Power tower climbing robot

Abstract

The application discloses a power iron tower climbing robot and relates to the technical field of power engineering; the power iron tower climbing robot comprises an assisting climbing mechanism, the assisting climbing mechanism comprises a butt joint socket, a climbing mechanism that is detachably arranged at the lower end of the assisting climbing mechanism and is used in cooperation, the climbing mechanism comprises a butt joint plug, a lifting support and a climbing claw, a butt joint mechanism that is used in cooperation with the assisting climbing mechanism is arranged at the top end of the climbing mechanism, and the butt joint mechanism comprises a butt joint rod; the butt joint mechanism is arranged and used, which provides convenience for the insertion and separation of the butt joint rod and the butt joint socket, thereby providing convenience for the disassembly and assembly of the climbing mechanism and the assisting climbing mechanism, facilitating the operation and use of the staff, and providing convenience for the spacing adjustment between two butt joint plugs, the spacing adjustment between the butt joint plug and the lifting support and the spacing adjustment between two adjacent climbing claws, thereby realizing the convenient and stable climbing function of the power iron tower climbing robot.

Description

Technical Field

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

[0002] Power transmission towers are steel frame structures that support high-voltage transmission lines. They are classified by shape, such as goblet-shaped, cat-head-shaped, and U-shaped, and by purpose, such as straight-line towers and tension towers. In order to reduce the safety risks during the maintenance of power transmission towers, power tower climbing robots are usually used to inspect and repair power transmission towers.

[0003] However, existing power tower climbing robots still have certain shortcomings in use:

[0004] 1. The disassembly and assembly of the climbing mechanism and the climbing assistance mechanism are inconvenient, making it difficult for staff to operate and use them;

[0005] 2. Most of them lack ice-breaking capabilities and cannot effectively break through the ice on the route, thus failing to ensure stable climbing;

[0006] 3. Most of them lack the function of fixing and moving items, and their practicality and functionality are poor.

[0007] To address the aforementioned problems, this application proposes a power tower climbing robot to solve them. Summary of the Invention

[0008] To address the problems of existing power tower climbing robots, such as inconvenient assembly and disassembly of climbing and assisting mechanisms, lack of ice-breaking capabilities, and lack of object securing and transport functions, the present invention aims to provide a power tower climbing robot.

[0009] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a power tower climbing robot, including a climbing assistance mechanism, the climbing assistance mechanism including a docking socket, the lower end of the climbing assistance mechanism being detachably provided with a climbing mechanism for use, and the climbing mechanism including a docking plate, a lifting bracket and a climbing claw, the top end of the climbing mechanism being provided with a docking mechanism for use with the climbing assistance mechanism, and the docking mechanism including a docking rod, one end of the climbing assistance mechanism being provided with a working ice-breaking mechanism and a maintenance robotic arm, and the ice-breaking mechanism including an ice-breaking sleeve, a return spring and an ice-breaking impact rod, the other end of the climbing assistance mechanism being provided with a working fixing mechanism, and the fixing mechanism including an adjusting slide plate one, an arc-shaped clamping plate, an adjusting slide plate two and a straight clamping plate;

[0010] The docking mechanism facilitates the insertion and separation of the docking rod and the docking hole, and also facilitates the adjustment of the distance between the two docking plates, the distance between the docking plates and the lifting bracket, and the distance between two adjacent climbing claws. The ice-breaking mechanism enables the ice-breaking sleeve to move back and forth, thereby enabling the ice-breaking impact rod to move back and forth. Under the fault tolerance of the return spring, the ice-breaking impact rod can effectively break the ice layer on the path of the power tower climbing robot, and also realizes convenient heating and disassembly / replacement of the ice-breaking impact rod. The fixing mechanism enables the adjustment slide plate one or adjustment slide plate two to be moved and adjusted as needed, thereby enabling the arc-shaped clamp plate or the flat clamp plate to be moved and adjusted as needed.

[0011] Preferably, the climbing mechanism further includes a climbing frame. A battery and controller are fixedly installed at the top of the climbing frame. A stepper motor is fixedly installed on the inner wall of one end of the climbing frame, and an adjusting screw is fixedly connected to the output end of the stepper motor. The adjusting screw is rotatably inserted into the climbing frame, and an L-shaped adjusting plate is threaded onto the outer side of the adjusting screw. Symmetrically arranged limiting guide rods are fixedly inserted into the climbing frame, and the L-shaped adjusting plate is slidably fitted onto the limiting guide rods. Both the L-shaped adjusting plate and the climbing frame have through-holes in the mating slots. Both the L-shaped adjusting plate and the climbing frame have integrally formed mating side plates that mate with the mating slots. The mating side plates have a symmetrical structure, and mating holes are through-holes in the mating side plates. The middle of the mating plate can be slidably inserted into the mating slot. Electric telescopic rods are fixedly installed at both ends of the mating plate. The output end of the electric telescopic rod slides through the mating plate, and the lifting bracket and the end of the adjacent electric telescopic rod output are connected... The lifting bracket is fixedly connected to a bidirectional electric push rod, with L-shaped sliding plates fixedly connected to the output ends of both sides of the bidirectional electric push rod. The climbing claw slides through one end of the lifting bracket and is fixedly connected to it. The bottom center of the lifting bracket is integrally formed with a climbing claw that works with the climbing claw. The lifting bracket is provided with symmetrically distributed sliding guide grooves, and the L-shaped sliding plate is slidably inserted into the sliding guide grooves. The docking mechanism also includes a docking sliding plate, which is slidably inserted into the inner cavities on both sides of the top of the docking plate. The opposite sides of the docking sliding plate are fixedly installed with docking springs, and the ends of the docking springs are fixedly connected to the inner wall of the docking plate. The docking rod is fixedly installed at the opposite end of the docking sliding plate and can slide through the docking plate and slide into the docking hole. The docking sliding plate is integrally formed with a sliding push rod, and the upper end of the docking plate is provided with symmetrically arranged sliding push grooves, and the sliding push rod is slidably inserted into the sliding push grooves.

[0012] Preferably, the ice-breaking mechanism further includes a second stepper motor and a driven slide rod. The second stepper motor is fixedly installed on the upper side of one side of the climbing frame, and the output end of the second stepper motor rotates through the climbing frame and is fixedly sleeved at its end with a drive turntable. A drive rod is rotatably inserted into the drive turntable. The driven slide rod is slidably inserted into the climbing frame, and a driven sleeve is integrally formed at the top of the driven slide rod. The drive rod is rolled and locked in the driven sleeve, and the end of the driven slide rod away from the driven sleeve is fixedly connected to the ice-breaking sleeve. An ice-breaking slide rod is slidably inserted into the ice-breaking sleeve, and a T-shaped connecting rod is fixedly installed at the bottom end of the ice-breaking slide rod. The two ends of the return spring are fixedly connected to the ice-breaking sleeve and the T-shaped connecting rod, respectively. The ice-breaking impact rod can be threaded onto the bottom end of the T-shaped connecting rod, and an electric heating rod that works with the ice-breaking impact rod is fixedly inserted into the lower end of the T-shaped connecting rod.

[0013] Preferably, the securing mechanism further includes a sun-shaped storage frame, which is fixedly installed on one side of the top of the climbing frame. A first and a second self-locking adjusting screw are symmetrically inserted into the sun-shaped storage frame. A first adjusting slide plate is threaded onto the first self-locking adjusting screw, with one end slidably connected to the sun-shaped storage frame and the other end fixedly connected to an arc-shaped clamp. A second adjusting slide plate is threaded onto the second self-locking adjusting screw, with one end slidably connected to the sun-shaped storage frame and the other end fixedly connected to a straight clamp, which can slide against the arc-shaped clamp. Adjusting handwheels are fixedly connected to the ends of both the first and second self-locking adjusting screws, and arrayed anti-slip grooves are formed on the outer wall of the handwheels.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0015] 1. The docking mechanism facilitates the insertion and separation of the docking rod and the docking hole, thereby facilitating the assembly and disassembly of the climbing mechanism and the climbing assistance mechanism. This makes it easier for staff to operate and use the robot. It also facilitates the adjustment of the distance between the two docking plates, the distance between the docking plates and the lifting bracket, and the distance between two adjacent climbing claws, thus realizing the convenient and stable climbing function of the power tower climbing robot.

[0016] 2. The ice-breaking mechanism enables the ice-breaking sleeve to move back and forth in a cyclical manner, which in turn drives the ice-breaking impact rod to move back and forth in a cyclical manner. With the fault tolerance of the return spring, the ice-breaking impact rod can effectively break the ice layer on the path of the power tower climbing robot, thereby ensuring the stable climbing of the power tower climbing robot and effectively improving climbing safety. It also enables convenient heating and disassembly / replacement of the ice-breaking impact rod, thereby ensuring the normal operation of ice-breaking and effectively improving ice-breaking efficiency.

[0017] 3. Through the setting and use of the fixing mechanism, the adjustment slide plate one or adjustment slide plate two can be easily moved and adjusted as needed, thereby enabling the arc-shaped clamping plate or flat clamping plate to be moved and adjusted as needed. This allows for the stable clamping and fixing of items of different sizes and shapes, and further enables the stable transportation of items of different sizes and shapes, thus effectively improving the practicality and functionality of the power tower climbing robot. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of the present invention.

[0020] Figure 2 For the present invention Figure 1 Enlarged schematic diagram of the structure at point A in the middle.

[0021] Figure 3 This is a schematic diagram of the docking mechanism in this invention.

[0022] Figure 4 For the present invention Figure 3 Enlarged schematic diagram of the structure at point B.

[0023] Figure 5 For the present invention Figure 3 Enlarged schematic diagram of the structure at point C.

[0024] Figure 6 For the present invention Figure 3 Enlarged schematic diagram of the structure at point D.

[0025] Figure 7 For the present invention Figure 3 Enlarged schematic diagram of the structure at point E in the middle.

[0026] Figure 8 For the present invention Figure 7 Enlarged schematic diagram of the structure at point F.

[0027] In the diagram: 1. Climbing aid mechanism; 11. Climbing aid frame; 12. Stepper motor 1; 13. Adjustment screw; 14. L-shaped adjustment plate; 15. Limiting guide rod; 16. Docking slot; 17. Docking side plate; 18. Docking insertion hole; 2. Climbing mechanism; 21. Docking plate; 22. Electric telescopic rod; 23. Lifting bracket; 24. Bidirectional electric push rod; 25. L-shaped sliding plate; 26. Climbing claw; 27. Climbing top claw; 28. Sliding guide groove; 29. ​​Sliding push groove; 3. Docking mechanism; 31. Docking sliding plate; 32. Docking spring; 33. Docking rod; 34. Sliding push rod 4. Ice-breaking mechanism; 41. Stepper motor II; 42. Driven slide bar; 43. Drive turntable; 44. Drive rotating rod; 45. Driven sleeve; 46. Ice-breaking sleeve; 47. Ice-breaking slide bar; 48. T-shaped connecting rod; 49. Return spring; 410. Ice-breaking impact rod; 411. Electric heating rod; 5. Maintenance robotic arm; 6. Fixing mechanism; 61. D-shaped storage frame; 62. Adjusting self-locking screw I; 63. Adjusting self-locking screw II; 64. Adjusting slide plate I; 65. Arc-shaped clamp; 66. Adjusting slide plate II; 67. Straight clamp; 68. Adjusting handwheel; 69. Anti-slip groove. Detailed Implementation

[0028] 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.

[0029] Example: Figures 1-8 As shown, the present invention provides a power tower climbing robot, including a climbing mechanism 1, which includes a docking socket 18. The lower end of the climbing mechanism 1 is detachably provided with a climbing mechanism 2 for use with it. The climbing mechanism 2 includes a docking plate 21, a lifting bracket 23 and a climbing claw 26. The top end of the climbing mechanism 2 is provided with a docking mechanism 3 for use with the climbing mechanism 1. The docking mechanism 3 includes a docking rod 33. One end of the climbing mechanism 1 is provided with a working ice-breaking mechanism 4 and a maintenance robotic arm 5. The ice-breaking mechanism 4 includes an ice-breaking sleeve 46, a return spring 49 and an ice-breaking impact rod 410. The other end of the climbing mechanism 1 is provided with a working fixing mechanism 6. The fixing mechanism 6 includes an adjusting slide plate 1 64, an arc-shaped clamping plate 65, an adjusting slide plate 2 66 and a straight clamping plate 67.

[0030] The docking mechanism 3 facilitates the insertion and separation of the docking rod 33 and the docking hole 18, and also facilitates the adjustment of the distance between the two docking plates 21, the distance between the docking plate 21 and the lifting bracket 23, and the distance between the two adjacent climbing claws 26. The ice-breaking mechanism 4 can drive the ice-breaking sleeve 46 to move back and forth in a cyclic manner, thereby driving the ice-breaking impact rod 410 to move back and forth in a cyclic manner. Under the fault tolerance of the return spring 49, the ice-breaking impact rod 410 can effectively break the ice layer on the path of the power tower climbing robot, and also realizes the convenient heating and disassembly / replacement of the ice-breaking impact rod 410. The solidification mechanism 6 can conveniently drive the adjustment slide plate 1 64 or the adjustment slide plate 2 66 to move and adjust as needed, thereby conveniently driving the arc-shaped clamping plate 65 or the straight clamping plate 67 to move and adjust as needed.

[0031] The climbing assistance mechanism 1 also includes a climbing assistance frame 11. A battery and controller are fixedly installed at the top of the climbing assistance frame 11. The maintenance robotic arm 5 has functions required for power tower maintenance, such as image transmission and bolt tightening. The battery and controller work together to power the equipment on the power tower climbing robot and control its operation. These are existing technologies and will not be elaborated further here. A stepper motor 12 is fixedly installed on the inner wall of one end of the climbing assistance frame 11. An adjusting screw 13 is fixedly connected to the output end of the stepper motor 12. The adjusting screw 13 is rotatably inserted into the climbing assistance frame 11, and an L-shaped adjusting plate 14 is threaded onto the outer side of the adjusting screw 13. Symmetrical... A limiting guide rod 15 is provided, and an L-shaped adjusting plate 14 is slidably sleeved on the limiting guide rod 15. The limiting guide rod 15 serves to limit and guide the movement adjustment of the L-shaped adjusting plate 14. Both the L-shaped adjusting plate 14 and the climbing frame 11 have through-holes 16 for connecting. Both the L-shaped adjusting plate 14 and the climbing frame 11 have integrally formed connecting side plates 17 that cooperate with the connecting slots 16. The connecting side plates 17 have a symmetrical structure, and connecting holes 18 are provided through-holes 18 on the connecting side plates 17. The middle part of the connecting plate 21 can be slidably inserted into the connecting slot 16, and electric telescopic rods 22 are fixedly installed at both ends of the connecting plate 21. The output end of the electric telescopic rod 22 slides through the connecting plate 21. 1. The lifting bracket 23 is fixedly connected to the output end of the adjacent electric telescopic rod 22. A bidirectional electric push rod 24 is fixedly installed on the inner side of the lifting bracket 23, and L-shaped sliding plates 25 are fixedly connected to the output ends of both sides of the bidirectional electric push rod 24. The climbing claw 26 slides through one end of the lifting bracket 23 and is fixedly connected to the L-shaped sliding plate 25. A climbing top claw 27 for use with the climbing claw 26 is integrally formed in the middle of the bottom end of the lifting bracket 23. A symmetrically distributed sliding guide groove 28 is opened through the lifting bracket 23, and the L-shaped sliding plate 25 is slidably inserted into the sliding guide groove 28. The setting of the sliding guide groove 28 plays a limiting and guiding role in the movement adjustment of the L-shaped sliding plate 25. The docking mechanism 3 also includes The system includes a docking slide plate 31, which is slidably inserted into the inner cavities on both sides of the top of the docking plate 21. A docking spring 32 is fixedly installed on each opposite side of the docking slide plate 31. The end of the docking spring 32 is fixedly connected to the inner wall of the docking plate 21. A docking rod 33 is fixedly installed on the opposite end of the docking slide plate 31. The docking rod 33 can slide through the docking plate 21 and slide into the docking hole 18. A sliding push rod 34 is integrally formed on the docking slide plate 31. A symmetrically arranged sliding push groove 29 is opened through the upper end of the docking plate 21. The sliding push rod 34 is slidably inserted into the sliding push groove 29. The cooperation between the sliding push rod 34 and the sliding push groove 29 facilitates the movement of the docking slide plate 31.

[0032] By adopting the above technical solution, during use, the operator can easily push the two sliding push rods 34 to move in opposite directions, thereby driving the two docking slide plates 31 to move in opposite directions, which in turn drives the two docking rods 33 to move in opposite directions and compress the corresponding two docking springs 32. When the distance between the corresponding two docking rods 33 is minimized, the operator stops pushing the corresponding two sliding push rods 34 and inserts the top of the corresponding docking plate 21 between the corresponding docking slot 16 and the docking side plate 17. Then, the operator releases the corresponding sliding push rods 34 and pushes the corresponding docking plate 21 until the docking rod 33 corresponds to the corresponding docking hole 18. At this point, the docking spring 32 pushes the corresponding docking rod 33 back to its original position and inserts it into the corresponding docking hole 18, thus realizing the connection between the climbing mechanism 2 and the auxiliary... The climbing frame 11 is easily and stably connected, and the climbing mechanism 2 can be easily disassembled according to the above steps during subsequent use. During the operation of the power tower climbing robot, the stepper motor 12 can drive the adjusting screw 13 to rotate alternately in the forward and reverse directions, thereby driving the L-shaped adjusting plate 14 to move back and forth in a cycle, thus easily adjusting the distance between the two climbing mechanisms 2. At the same time, the electric telescopic rod 22 can adjust the distance between the corresponding lifting bracket 23 and the docking plate 21, and the bidirectional electric push rod 24 can easily adjust the distance between the two L-shaped sliding plates 25, thereby easily adjusting the distance between the two climbing claws 26, thus enabling the use of the corresponding climbing top claw 27 to achieve clamping and stable climbing of different power towers.

[0033] The ice-breaking mechanism 4 also includes a second stepper motor 41 and a driven slide rod 42. The second stepper motor 41 is fixedly installed on the upper side of one side of the climbing frame 11, and the output end of the second stepper motor 41 rotates through the climbing frame 11 and is fixedly sleeved at its end with a drive turntable 43. A drive rod 44 is rotatably inserted into the drive turntable 43. The driven slide rod 42 is slidably inserted into the climbing frame 11, and a driven sleeve 45 is integrally formed at the top of the driven slide rod 42. The drive rod 44 is rolled and locked in the driven sleeve 45, and the end of the driven slide rod 42 away from the driven sleeve 45 is fixedly connected to the ice-breaking sleeve 46. The ice-breaking sleeve 46 is slidably inserted into an ice-breaking slide rod 47, and a T-shaped connecting rod 48 is fixedly installed at the bottom end of the ice-breaking slide rod 47. The two ends of the return spring 49 are fixedly connected to the ice-breaking sleeve 46 and the T-shaped connecting rod 48 respectively, and the ice-breaking impact rod 410 can be threaded onto the bottom end of the T-shaped connecting rod 48, thereby realizing the disassembly and replacement of the ice-breaking impact rod 410. An electric heating rod 411 that works with the ice-breaking impact rod 410 is fixedly inserted into the lower end of the T-shaped connecting rod 48. The electric heating rod 411 can perform electric heating, thereby realizing the heating treatment of the ice-breaking impact rod 410.

[0034] By adopting the above technical solution, during use, the electric heating rod 411 can heat the ice-breaking impact rod 410, and the stepper motor 41 can drive the drive turntable 43 to rotate, thereby driving the drive rod 44 to rotate, which in turn can make the drive rod 44 roll cyclically along the inner wall of the driven sleeve 45, further driving the driven sleeve 45 to move cyclically back and forth, thereby driving the ice-breaking sleeve 46 to move cyclically back and forth through the driven slide rod 42, and then driving the ice-breaking impact rod 410 to move cyclically back and forth through the ice-breaking slide rod 47 and the T-shaped connecting rod 48, so that the ice-breaking impact rod 410 can effectively break the ice layer on the path of the power tower climbing robot by means of the extension and retraction of the return spring 49.

[0035] The securing mechanism 6 also includes a hexagonal storage frame 61, which is fixedly installed on one side of the top of the climbing frame 11. A first adjusting self-locking screw 62 and a second adjusting self-locking screw 63 are symmetrically inserted into the hexagonal storage frame 61. A first adjusting slide plate 64 is threaded onto the first adjusting self-locking screw 62, with one end slidably connected to the hexagonal storage frame 61 and the other end fixedly connected to the arc-shaped clamping plate 65. A second adjusting slide plate 66 is threaded onto the second adjusting self-locking screw 63, with one end slidably connected to the arc-shaped clamping plate 65. The Japanese-shaped storage frame 61 is slidably connected, and the other end of the adjusting slide plate 66 is fixedly connected to the flat clamp plate 67. The flat clamp plate 67 can slide and fit against the arc-shaped clamp plate 65. The ends of the adjusting self-locking screw 62 and the adjusting self-locking screw 63 are both fixedly connected to the adjusting handwheel 68. The outer wall of the adjusting handwheel 68 is provided with an array of anti-slip grooves 69. The setting of the adjusting handwheel 68 provides convenience for the rotation of the adjusting self-locking screw 62 and the adjusting self-locking screw 63, and the setting of the anti-slip grooves 69 can increase friction and facilitate operation.

[0036] By adopting the above technical solution, when in use, the staff can place the items to be transported on both ends of the inner side of the rectangular storage frame 61. The staff can rotate and adjust the adjustment handwheel 68 corresponding to the self-locking screw 62 or the self-locking screw 63 according to the shape of the item. This will drive the corresponding self-locking screw 62 or the self-locking screw 63 to rotate, which in turn will drive the corresponding adjustment slide plate 64 or the adjustment slide plate 66 to move and adjust. Furthermore, it will drive the arc-shaped clamping plate 65 or the flat clamping plate 67 to move and adjust, and stably clamp items of different shapes and sizes. This will enable the stable clamping and transfer of items of different shapes and sizes.

[0037] Working principle: During use, the operator can easily push the two sliding push rods 34 to move in opposite directions, thereby driving the two docking slide plates 31 to move in opposite directions, which in turn drives the two docking rods 33 to move in opposite directions and squeeze the corresponding two docking springs 32. When the gap between the corresponding two docking rods 33 is moved to the minimum, the operator stops pushing the corresponding two sliding push rods 34 and inserts the top of the corresponding docking plate 21 between the corresponding docking slot 16 and the docking side plate 17. Then, the operator releases the corresponding sliding push rods 34 and pushes the corresponding docking plate 21 until the docking rod 33 corresponds to the corresponding docking hole 18. At this time, the docking spring 32 will push the corresponding docking rod 33 to reset and insert it into the corresponding docking hole 18. This achieves a convenient and stable connection between the climbing mechanism 2 and the climbing frame 11. During subsequent use, the climbing mechanism 2 can be easily disassembled by following the above steps.

[0038] During the operation of the power tower climbing robot, the stepper motor 12 can drive the adjusting screw 13 to rotate alternately in the forward and reverse directions, thereby driving the L-shaped adjusting plate 14 to move back and forth in a cycle, thus facilitating the adjustment of the distance between the two climbing mechanisms 2. At the same time, the electric telescopic rod 22 can adjust the distance between the corresponding lifting bracket 23 and the docking plate 21, and the bidirectional electric push rod 24 can conveniently adjust the distance between the two L-shaped sliding plates 25, thereby facilitating the adjustment of the distance between the two climbing claws 26, and thus enabling the use of the corresponding climbing top claw 27 to achieve clamping and stable climbing of different power towers.

[0039] During this period, the electric heating rod 411 can heat the ice-breaking impact rod 410, and the stepper motor 41 can drive the drive turntable 43 to rotate, thereby driving the drive rod 44 to rotate, which in turn can make the drive rod 44 roll cyclically along the inner wall of the driven sleeve 45, and further drive the driven sleeve 45 to move cyclically back and forth, thereby driving the ice-breaking sleeve 46 to move cyclically back and forth through the driven slide rod 42, and then driving the ice-breaking impact rod 410 to move cyclically back and forth through the ice-breaking slide rod 47 and the T-shaped connecting rod 48, so that the ice-breaking impact rod 410 can effectively break the ice layer on the path of the power tower climbing robot by means of the extension and retraction of the return spring 49.

[0040] In addition, staff can place the items to be transported on both ends of the inner side of the rectangular storage frame 61. Staff can rotate and adjust the handwheel 68 corresponding to the self-locking screw 62 or the self-locking screw 63 according to the shape of the item. This will drive the self-locking screw 62 or the self-locking screw 63 to rotate, which will then drive the adjustment slide 64 or the adjustment slide 66 to move and adjust. This will further drive the curved clamp 65 or the flat clamp 67 to move and adjust, and stably clamp items of different shapes and sizes. This will enable the stable clamping and transfer of items of different shapes and sizes.

[0041] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A power tower climbing robot, comprising a climbing assistance mechanism (1), wherein the climbing assistance mechanism (1) includes a docking socket (18), characterized in that: The lower end of the climbing mechanism (1) is detachably provided with a climbing mechanism (2) for use, and the climbing mechanism (2) includes a docking plate (21), a lifting bracket (23) and a climbing claw (26). The top end of the climbing mechanism (2) is provided with a docking mechanism (3) for use with the climbing mechanism (1), and the docking mechanism (3) includes a docking rod (33). One end of the climbing mechanism (1) is provided with a breaking ice mechanism (4) and a maintenance robot arm (5) for use, and the breaking ice mechanism (4) includes an ice breaking sleeve (46), a return spring (49) and an ice breaking impact rod (410). The other end of the climbing mechanism (1) is provided with a fixing mechanism (6) for use, and the fixing mechanism (6) includes an adjusting slide plate one (64), an arc-shaped clamping plate (65), an adjusting slide plate two (66) and a straight clamping plate (67). The use of the docking mechanism (3) facilitates the insertion and separation of the docking rod (33) and the docking hole (18), and also facilitates the adjustment of the distance between the two docking plates (21), the distance between the docking plate (21) and the lifting bracket (23), and the distance between the two adjacent climbing claws (26). The use of the ice-breaking mechanism (4) enables the ice-breaking sleeve (46) to move back and forth in a cyclic manner, thereby enabling the ice-breaking impact rod (410) to move in a cyclic manner. The repeated movement allows the ice-breaking impact rod (410) to effectively break the ice layer on the path of the power tower climbing robot under the fault tolerance of the return spring (49). It also enables convenient heating and disassembly / replacement of the ice-breaking impact rod (410). The setting and use of the solidification mechanism (6) can conveniently drive the adjustment slide plate one (64) or adjustment slide plate two (66) to move and adjust as needed, thereby enabling convenient movement and adjustment of the arc-shaped clamp plate (65) or the flat clamp plate (67) as needed.

2. The power tower climbing robot as described in claim 1, characterized in that, The climbing aid mechanism (1) also includes a climbing aid frame (11). A stepper motor (12) is fixedly installed on the inner wall of one end of the climbing aid frame (11), and an adjustment screw (13) is fixedly connected to the output end of the stepper motor (12). The adjustment screw (13) is rotatably inserted into the climbing aid frame (11), and an L-shaped adjustment plate (14) is threaded onto the outer side of the adjustment screw (13). Symmetrically arranged limiters are fixedly inserted into the climbing aid frame (11). The guide rod (15) and the L-shaped adjustment plate (14) are slidably sleeved on the guide rod (15). The L-shaped adjustment plate (14) and the climbing frame (11) are both provided with a docking slot (16). The L-shaped adjustment plate (14) and the climbing frame (11) are both integrally formed with a docking side plate (17) that works with the docking slot (16). The docking side plate (17) has a symmetrical structure, and the docking hole (18) is provided on the docking side plate (17).

3. The power tower climbing robot as described in claim 2, characterized in that, The middle part of the docking plate (21) can be slidably inserted into the docking slot (16), and electric telescopic rods (22) are fixedly installed at both ends of the docking plate (21). The output end of the electric telescopic rod (22) slides through the docking plate (21), and the lifting bracket (23) is fixedly connected to the end of the output end of the adjacent electric telescopic rod (22). A bidirectional electric push rod (24) is fixedly installed on the inner side of the lifting bracket (23), and L-shaped sliding plate (25) is fixedly connected to the end of the output ends on both sides of the bidirectional electric push rod (24). The climbing claw (26) slides through one end of the lifting bracket (23) and is fixedly connected to the L-shaped sliding plate (25). The bottom middle part of the lifting bracket (23) is integrally formed with a climbing top claw (27) that works with the climbing claw (26).

4. The power tower climbing robot as described in claim 3, characterized in that, The lifting bracket (23) has symmetrically distributed sliding guide grooves (28) through it, and the L-shaped sliding plate (25) is slidably inserted into the sliding guide groove (28).

5. A power tower climbing robot as described in claim 4, characterized in that, The docking mechanism (3) further includes a docking slide plate (31), which is slidably inserted into the inner cavity on both sides of the top of the docking plate (21), and docking springs (32) are fixedly installed on opposite sides of the docking slide plate (31). The ends of the docking springs (32) are fixedly connected to the inner wall of the docking plate (21), and the docking rods (33) are fixedly installed on opposite ends of the docking slide plate (31), and the docking rods (33) can slide through the docking plate (21) and slide into the docking hole (18).

6. A power tower climbing robot as described in claim 5, characterized in that, The docking slide plate (31) has an integrally formed sliding push rod (34), and the upper end of the docking insert plate (21) is provided with symmetrically arranged sliding push grooves (29), and the sliding push rod (34) is slidably inserted into the sliding push groove (29).

7. A power tower climbing robot as described in claim 2, characterized in that, The ice-breaking mechanism (4) further includes a second stepper motor (41) and a driven slide rod (42). The second stepper motor (41) is fixedly installed on the upper side of one side of the climbing frame (11), and the output end of the second stepper motor (41) rotates through the climbing frame (11) and a drive turntable (43) is fixedly sleeved at its end. A drive rod (44) is rotatably inserted into the drive turntable (43). The driven slide rod (42) is slidably inserted into the climbing frame (11), and a driven sleeve frame (45) is integrally formed at the top of the driven slide rod (42). The drive rod (44) is rolled and locked in the driven sleeve frame (45). Inside the ice-breaking sleeve (46), the end of the driven slide rod (42) away from the driven sleeve frame (45) is fixedly connected to the ice-breaking sleeve (46). The ice-breaking slide rod (47) is slidably inserted inside the ice-breaking sleeve (46), and a T-shaped connecting rod (48) is fixedly installed at the bottom end of the ice-breaking slide rod (47). The two ends of the return spring (49) are fixedly connected to the ice-breaking sleeve (46) and the T-shaped connecting rod (48) respectively. The ice-breaking impact rod (410) can be threaded onto the bottom end of the T-shaped connecting rod (48). An electric heating rod (411) that works with the ice-breaking impact rod (410) is fixedly inserted at the lower end of the T-shaped connecting rod (48).

8. A power tower climbing robot as described in claim 2, characterized in that, The fixing mechanism (6) also includes a sun-shaped storage frame (61), which is fixedly installed on one side of the top of the climbing frame (11). The sun-shaped storage frame (61) is rotatably connected to a symmetrically distributed self-locking screw rod one (62) and a self-locking screw rod two (63). The self-locking sliding plate one (64) is threaded on the self-locking screw rod one (62), and one end of the self-locking sliding plate one (64) is slidably connected to the sun-shaped storage frame (61). The other end of the self-locking sliding plate one (64) is fixedly connected to the arc-shaped clamping plate (65). The self-locking sliding plate two (66) is threaded on the self-locking screw rod two (63), and one end of the self-locking sliding plate two (66) is slidably connected to the sun-shaped storage frame (61). The other end of the self-locking sliding plate two (66) is fixedly connected to the straight clamping plate (67), and the straight clamping plate (67) can slide and fit against the arc-shaped clamping plate (65).

9. A power tower climbing robot as described in claim 8, characterized in that, The ends of the self-locking screw 1 (62) and the self-locking screw 2 (63) are both fixedly connected to an adjustment handwheel (68), and an array of anti-slip grooves (69) are provided on the outer wall of the adjustment handwheel (68).

10. A power tower climbing robot as described in claim 2, characterized in that, The top of the climbing frame (11) is fixedly equipped with a battery and controller for use.

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