Electric power tower screw fastening and loosening detection integrated mechanical arm operation device

Abstract

The invention relates to the technical field, in particular to an electric power tower screw fastening and loosening detection integrated mechanical arm operation device which comprises an electric power tower and supporting cross beams, the supporting cross beams are installed on the inner wall of the electric power tower in multiple layers at equal intervals, and the adjacent layers of supporting cross beams are fixedly connected through supporting oblique beams. Limiting assemblies are installed in the top frame and the bottom frame, and an adjusting assembly is arranged between the top frame and the bottom frame. Through cooperation of the top frame, the bottom frame, the vertical sliding rods, the V-shaped clamping plates, the electric power tower and the supporting cross beams, position fixation between upper sleeves of the top frame and the vertical sliding rods is achieved, and therefore the V-shaped clamping plates with different heights can correspond to the positions of the supporting cross beams on the adjacent layers in the limiting process; therefore, the problem that the applicability is poor due to the fact that the intervals between the supporting cross beams of all layers in an existing power tower are different but the capacity of adjusting the supporting distance is not achieved can be effectively avoided.

Description

Technical Field

[0001] This invention relates to the field of power pole bolt tightening and loosening detection technology, specifically to an integrated robotic arm operating device for power pole bolt tightening and loosening detection. Background Technology

[0002] Inspection of the tightness and looseness of bolts on power transmission towers is a key maintenance task to ensure the structural safety of transmission towers. It involves inspecting the preload, loosening displacement, vibration spectrum, and other conditions of the connecting bolts to identify potential problems such as loosening, missing bolts, and corrosion, and to carry out timely tightening and repair to prevent power grid safety accidents such as tower instability and collapse.

[0003] However, there is currently no dedicated robotic arm screw inspection structure suitable for power poles, which means that manual labor is the only option. This can easily lead to poor inspection results and high personnel requirements. Furthermore, the spacing between the support beams of each layer in existing power poles is not the same, but there is no ability to adjust the support spacing, resulting in poor applicability. Summary of the Invention

[0004] The purpose of this invention is to solve the problem that the existing power poles have poor applicability because the spacing between the support beams of each layer is not the same but they do not have the ability to adjust the support spacing. Therefore, this invention proposes a robotic arm operation device that integrates power pole screw tightening and loosening detection.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] Design a robotic arm operating device integrating bolt tightening and loosening detection for power poles, including a power pole and supporting beams. The inner wall of the power pole is equipped with multiple layers of supporting beams at equal intervals. Adjacent layers of supporting beams are fixedly connected by supporting inclined beams. The lower end of the power pole is fixedly connected to a base. A top frame and a bottom frame are distributed at the top and center of the inner wall of the power pole, respectively. Limiting components are installed inside the top frame and the bottom frame. An adjustment component is provided between the top frame and the bottom frame.

[0007] Preferably, the adjustment assembly includes a vertical slide bar, a threaded rod, a fastening bolt, a servo motor, and a top plate;

[0008] The lower ends of the multiple vertical slide rods are fixedly connected to the bottom frame, and the upper ends of the vertical slide rods are all fixedly connected to the top plate. The upper outer wall of the vertical slide rods penetrates and slides through the upper sleeve of the top frame. The upper sleeve of the top frame is abutted and fixed to the vertical slide rods by fastening bolts. A servo motor is fixedly connected to the upper center of the top plate. The output shaft of the servo motor is fixedly connected to a threaded rod. Both sides of the outer wall of the threaded rod are rotatably connected to the top plate and the bottom frame respectively by bearings.

[0009] This feature, through the design of vertical sliding rods and fastening bolts, allows for adjustment of the distance between the top and bottom frames. This is achieved by the bottom frame driving the vertical sliding rod to slide inside the top frame. Once the corresponding distance is reached, the fastening bolts can be tightened to fix the position between the upper sleeve of the top frame and the vertical sliding rod.

[0010] Preferably, a lifting platform is slidably connected to the center of the outer wall of the vertical slide rod, and the center of the inner wall of the lifting platform is threadedly connected to the threaded rod.

[0011] Preferably, robotic arms are installed on both sides of the outer wall of the lifting platform, and screw detection mechanisms and cameras can be added to the ends of the robotic arms.

[0012] This setup utilizes a servo motor, lifting platform, and robotic arm design. The output shaft of the servo motor drives a threaded rod to rotate, which in turn adjusts the height of the lifting platform. This, in turn, adjusts the height of the robotic arm to complete the inspection of all screws at the corresponding height.

[0013] Preferably, the limiting assembly includes a connecting ring, a V-shaped clamping plate, an electric push rod one, a limiting slide cylinder, and an electric push rod two;

[0014] Multiple electric push rods are fixed to the outer sides of the inner walls of the top frame and the bottom frame, respectively. Multiple electric push rods are fixed to the inner sides of the inner walls of the top frame and the bottom frame, respectively. The output shaft ends of electric push rods one and two are fixedly connected to the back connecting rod of the V-shaped plate. The outer wall end of the V-shaped plate is abutted against and limited by the supporting crossbeam. The outer wall of the back connecting rod of the V-shaped plate is slidably connected to the limiting slide cylinder. The bottom of multiple limiting slide cylinders is fixedly connected to the bottom of the inner wall of the top frame or the bottom frame. Multiple connecting rings are fixedly installed at the four upper corners of the top frame.

[0015] This feature: Through the design of electric push rod one, electric push rod two, and V-shaped clamps, electric push rod one and electric push rod two can drive multiple V-shaped clamps to unfold outward. The outer wall shape of the V-shaped clamps is consistent with the curvature and inclination of the supporting beam, so that the V-shaped clamps are perfectly locked at the supporting beam to achieve the limit.

[0016] Preferably, the electric push rod one and electric push rod two mentioned above are oriented in the left-right direction, and the electric push rod one and electric push rod two mentioned below are oriented in the front-back direction.

[0017] Preferably, the back of the V-shaped card plate is machined with a notch, and the position of the notch corresponds to the position of the electric push rod one and the electric push rod two.

[0018] Preferably, a maintenance guardrail is installed on the upper outer wall of the power pole.

[0019] Preferably, the top end of the power pole is connected to a power transmission line.

[0020] The present invention proposes an integrated robotic arm device for detecting the tightening and loosening of bolts on power poles, which has the following advantages:

[0021] By coordinating the top frame, bottom frame, vertical slide bar, V-shaped clamp, power pole, and supporting beam, the distance between the top and bottom frames can be adjusted according to specific dimensions before use. The bottom frame drives the vertical slide bar to slide inside the top frame to achieve the desired spacing. Once the corresponding spacing is reached, the fastening bolts can be tightened to fix the position between the upper sleeve of the top frame and the vertical slide bar. This ensures that the V-shaped clamps at different heights correspond to the positions of the supporting beams on adjacent layers during positioning. This effectively avoids the poor applicability caused by the inconsistent spacing between the supporting beams on each layer in existing power poles, which lack the ability to adjust the support spacing.

[0022] By coordinating the robotic arm, power pole, servo motor, threaded rod, and lifting platform, the robotic arm can be manipulated from any angle in all directions via a three-axis rotation structure. A screw detection mechanism at the robotic arm's output end checks the tightness of screw connections on various components of the power pole, transmitting the data via sensors. The entire operation can be observed via a camera at the robotic arm's output end, or used for alignment confirmation when switching to manual operation. When detecting screws at different heights, the user can control the servo motor, causing its output shaft to rotate the threaded rod. This rotation of the threaded rod drives the lifting platform to adjust its height, which in turn adjusts the robotic arm's height, completing the screw detection at the corresponding height. This effectively avoids the current problem of the lack of a dedicated robotic arm screw detection structure suitable for power poles, which necessitates manual labor, leading to poor detection results and high personnel requirements. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall appearance and structure of the present invention;

[0024] Figure 2 This is a cross-sectional view of the external structure of the present invention;

[0025] Figure 3 For the present invention Figure 1 Schematic diagram of the structure of the adjustment component and the limiting component;

[0026] Figure 4 For the present invention Figure 3 A partial structural diagram of the top frame;

[0027] Figure 5 For the present invention Figure 4 Schematic diagram of the cross-sectional structure in the middle;

[0028] Figure 6 For the present invention Figure 3 A partial structural diagram of the bottom frame;

[0029] Figure 7 For the present invention Figure 2 Schematic diagram of the structure at point A in the diagram;

[0030] Figure 8 For the present invention Figure 2 The structural diagram at point B in the diagram.

[0031] In the diagram: 1. Power pole, 2. Support beam, 3. Adjustment assembly, 301. Vertical slide bar, 302. Threaded rod, 303. Fastening bolt, 304. Servo motor, 305. Top plate, 4. Limiting assembly, 401. Connecting ring, 402. V-shaped clamp, 403. Electric push rod one, 404. Limiting slide cylinder, 405. Electric push rod two, 5. Maintenance guardrail, 6. Power transmission line, 7. Base, 8. Supporting inclined beam, 9. Lifting platform, 10. Robotic arm, 11. Top frame, 12. Bottom frame. Detailed Implementation

[0032] The present invention will be further described below with reference to the accompanying drawings:

[0033] See attached document Figure 1-8 In this embodiment, a robotic arm operating device integrating bolt tightening and loosening detection for power poles includes a power pole 1 and a supporting beam 2. Multiple layers of supporting beams 2 are equidistantly installed on the inner wall of the power pole 1, providing support for the power pole 1. The power pole 1 adopts a structure that is narrower at the top and wider at the bottom. Adjacent layers of supporting beams 2 are fixedly connected by supporting inclined beams 8. A base 7 is fixedly connected to the lower end of each power pole 1. A top frame 11 and a bottom frame 12 are distributed on the upper part and center of the inner wall of the power pole 1, respectively. The top frame 11 and the bottom frame 12 have identical structures, differing only in the orientation of the internal partitions and electric push rods. Limiting components 4 are installed inside the top frame 11 and the bottom frame 12, and an adjusting component 3 is provided between the top frame 11 and the bottom frame 12.

[0034] See attached document Figure 1-8 In this embodiment, the adjustment component 3 includes a vertical slide bar 301, a threaded rod 302, a fastening bolt 303, a servo motor 304, and a top plate 305.

[0035] The lower ends of multiple vertical slide rods 301 are fixedly connected to the bottom frame 12, and the upper ends of the vertical slide rods 301 are fixedly connected to the top plate 305. The upper outer wall of the vertical slide rods 301 penetrates and slides through the upper sleeve of the top frame 11. The vertical slide rods 301 can slide inside the upper sleeve of the top frame 11. The position between the vertical slide rods 301 and the top frame 11 is fixed by tightening the fastening bolts 303. The upper sleeve of the top frame 11 is abutted and fixed to the vertical slide rods 301 by the fastening bolts 303. A servo motor 304 is fixedly connected to the upper center of the top plate 305.

[0036] The model of servo motor 304 can be determined according to the specific application. Servo motor 304 has reverse and self-locking capabilities. The output shaft of servo motor 304 is fixedly connected to threaded rod 302. Both sides of the outer wall of threaded rod 302 are rotatably connected to top plate 305 and bottom frame 12 respectively through bearings. Rotation of threaded rod 302 can drive lifting platform 9 to move up or down. Lifting platform 9 is slidably connected to the center of the outer wall of vertical slide rod 301. The center of the inner wall of lifting platform 9 is threadedly connected to threaded rod 302. Robotic arms 10 are installed on both sides of the outer wall of lifting platform 9. Screw detection mechanism and camera can be added to the end of robotic arm 10. The model of robotic arm 10 can be determined according to the specific application. Screw detection mechanism and camera are mature existing technologies. In specific operation, the appropriate model can be selected and connected at the corresponding bolt hole position.

[0037] See attached document Figure 1-8 In this embodiment, the limiting component 4 includes a connecting ring 401, a V-shaped clamping plate 402, an electric push rod 403, a limiting slide cylinder 404, and an electric push rod 405.

[0038] Multiple electric push rods 403 are fixed to the outer sides of the inner walls of the top frame 11 and the bottom frame 12, respectively. Multiple electric push rods 405 are fixed to the inner sides of the inner walls of the top frame 11 and the bottom frame 12, respectively. The models of electric push rods 403 and 405 can be determined according to the specific application. They have self-locking capability. The output shaft ends of electric push rods 403 and 405 are fixedly connected to the back connecting rod of V-shaped clamping plate 402. The outer wall end of V-shaped clamping plate 402 is pressed against and limited by the support beam 2. The outer wall shape of V-shaped clamping plate 402 is consistent with the curvature and inclination of support beam 2, so that V-shaped clamping plate 402 is perfectly locked at support beam 2 to achieve limitation. The outer wall of the back connecting rod of V-shaped clamping plate 402 is slidably connected to the limiting cylinder 404.

[0039] The bottom of multiple limiting slide cylinders 404 is fixedly connected to the bottom of the inner wall of the top frame 11 or the bottom frame 12. The limiting slide cylinders 404 can be used to limit the sliding support of the back connecting rod of the V-shaped plate 402. Multiple connecting rings 401 are fixedly installed at the four corners of the upper end of the top frame 11. The upper electric push rod 1 403 and electric push rod 2 405 are oriented in the left and right direction, and the lower electric push rod 1 403 and electric push rod 2 405 are oriented in the front and back direction. The back of the V-shaped plate 402 is notched. The position of the notch of the V-shaped plate 402 corresponds to the position of the electric push rod 1 403 and electric push rod 2 405. The notch allows the V-shaped plate 402 to be further retracted inward (there is space). The upper outer wall of the power pole 1 is equipped with a maintenance guardrail 5. The top end of the power pole 1 is connected to the power transmission line 6. Power poles 1 are set at certain intervals to support the power transmission line 6.

[0040] Working principle:

[0041] When this integrated robotic arm device for tightening and loosening power pole bolts is needed, the user can first connect and assemble the overall structure as shown in the figure. During the process, the spacing between the support beams 2 of each layer in different power poles 1 is not the same. Before use, the distance between the top frame 11 and the bottom frame 12 can be adjusted according to the specific size values. The bottom frame 12 drives the vertical slide rod 301 to slide inside the top frame 11. After reaching the corresponding spacing, the fastening bolts 403 can be tightened to fix the position between the upper sleeve of the top frame 11 and the vertical slide rod 301. In this way, the V-shaped clamps 402 at different heights can correspond to the positions of the support beams 2 of the adjacent layers when the limit is set. This can effectively avoid the poor applicability caused by the fact that the spacing between the support beams 2 of each layer in the existing power poles 1 is not the same but there is no ability to adjust the support spacing.

[0042] After adjusting the spacing, the user can place the entire structure inside the lower center of the power pole 1 and lower the suspension rope at the top of the power pole 1 (this is existing technology, and a suspension rope can be installed at the top of power towers that do not have climbing conditions). The suspension rope is wrapped around the four connecting rings 401, and then the suspension rope drives the connecting rings 401 to move the entire top frame 11 and bottom frame 12 upward. After reaching the corresponding height, it stops. At this time, the output shafts of multiple electric push rods 403 and 405 on the inner wall of the top frame 11 and bottom frame 12 extend synchronously, so that the electric push rods 403 and 405 can drive multiple V-shaped clamps 402 to unfold outward. The outer wall shape of the V-shaped clamps 402 is consistent with the curvature and inclination of the supporting beam 2, so that the V-shaped clamps 402 are perfectly locked at the supporting beam 2 to achieve the limit. At the same time, due to the synchronous start of multiple electric push rods, the structure is now located exactly in the center inside the power pole 1.

[0043] After the top frame 11 and bottom frame 12 are positioned within the inner wall of the power pole 1, the corresponding robotic arm 10 can be controlled to operate. The robotic arm 10 can be manipulated from any angle in all directions through a three-axis rotation structure. The screw detection mechanism at the output end of the robotic arm 10 can check the tightness of the screw connections of various components of the power pole 1, and the structure is transmitted through sensors. The operation can be observed throughout by the camera at the output end of the robotic arm 10, or it can be used as an alignment confirmation when switching to manual operation. When detecting screws at different heights, the user can control the servo motor 304, so that the output shaft of the servo motor 304 drives the threaded rod 302 to rotate. The rotation of the threaded rod 302 drives the lifting platform 9 to adjust its height, which in turn drives the robotic arm 10 to adjust its height and complete the detection of all screws at the corresponding height.

[0044] This effectively avoids the current problem that there is no dedicated robotic arm screw inspection structure suitable for power poles, which means that only manual labor can be used, resulting in poor inspection results and high requirements for personnel. After completing the corresponding height inspection, multiple electric push rods are controlled to retract, and the top frame 11 and bottom frame 12 are controlled to descend or rise to other support beams 2 via suspension ropes to perform screw inspection at another height. Repeating the above operation can realize the integrated robotic arm operation for power pole screw tightening and loosening inspection.

[0045] Finally, after use, disconnect the corresponding sling from the connecting ring 401. All components between the top frame 11 and the bottom frame 12 can be inspected and maintained periodically. In this case, the control process can be controlled by a PLC controller, which can be an electric push rod, servo motor, robotic arm, etc. The control content can include control, self-locking, linkage, stroke, screw detection, robotic arm orientation, and extension speed, etc.

[0046] Although the present invention has been illustrated and described with reference to preferred embodiments, those skilled in the art will understand that various changes in form and detail are possible within the scope of the claims.

Claims

1. A robotic arm operating device integrating bolt tightening and loosening detection for power poles, comprising a power pole (1) and supporting beams (2), wherein the inner wall of the power pole (1) is provided with multiple layers of supporting beams (2) at equal intervals, characterized in that: The supporting beams (2) of adjacent layers are fixedly connected by supporting inclined beams (8). The lower end of each power pole (1) is fixedly connected to a base (7). The upper part and the center of the inner wall of the power pole (1) are respectively distributed with a top frame (11) and a bottom frame (12). Limiting components (4) are installed inside the top frame (11) and the bottom frame (12). An adjustment component (3) is provided between the top frame (11) and the bottom frame (12).

2. The integrated robotic arm operating device for detecting the tightening and loosening of power pole bolts according to claim 1, characterized in that: The adjustment assembly (3) includes a vertical slide bar (301), a threaded rod (302), a fastening bolt (303), a servo motor (304), and a top plate (305); The lower ends of the multiple vertical slide rods (301) are fixedly connected to the bottom frame (12), and the upper ends of the vertical slide rods (301) are fixedly connected to the top plate (305). The upper outer wall of the vertical slide rods (301) penetrates and slides through the upper sleeve of the top frame (11). The upper sleeve of the top frame (11) is abutted and fixed to the vertical slide rods (301) by fastening bolts (303). A servo motor (304) is fixedly connected to the upper center of the top plate (305). The output shaft of the servo motor (304) is fixedly connected to the threaded rod (302). The outer sides of the threaded rod (302) are rotatably connected to the top plate (305) and the bottom frame (12) respectively by bearings.

3. The integrated robotic arm operating device for detecting the tightening and loosening of power pole bolts according to claim 2, characterized in that: The center of the outer wall of the vertical slide bar (301) is slidably connected to the lifting platform (9), and the center of the inner wall of the lifting platform (9) is threadedly connected to the threaded rod (302).

4. The integrated robotic arm operating device for detecting the tightening and loosening of power pole bolts according to claim 3, characterized in that: The lifting platform (9) is equipped with robotic arms (10) on both sides of its outer wall. The ends of the robotic arms (10) can be fitted with screw detection mechanisms and cameras.

5. The integrated robotic arm operating device for detecting the tightening and loosening of power pole bolts according to claim 1, characterized in that: The limiting component (4) includes a connecting ring (401), a V-shaped clamping plate (402), an electric push rod one (403), a limiting slide cylinder (404), and an electric push rod two (405). Multiple electric push rods (403) are fixed to the outer side of the inner wall of the top frame (11) and the bottom frame (12), and multiple electric push rods (405) are fixed to the inner side of the inner wall of the top frame (11) and the bottom frame (12). The output shaft ends of electric push rods (403) and electric push rods (405) are fixedly connected to the back connecting rod of V-shaped plate (402). The outer wall end of V-shaped plate (402) is abutted against and limited by the support beam (2). The outer wall of the back connecting rod of V-shaped plate (402) is slidably connected to the limiting slide cylinder (404). The bottom of multiple limiting slide cylinders (404) is fixedly connected to the bottom of the inner wall of the top frame (11) or the bottom frame (12). Multiple connecting rings (401) are fixedly installed at the four corners of the upper end of the top frame (11).

6. The integrated robotic arm operating device for detecting the tightening and loosening of power pole bolts according to claim 5, characterized in that: The electric push rod 1 (403) and electric push rod 2 (405) mentioned above are oriented in the left-right direction, while the electric push rod 1 (403) and electric push rod 2 (405) mentioned below are oriented in the front-back direction.

7. The integrated robotic arm operating device for detecting the tightening and loosening of power pole bolts according to claim 5, characterized in that: The back of the V-shaped card plate (402) has a notch, and the position of the notch of the V-shaped card plate (402) corresponds to the position of the electric push rod one (403) and the electric push rod two (405).

8. The integrated robotic arm operating device for detecting the tightening and loosening of power pole bolts according to claim 1, characterized in that: The upper outer wall of the power pole (1) is equipped with a maintenance guardrail (5).

9. The integrated robotic arm operating device for detecting the tightening and loosening of power pole bolts according to claim 1, characterized in that: The top end of the power pole (1) is connected to a power transmission line (6).

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