on the similar side (i.e. the inner side) of the two groups of magnetic climbing units 30.

[0033] Of course, for those skilled in the art, the present application is not limited to the details of the above exemplary embodiments, but also includes the same or similar structures that can be realized in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting, the scope of the present application is defined by the appended claims rather than the above description, and therefore all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any reference signs in the claims should not be regarded as limiting the claims involved.

[0034] In addition, it should be understood that although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the description of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that those skilled in the art can understand.

[0035] The technologies, shapes, and structural parts not described in detail in the present application are well-known technologies.

Claims

1. A rolling climbing angle steel tower climbing robot, characterized in that, It includes two sets of magnetic climbing units (30) symmetrically hinged on both sides of the connecting block (20), and their hinge axis is arranged along the traveling direction of the magnetic climbing unit (30). The two sets of magnetic climbing units (30) are respectively clamped on both sides of the right angle of the angle steel body (a).

2. The rolling climbing angle steel tower climbing robot according to claim 1, characterized in that, A climbing mechanism consists of a connecting block (20) and two sets of magnetic climbing units (30). The climbing mechanism is configured to have at least two units arranged along its direction of travel. All connecting blocks (20) of the climbing mechanism are hinged to the bridging rod (10), and their hinge axes are perpendicular to the plane of symmetry of the two sets of magnetic climbing units (30).

3. A rolling climbing angle steel tower climbing robot according to claim 1 or 2, characterized in that, The magnetic climbing unit (30) includes a support plate (31) that is hinged to the connecting block (20). The length of the support plate (31) is arranged along the travel direction. Both ends of the support plate (31) are hinged to drive wheels (32). The axis of the drive wheels (32) is perpendicular to the travel direction and parallel to the plane where the corresponding side of the angle steel body (a) is located. At least one drive wheel (32) constitutes a power wheel. The outer edges of the two drive wheels (32) are connected to a transmission belt (33). Permanent magnets (34) that magnetically engage with the side of the angle steel body (a) are evenly distributed on the annular outer surface of the transmission belt (33).

4. A rolling climbing angle steel tower climbing robot according to claim 3, characterized in that, The outer surface of the transmission belt (33) is circumferentially distributed with protrusions (331), and the protrusions (331) are spaced apart. All permanent magnets (34) are fixed to the outer surface of all the protrusions (331) one by one.

5. A rolling climbing angle steel tower climbing robot according to claim 3, characterized in that, Each magnetic climbing unit (30) has a power motor (35) fixed on its support plate (31) to form a power connection with any of its drive wheels (32).

6. A rolling climbing angle steel tower climbing robot according to claim 5, characterized in that, The power motor (35) is arranged on the adjacent side of the two sets of magnetic climbing units (30).

Images