A power transmission tower arrangement anti-falling safety device matching device

Abstract

The application discloses a device for arranging and fixing a safety device on a power transmission tower, which eliminates the personal safety risk of manually arranging and fixing a safety device on a high altitude and improves the efficiency of arranging and fixing a safety device. The device comprises a crawling robot and a safety rope mechanism. The crawling robot comprises a frame, a driving assembly and a crawling assembly installed on the frame. The driving assembly drives the crawling assembly to crawl along the power transmission tower. The safety rope mechanism comprises a support and two hook assemblies installed on the upper side and the lower side of the support. The upper end of the support is connected with the frame. The hook assembly comprises a hook and a hook driving piece for driving the hook to move. A connecting rope is connected between the two hooks. A falling prevention rope is connected with the connecting rope.

Description

Technical Field

[0001] This invention belongs to the field of power grid equipment operation and maintenance technology, and specifically relates to a supporting device for anti-fall safety measures on transmission towers. Background Technology

[0002] To ensure the safe operation of power transmission lines, maintenance, inspection, and acceptance are necessary, and climbing transmission towers is an essential part of this process. Daily work on power transmission lines is very frequent, often involving multiple teams of personnel climbing different towers simultaneously. Most transmission line towers lack fall arrestor rails, and it's common for installed fall arrestors to be unable to pass through them. Current on-site climbing solutions, such as alternating protection with main and auxiliary safety belts or using fall arrestor ropes, are time-consuming, labor-intensive, inefficient, and physically demanding. Therefore, there is an urgent need for a mechanized and automated method to implement fall arrest safety measures for power transmission line tower climbing. Summary of the Invention

[0003] To address the shortcomings of existing technologies, the technical problem to be solved by this invention is to provide a supporting device for arranging fall protection measures on transmission towers. This device uses automated means to complete the arrangement of fall protection measures on transmission lines, thereby avoiding the personal safety risks of manually arranging safety measures at heights and improving the efficiency of safety measure arrangement.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A safety device for preventing falls from power transmission towers includes a crawling robot and a safety rope mechanism. The crawling robot includes a frame and a drive assembly and a crawling assembly mounted on the frame. The drive assembly drives the crawling assembly to crawl along the power transmission tower. The safety rope mechanism includes a bracket and two hook assemblies correspondingly mounted on the upper and lower sides of the bracket. The upper end of the bracket is connected to the frame. The hook assembly includes a hook and a hook drive component that drives the hook to move. A connecting rope is connected between the two hooks, and a fall arresting rope is connected to the connecting rope.

[0005] Preferably, the hook assembly further includes a hook base, the hook is hinged to the hook base, and the hook drive includes an electric push rod fixed to the hook base. The push rod of the electric push rod is connected to the hook and is used to drive the hook to rotate, thereby hooking the hook onto the foot spikes of the transmission tower.

[0006] Preferably, the hook drive further includes a return spring connecting the hook and the hook seat, the return spring driving the hook to return to its original position when the push rod retracts.

[0007] Preferably, the bracket includes two parallel and spaced support rods and a fixing block connecting the two support rods, two hook assemblies are movably connected to the two support rods, and a buffer structure is provided between the two hook assemblies.

[0008] Preferably, the buffer structure includes a buffer adjustment spring, which is movably nested on the support rod and connected at both ends to two hook assemblies respectively.

[0009] Preferably, the bracket has a fixing block on the upper side of the upper hook assembly and a fixing block on the lower side of the lower hook assembly, and a buffer adjustment spring is provided between the fixing block and the hook assembly.

[0010] Preferably, the crawling assembly includes a crawling chain mounted on a second sprocket and a third sprocket, and strong magnets are distributed along the circumferential direction on the crawling chain.

[0011] Preferably, the frame includes a first mounting bracket for mounting the second sprocket and the third sprocket. The first mounting bracket is provided with an adjustment groove that movably engages with the sprocket shaft of the third sprocket. A tension spring for tensioning the crawling chain is connected between the first mounting bracket and the sprocket shaft of the third sprocket.

[0012] Preferably, the drive assembly includes a motor and a reducer, the reducer is connected to a first sprocket, and a drive chain is connected between the first sprocket and a second sprocket; and / or, the crawling chain includes V-shaped attachments distributed in a circumferential direction, and two strong magnets are correspondingly installed on the two sides of the V-shaped attachments.

[0013] Preferably, the crawling robot also includes a pressure fan located on its head, which applies a force toward the power transmission tower to the head of the crawling robot by exhausting air during the crawling process.

[0014] The present invention adopts the above-mentioned technical solution, and through the coordinated cooperation of the crawling robot and the safety rope mechanism, it realizes the automated operation of the safety measures for preventing falls on power transmission lines, and solves the problems of high risk, low efficiency and poor reliability of manual high-altitude operation in the traditional safety rope deployment of power transmission towers.

[0015] Replacing manual high-altitude operations and eliminating core hidden dangers of personal injury and death: The crawling robot is moved up and down by remote control from the ground / safe area, driving the safety rope mechanism to complete the locking operation. The operator does not need to climb the transmission tower or perform any hooking / locking operations at high altitude. The operation mode fundamentally avoids the high-frequency personal safety risks in the power industry, such as falls from height, collisions with high-altitude components, and instability of high-altitude operations, and achieves "personal safety" in the implementation of fall prevention measures.

[0016] The dual-hook assembly and automated hook drive enhance the reliability of the safety device: The two hook assemblies, arranged symmetrically on the top and bottom, complete the hooking / locking action through the hook drive (mechanical automation), replacing the subjective operation of manual hooking and avoiding safety device failure caused by human error such as the hook not being tightened, the lock not being locked, or the hook not being in place.

[0017] 3. Distributed stress and flexible connection reduce the probability of fall arrest system failure: The connecting rope is connected to two hooks in series and then to the fall arrest rope, so that the tension of the fall arrest rope is shared by the two hooks, which greatly reduces the stress load on a single hook and avoids the breakage of a single hook due to overload. At the same time, the flexible connection between the connecting rope and the fall arrest rope can adapt to small deformations of the transmission tower components and slight swaying of the robot movement, avoiding rope breakage caused by hard pulling of the fall arrest rope, and further improving the safety redundancy of the fall arrest system.

[0018] 4. The time-consuming deployment of traditional transmission tower fall arrest safety ropes mainly lies in the time spent on manual climbing and the tedious operation of manually hooking / locking, requiring multiple people (1 person working at height + 1 person monitoring on the ground + 1 person assisting with rope hanging). This device reduces operation time and improves efficiency through mechanized and automated operation in multiple aspects. On the one hand, the robot crawls autonomously, completely eliminating the time spent on manual climbing: the driving components of the crawling robot drive the crawling components to move up and down the transmission tower autonomously, with controllable speed and no need to consider the physical limitations of personnel. For towers tens or even hundreds of meters high, it can directly save several to tens of minutes of manual climbing time, and the robot can move continuously without interruption, making the operation continuity far higher than that of manual labor. In addition, the automated locking mechanism significantly reduces the time required for a single operation: the hook drive can quickly complete the opening, closing, and locking actions of the hook. The time required for a single locking operation is only 1 / 3 or even less than that of manual hooking and tightening. Moreover, there is no fatigue-related slowdown problem associated with manual operation. When laying fall arrest ropes on multiple sections of transmission towers in batches, the efficiency improvement is even more significant.

[0019] 5. Single-person remote control operation, reducing manpower and coordination costs: This device requires only one operator with simple training to complete the entire remote control operation, eliminating the need for the traditional "high-altitude + ground + auxiliary" multi-person coordination mode. This reduces labor costs and avoids efficiency losses such as instruction transmission delays and poor operation coordination in multi-person coordination. No physical limitations, enabling continuous operation: Manual high-altitude operations are limited by physical strength and high-altitude tolerance, resulting in long work intervals and limited single-operation time. The crawling robot has no physical limitations and can continuously complete the installation of fall protection measures on multiple transmission towers. It is particularly suitable for safety measure installation work in transmission line inspection and batch maintenance, significantly improving overall construction efficiency.

[0020] In summary, this device, through its core design of replacing manual high-altitude movement with a crawling robot and automated hook components with manual high-altitude operations, fundamentally restructures the deployment of fall protection measures on transmission towers. It not only eliminates the personal safety risks of manual high-altitude deployment at the source but also achieves a comprehensive improvement in operational efficiency, operational adaptability, and deployment reliability. Furthermore, it aligns with the power industry's requirements for safety management, standardized operations, and intelligent upgrades. Its technical effectiveness is not merely a simple superposition of individual structures but rather the synergistic interaction between the crawling robot and the safety rope mechanism. This allows the design advantages of each component to complement each other, ultimately achieving comprehensive technical value in terms of "safety, efficiency, reliability, and standardization," possessing strong engineering scalability and practical application value.

[0021] These features and advantages of the present invention will be disclosed in detail in the following specific embodiments and accompanying drawings. Attached Figure Description

[0022] The invention will be further described below with reference to the accompanying drawings: Figure 1 This is a schematic diagram illustrating the usage status of a power transmission tower anti-fall safety device according to the present invention; Figure 2 This is a schematic diagram of the internal safety rope mechanism in an embodiment of the present invention; Figure 3 This is a schematic diagram of the hook assembly in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the crawling robot in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of the crawling robot in an embodiment of the present invention; Figure 6 This is a schematic diagram illustrating the fit between the guide wheel and the angle steel component in an embodiment of the present invention; Figure 7 This is a side view of the usage state of a power transmission tower anti-fall safety device according to the present invention; In the diagram: Crawling robot 100, crawling component 110, crawling chain 111, second sprocket 112, third sprocket 113, V-shaped attachment 114, strong magnet 115, tension spring 116, drive component 120, motor 121, reducer 122, first sprocket 123, transmission chain 124, battery 125, frame 130, first mounting bracket 131, adjustment groove 1311, second mounting bracket 132, safety rope mechanism 200, hook assembly 210, hook 211, U-shaped part 2111, rotating shaft part 2112, hanging hole 2113, electric push rod 212, return spring 213, hook seat 214, bracket 220, support rod 221, buffer adjustment spring 222, connecting rope 230, fall arrest rope 240, angle steel component 300, foot nail 301, guide wheel 400. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be explained and described below with reference to the accompanying drawings. However, the following embodiments are only preferred embodiments of the present invention and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments in the implementation methods without creative effort are all within the protection scope of the present invention.

[0024] Those skilled in the art will understand that, without conflict, the features in the following embodiments and implementations can be combined with each other.

[0025] The terminology used in this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. For example, terms such as "upper," "lower," "left," and "right" that indicate orientation or positional relationship are based solely on the orientation or positional relationship shown in the accompanying drawings and are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device / element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention.

[0026] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0027] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0028] Combination Figures 1 to 7 As shown, this embodiment of the invention provides a supporting device for fall prevention measures on power transmission towers, including a crawling robot 100 and a safety rope mechanism 200, wherein the crawling robot 100 is connected to the safety rope mechanism 200.

[0029] like Figure 1As shown, the transmission tower here is an angle steel tower, and foot nails 301 are provided on its angle steel component 300. The angle steel component 300 has a certain tilt angle, and the positions of the upper and lower foot nails 301 are approximately 350~450mm apart. The crawling robot 100 crawls along the angle steel component 300, and the safety rope mechanism 200 completes the installation of the safety rope.

[0030] In some embodiments, the safety rope mechanism 200 includes a bracket 220 and two hook assemblies 210 (or locks) mounted on the upper and lower sides of the bracket. The upper end of the bracket 220 is connected to the frame 130. Each hook assembly 210 includes a hook 211 and a hook drive for driving the hook 211. A connecting rope 230 is connected between the two hooks 211, and the connecting rope 230 is connected to a fall arrest rope 240.

[0031] In addition, this device is equipped with a remote control. The crawling robot 100 and the safety rope mechanism 200 are equipped with receivers to receive remote control signals. The crawling robot 100 is moved up and down by the remote control, which drives the safety rope mechanism 200 to move up and down. When the crawling robot 100 crawls to the working position, it stops moving and remotely controls the safety rope mechanism 200 to perform the safety rope locking operation.

[0032] This device, through its core design of replacing manual high-altitude movement with a crawling robot and replacing manual high-altitude operations with automated hook components, fundamentally restructures the deployment method of fall protection measures on transmission towers. It not only eliminates the personal safety risks of manual high-altitude deployment of safety measures at the source but also achieves a comprehensive improvement in operational efficiency, operational adaptability, and deployment reliability. It solves the problems of high risk, low efficiency, and poor reliability of traditional fall protection safety rope deployment on transmission towers.

[0033] Replacing manual high-altitude operations and eliminating core hidden dangers of personal injury and death: The crawling robot is moved up and down by remote control from the ground / safe area, driving the safety rope mechanism to complete the locking operation. The operator does not need to climb the transmission tower or perform any hooking / locking operations at high altitude. The operation mode fundamentally avoids the high-frequency personal safety risks in the power industry, such as falls from height, collisions with high-altitude components, and instability of high-altitude operations, and achieves "personal safety" in the implementation of fall prevention measures.

[0034] The dual-hook assembly and automated hook drive enhance the reliability of the safety device: The two hook assemblies, arranged symmetrically on the top and bottom, complete the hooking / locking action through the hook drive (mechanical automation), replacing the subjective operation of manual hooking and avoiding safety device failure caused by human error such as the hook not being tightened, the lock not being locked, or the hook not being in place.

[0035] Distributed stress and flexible connection reduce the probability of fall arrest system failure: The connecting rope is connected to two hooks in series and then to the fall arrest rope, so that the tension of the fall arrest rope is shared by the two hooks, which greatly reduces the stress load on a single hook and avoids the breakage of a single hook due to overload; at the same time, the flexible connection between the connecting rope and the fall arrest rope can adapt to small deformations of transmission tower components and slight swaying of robot movement, avoiding rope breakage caused by hard pulling of the fall arrest rope, and further improving the safety redundancy of the fall arrest system.

[0036] The time-consuming deployment of traditional transmission tower fall arrest ropes mainly stems from the manual climbing time and the tedious manual hooking / locking operations, requiring multiple people (1 person working at height + 1 person monitoring on the ground + 1 person assisting with rope attachment). This device reduces operation time and improves efficiency through mechanized and automated operation in multiple stages. The robot crawls autonomously, completely eliminating the time spent on manual climbing: the driving components of the crawling robot move the crawling components autonomously up and down the transmission tower at a controllable speed, without considering the physical limitations of personnel. For towers tens or even hundreds of meters high, it can directly save several to tens of minutes of manual climbing time, and the robot can move continuously without interruption, making the operation much more continuous than manual. In addition, the automated locking mechanism significantly reduces the time required for a single operation: the hook drive can quickly complete the opening, closing, and locking actions of the hook. The time required for a single locking operation is only 1 / 3 or even less than that of manual hooking and tightening. Moreover, there is no fatigue-related slowdown problem associated with manual operation. When laying fall arrest ropes on multiple sections of transmission towers in batches, the efficiency improvement is even more significant.

[0037] Single-person remote control operation reduces manpower and coordination costs: This device requires only one simply trained operator to complete the entire remote control operation, eliminating the need for the traditional "high-altitude + ground + auxiliary" multi-person coordination mode. This reduces labor costs and avoids efficiency losses such as instruction delays and poor operational coordination that occur with multi-person coordination. No physical limitations, enabling continuous operation: Manual high-altitude work is limited by physical strength and height tolerance, resulting in long work intervals and limited single-operation durations. The crawling robot, without physical exhaustion, can continuously complete the installation of fall protection measures on multiple transmission towers, making it particularly suitable for safety measure installation work in transmission line inspections and batch maintenance, significantly improving overall construction efficiency.

[0038] The hook structure, referencing existing technology, is an integrated structure comprising a U-shaped portion 2111 and a pivot portion 2112 connected to one side of the U-shaped portion 2111. The U-shaped portion 2111 engages with the foot spike 301. The hook assembly 210 also includes a hook seat 214, to which the pivot portion 2112 of the hook 211 is hinged. The end of the pivot portion 2112 passes through the hook seat 214 and has a hanging hole 2113 for connection to the connecting rope 230. The hook drive includes an electric push rod 212 fixed to the hook seat 214. The push rod of the electric push rod 212 is connected to the hook 211 and drives the hook 211 to rotate, thereby hooking the hook onto the foot spike of the transmission tower. At this time, the electric push rod 212 can maintain its position, ensuring the hook 211 is firmly attached to the foot spike, thus achieving the arrangement of the safety rope.

[0039] The hook drive also includes a return spring 213 connecting the hook 211 and the hook seat 214. The hook 211 has a connecting part that connects to the push rod, such as a protruding pin. The hook rotates clockwise and is positioned by the action of the electric push rod to complete the hanging. When the hook is removed, the electric push rod is pulled back, and the hook returns to its original position under the action of the return spring. The removal is carried out by the up and down movement of the crawling robot. When the hook is reset, the crawling robot moves down, and the work of the safety rope is completed. The transmission tower foot nail is a cylindrical protruding hanging point. The hook is hinged to the hook seat to form a fixed-axis rotating pair. The linear extension and retraction power of the electric push rod is converted into the arc rotation power of the hook through the connection point between the push rod and the hook. Its rotation trajectory perfectly matches the cylindrical profile of the foot nail, allowing the hook to rotate smoothly from the side and hook around the outside of the foot nail in a wrap-around manner. This structure, through the motion adaptation of the electric push rod and the hinged hook, upgrades the hooking action from "manual" to "electrically precise and controllable", which is the core support for realizing unmanned hooking. The electric push rod features controllable stroke and adjustable thrust. Its extension length can be precisely controlled remotely, thereby controlling the hook's rotation angle. It can accommodate foot spikes of different diameters and protrusion heights on transmission towers. When release or re-hooking is required, the electric push rod retracts, and the elastic preload of the return spring pulls the hook to rotate in the opposite direction around the hinge point, achieving automatic and complete hook opening. Compared to relying solely on the electric push rod's retraction for re-hooking, this completely avoids insufficient hook opening caused by insufficient push rod stroke, jamming, or insufficient motor torque, ensuring unobstructed hook movement and smooth alignment with the next foot spike. During hooking, the electric push rod's thrust is greater than the return spring's preload, allowing for smooth hook rotation and engagement. During re-hooking, the electric push rod's retraction release force is dominated by the return spring's preload, resulting in rapid hook opening. The smooth and seamless switching of forces enables automated continuous operation of "movement-hooking-release-re-movement," requiring no manual intervention and perfectly aligning with the unmanned operation rhythm of the entire system.

[0040] Since the upper and lower foot nails are respectively set on the left and right sides of the angle steel component, the upper and lower hooks 211 are symmetrically set on the left and right sides of the bracket 220, with the upper hook located on the left side of the bracket and the lower hook located on the right side of the bracket, so as to cooperate with the upper and lower foot nails 301.

[0041] The upper end of the bracket is flexibly connected to the frame. When the hook is under force, since the hook and the safety rope mechanism are flexibly connected, the entire safety rope mechanism and the crawling robot are not under force. Only the hook, the high-strength soft rope and the safety rope are under force, so that the forces do not interfere with each other.

[0042] Specifically, the bracket 220 includes two parallel and spaced-apart support rods 221 and a fixing block (not shown in the figure) connecting the two support rods 221. Two hook assemblies 210 are movably connected to the two support rods 221, and a buffer structure is provided between the two hook assemblies 210. In this embodiment, the buffer structure includes a buffer adjusting spring 222, which is movably nested on the support rod 221, and its two ends are respectively connected to the two hook assemblies 210. In this way, the upper and lower hooks can move up and down through the buffer adjusting spring, so that the two hooks can be adjusted to a position where they can be hooked onto the upper and lower foot nails, making the hanging more secure.

[0043] Furthermore, the bracket 220 has a fixing block (not shown in the figure) on the upper side of the upper hook assembly and the lower side of the lower hook assembly. A buffer adjustment spring 222 is also provided between the fixing block and the hook assembly 210. Therefore, the upper and lower hook assemblies can move axially elastically along the support rod. The adjustment stroke is determined by the elastic deformation of the spring, which can adapt to the actual vertical spacing of the upper and lower foot spikes of the transmission tower (regardless of whether the spacing is too large or too small). There is no need for manual / mechanical adjustment of the initial spacing of the hooks, realizing "automatic spring spacing adjustment and precise hook alignment", which completely solves the technical problem of mismatch between the fixed spacing hook and the foot spike spacing. Moreover, the parallel and spaced double support rods provide dual axial guiding constraints for the hook assembly. When the hook assembly moves along the support rod, there is no radial offset or skew, ensuring that the hook hooking direction is always consistent with the foot spike hooking point, avoiding hooking failure due to hook posture offset. Combined with the elastic adjustment of the spring, it realizes the dual hooking guarantee of "precise guidance + flexible spacing adjustment".

[0044] like Figure 6 As shown, the safety rope mechanism 200 is designed with a guide wheel 400 to prevent the hook assembly 210 from deviating during the up-and-down climbing process.

[0045] In some embodiments, the crawling robot 100 includes a frame 130 and a drive assembly 120 and a crawling assembly 110 mounted on the frame. The drive assembly 120 drives the crawling assembly 110 to crawl along the transmission tower. The crawling assembly 110 includes a crawling chain 111 and several strong magnets 115 mounted on the crawling chain. The strong magnets 115 are evenly distributed circumferentially along the crawling chain 111. The crawling chain 111 is mounted on a second sprocket 112 and a third sprocket 113. The second sprocket 112 is the driving sprocket and has a smaller diameter than the third sprocket 113. The drive assembly 120 includes a motor 121 and a reducer 122. The reducer 122 is connected to a first sprocket 123, and a transmission chain 124 connects the first sprocket 123 and the second sprocket 112. Driven by motor 121 and reduced speed by reducer 122, the crawling robot transmits force to the crawling chain 111. The strong magnet 115 of the crawling chain 111 adheres to the angle steel component 300. Through the circumferential movement of the crawling chain 111, the strong magnet 115 achieves the function of crawling up and down on the angle steel component. This crawling component adopts a combination design of crawling chain + circumferential strong magnet, which is a dedicated adaptive crawling solution for angle steel components of transmission towers (ferromagnetic, L-shaped cross-section, multi-angled / local protrusions). Compared with traditional clamping, wheel, and suction cup crawling structures, it not only solves the core pain point of traditional crawling components being prone to slipping and jamming on the angle steel of transmission towers, but also provides a stable, reliable, and precise high-altitude movement foundation for the entire fall protection device. The crawling chain has flexible adaptability, which can naturally fit the L-shaped cross-section of the angle steel of the transmission tower. Strong magnets are evenly distributed along the circumferential direction of the chain, so that when the chain fits the angle steel, it can achieve multi-point adsorption in a surface area. The adsorption force is evenly applied to the surface of the angle steel, without single-point stress concentration, thus ensuring the firmness of the adsorption. In addition, the crawling chain adopts a circumferential movement method driven by sprocket meshing, which ensures precise power transmission and controllable step distance. There is no displacement deviation when crawling up and down. Combined with the continuous magnetic attraction of strong magnets, it provides sufficient anti-slip reaction force for the chain, completely avoiding the slippage problem that occurs when the device overcomes its own weight (robot + safety rope mechanism) when crawling upwards, ensuring the effectiveness of crawling displacement. The continuous attraction characteristics of strong magnets ensure that the attraction force is uninterrupted during crawling. Even at the vertical splicing of the angle steel of the transmission tower and at slightly inclined sections, it can maintain a firm attraction and avoid swaying or shaking during crawling. The overall attraction force formed by multi-point uniform attraction has strong wind resistance and can resist the lateral thrust of natural winds at high altitudes of the transmission tower on the device, preventing the device from being blown off course or detached from the angle steel, ensuring the stability of the crawling posture at high altitudes, and meeting the environmental requirements of outdoor high-altitude operations. The angle steel components of the transmission tower have irregular structures such as bolt protrusions and splicing welds. When the crawling chain moves in a circumferential direction, the movement gap between the chain links can achieve slight avoidance. The strong magnet can avoid the protruding parts by local adsorption, avoiding the jamming and stuck problems of traditional rigid crawling structures, and can complete the continuous crawling of the angle steel of the entire height of the transmission tower.

[0046] Furthermore, considering the structural characteristics of the angle steel component 300, the crawling chain 111 is connected to a V-shaped attachment 114. Two strong magnets 115 are installed on the V-shaped attachment 114. The V-shaped attachment has two sides, and the two strong magnets are correspondingly installed on these sides. The two sides of the V-shaped attachment are fastened to the two sides of the angle steel component 300 by the strong magnets. Through the precise matching of the V-shaped attachment's shape, the symmetrical adsorption of the two strong magnets, and the fastening connection, the cooperation between the crawling component and the angle steel component is upgraded from "surface adsorption" to a dual fixing mode of "shape fastening + symmetrical magnetic adsorption." This thoroughly fits the structural characteristics of the angle steel's two sides. Compared to a simple crawling chain + circumferential strong magnet design, this achieves targeted breakthroughs in terms of fitting accuracy, adsorption firmness, crawling guidance, and anti-tipping ability. It also further enhances the adaptability and protection effect on the angle steel component, providing more core structural support for the stable crawling of the device on the angle steel. Actual testing showed that the suction force (up and down pulling force) of a 300mm long chain exceeded 20kg. The crawling force was more than twice the weight of the device itself.

[0047] Specifically, the frame 130 includes a first mounting bracket 131 for mounting the second sprocket 112 and the third sprocket 113, and a second mounting bracket 132 for mounting the motor 121 and the reducer 122. Additionally, a battery 125 is mounted on the second mounting bracket 132 to power the entire device. Figure 4 As shown, the first mounting bracket 131 connects the second sprocket 112 and the third sprocket 113. Its extension direction (the direction of the line connecting the axes of the second sprocket 112 and the third sprocket 113) has an angle with the crawling surface of the crawling chain 111 (the extension direction of the angle steel member in the use state), which is 5 degrees and 58 minutes in the figure.

[0048] Furthermore, the first mounting frame 131 is provided with an adjustment groove 1311 that movably engages with the sprocket shaft of the third sprocket. A tension spring 116 is connected between the first mounting frame 131 and the sprocket shaft of the third sprocket 113 to tension the crawling chain 111. The crawling chain can undergo elastic deformation through the tension spring, playing a crucial role in the process of climbing and overcoming obstacles. Its core technological value lies in constructing a dynamic elastic tensioning system for the crawling chain that is "self-adaptive, self-compensating, and self-buffering," solving the problem of hard collision jamming when the angle steel of the transmission tower climbs and overcomes obstacles, and making the elastic deformation of the crawling chain a key support for overcoming obstacles. Active elastic yielding during obstacle encounters: When the crawling chain, carrying the V-shaped attachment, climbs to the angle steel obstacle, the obstacle exerts a momentary radial thrust on the chain. At this time, the third sprocket shaft can move linearly along the adjustment groove of the first mounting bracket, compressing the tension spring. This allows the crawling chain to achieve controllable elastic relaxation deformation with the sprocket displacement, providing suitable avoidance space for the obstacle. This completely avoids the hard collision and hard jamming between the chain and the obstacle under traditional rigid sprocket installations, achieving a smooth transition at the obstacle. Automatic tension reset after obstacle crossing: After the chain crosses the obstacle, the radial thrust disappears, and the elastic reset force of the tension spring pushes the third sprocket shaft back to its initial position along the adjustment groove, restoring the relaxed crawling chain to its tensioned state without manual intervention. This completes the process of "obstacle encounter relaxation and avoidance - obstacle crossing and tension reset". The fully automatic operation ensures continuous chain transmission during climbing and obstacle crossing without interruption; the elastic deformation adapts to different obstacle sizes: for obstacles of different specifications such as bolt protrusions on angle steel, weld height, and step gaps, the compression of the tension spring can be adaptively adjusted according to the magnitude of the obstacle's thrust, and the elastic deformation amplitude of the chain changes synchronously. There is no need to adjust the device structure for different obstacles, achieving universal adaptation for all types of obstacles and making obstacle crossing more flexible.

[0049] like Figure 7 As shown, in the operating state, the safety rope mechanism 200 is below, and the crawling robot 100 is above. Within the crawling robot 100, the second sprocket 112 is above, and the third sprocket 113 is below. Furthermore, the second mounting bracket 132, along with the motor 121, reducer 122, and battery 125 mounted on it, are located horizontally outside the bracket, i.e., away from the angle steel member 300. The battery 125 protrudes upwards above the second sprocket 112. Thus, the battery 125, reducer 122, and motor 121 are roughly arranged in a straight line from top to bottom, and this line is not parallel to the extension direction of the angle steel member; if it continues to extend upwards, it will intersect the angle steel member. Therefore, it is equivalent to setting a counterweight at the head of the crawling robot. Because the angle steel member is angled and the counterweight is located at the head of the crawling robot, this counterweight exerts a force towards the angle steel member (transmission tower) to prevent the crawling robot's head from tilting backwards.

[0050] In some embodiments, the crawling robot 100 also includes a pressure fan (not shown in the figure) located at its head. During the crawling process, the pressure fan applies a force towards the transmission tower to the head of the crawling robot by exhausting air. Strong lateral winds at high altitudes are a core external disturbance to the stability of the robot's crawling. Strong winds can easily push the robot's head away from the tower, cause it to tip over, or even cause the V-shaped attachment to detach from the angle steel. The force of the pressure fan balances the lateral wind, significantly improving the robot's high-altitude wind resistance. This structure allows the crawling robot to maintain a firm fit with the angle steel and crawl accurately even in complex conditions such as strong winds at high altitudes, multiple obstacles, and debris on the surface. The pneumatic force is a uniform, area-specific pressure that matches the surface contact adsorption of the V-shaped attachment on both sides, preventing stress concentration at single points. This pushes the V-shaped attachment to fully conform to the contours of the angle steel on both sides, further enhancing the mechanical fixing effect of "V-shaped fastening + double-sided magnetic adsorption". This upgrades the fit between the crawling component and the angle steel from "magnetic adsorption" to a triple-fitting and fixing system of "pneumatic pressing + magnetic adsorption + mechanical fastening".

[0051] Understandably, in order to increase the force exerted by the crawling robot's head toward the power transmission tower, additional counterweights can be added. For example, the second mounting bracket 132 can have a counterweight on each side of the battery 125. The counterweights can be set at the same time as the pressure fan, or only one of them can be set.

[0052] The transmission tower fall protection device described in this embodiment has a climbing speed twice as fast as manual climbing, and is suitable for transmission steel pipe towers, angle steel towers and other tower types and in severe weather. The device is not restricted by no-fly zones, has high reliability, high intelligence, high safety, is easy to operate and carry, and has low cost. It effectively solves the problem of workers falling from heights while climbing towers, and has huge market demand, so it can be promoted and applied on a large scale.

[0053] The above description is merely a specific embodiment of the invention, but the scope of protection of the invention is not limited thereto. Those skilled in the art should understand that the invention includes, but is not limited to, the contents described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of the invention will be included within the scope of the claims.

Claims

1. A set of supporting devices for fall protection measures on transmission towers, characterized in that, The device includes a crawling robot and a safety rope mechanism. The crawling robot includes a frame and a drive assembly and a crawling assembly mounted on the frame. The drive assembly drives the crawling assembly to crawl along the transmission tower. The safety rope mechanism includes a bracket and two hook assemblies correspondingly mounted on the upper and lower sides of the bracket. The upper end of the bracket is connected to the frame. The hook assembly includes a hook and a hook drive component that drives the hook to move. A connecting rope is connected between the two hooks, and the connecting rope is connected to a fall arrestor rope.

2. The supporting device for fall protection measures on transmission towers according to claim 1, characterized in that, The hook assembly also includes a hook base, the hook is hinged to the hook base, and the hook drive includes an electric push rod fixed to the hook base. The push rod of the electric push rod is connected to the hook and is used to drive the hook to rotate, thereby hooking the hook onto the foot spikes of the transmission tower.

3. A supporting device for fall protection measures on transmission towers according to claim 2, characterized in that, The hook drive also includes a return spring connecting the hook and the hook seat, which drives the hook to return to its original position when the push rod retracts.

4. A supporting device for fall protection measures on transmission towers according to claim 1, characterized in that, The bracket includes two parallel support rods spaced apart and a fixing block connecting the two support rods. Two hook assemblies are movably connected to the two support rods, and a buffer structure is provided between the two hook assemblies.

5. A supporting device for anti-fall safety measures on transmission towers according to claim 4, characterized in that, The buffer structure includes a buffer adjustment spring, which is movably nested on the support rod and connected at both ends to two hook assemblies respectively.

6. A supporting device for anti-fall safety measures on transmission towers according to claim 5, characterized in that, The bracket has a fixing block on the upper side of the upper hook assembly and a fixing block on the lower side of the lower hook assembly, and a buffer adjustment spring is provided between the fixing block and the hook assembly.

7. A supporting device for anti-fall safety measures on transmission towers according to claim 1, characterized in that, The crawling assembly includes a crawling chain mounted on a second sprocket and a third sprocket, and strong magnets are distributed along the circumferential direction on the crawling chain.

8. A supporting device for fall protection measures on transmission towers according to claim 7, characterized in that, The frame includes a first mounting bracket for mounting the second sprocket and the third sprocket. The first mounting bracket is provided with an adjustment groove that movably engages with the sprocket shaft of the third sprocket. A tension spring is connected between the first mounting bracket and the sprocket shaft of the third sprocket to achieve tensioning of the crawling chain.

9. A supporting device for fall protection measures on transmission towers according to claim 7, characterized in that, The drive assembly includes a motor and a reducer, the reducer is connected to a first sprocket, and a drive chain is connected between the first sprocket and a second sprocket; and / or, the crawling chain includes V-shaped attachments distributed in a circumferential direction, and two strong magnets are correspondingly installed on the two sides of the V-shaped attachments.

10. A supporting device for fall protection measures on transmission towers according to claim 1, characterized in that, The crawling robot also includes a pressure fan located on its head, which applies a force toward the power transmission tower to the head of the crawling robot by exhausting air during the crawling process.

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