Single-pole tower installation robot and installation method

Abstract

The present application belongs to the field of communication tower installation, and particularly relates to a single-pipe tower installation robot and an installation method. The single-pipe tower installation robot is characterized by the following: a platform is connected to an installation mechanism at the top, the installation mechanism is used for the installation of a single-pipe tower, a plurality of climbing wheel systems are connected to the platform at the bottom, the climbing wheel system comprises a floating guide rail, a magnetic wheel, a supporting wheel, a wheel leg and a driving structure, the sliding block assembly of the floating guide rail is fixedly connected to the platform, the end of the guide rail body of the floating guide rail is fixedly connected to the wheel leg, the wheel leg is connected to the magnetic wheel and the supporting wheel, and the magnetic wheel is connected to the output end of the driving structure; the magnetic wheel and the supporting wheel of the plurality of climbing wheel systems are used for acting on the tower body to climb on the tower body. The present application realizes self-adaptation through the floating guide rail, solves the problem of complex self-adaptive component structure and high production cost in the prior art, and the magnetic wheel is arranged to be capable of adsorbing the tower body, so that the robot can be more stably attached to the tower body, and the safety of the robot in use is improved.

Description

Technical Field

[0001] This invention belongs to the field of communication tower installation, specifically relating to a single-tube tower installation robot and installation method. Background Technology

[0002] A single-tube communication tower is composed of multiple tower sections, with a height of 30-50 meters. The installation of the tower sections other than the base is a dangerous high-altitude operation.

[0003] The tower section installation currently employs a "hoisting + manual" method. Installation personnel must climb to the height of the single-tube tower to adjust and align the tower pipes to be installed, and then work with the crane to complete the system installation. During the installation process, personnel are in a complex and dangerous working environment with a heavily loaded crane at high altitude, posing significant safety hazards.

[0004] Chinese patent CN221457831U discloses a climbing mechanism and a robot. The robot includes a climbing mechanism comprising a support component, a crawling component, and an adaptive component. The support component and the crawling component are respectively mounted on opposite sides of the adaptive component. Two adaptive components are spaced apart and connected by a drive shaft. The support component is equipped with a first driving device, the output of which can reciprocate along a straight line and is connected to the drive shaft, used to drive the drive shaft to move the opposite sides of the adaptive components closer together or further apart. The crawling component is equipped with rotatable rollers. By configuring the support component, crawling component, and adaptive component to cooperate with each other, the climbing mechanism has stronger stability and better applicability.

[0005] While the structure of this patent enables the robot to climb, it still has the following problems: (1) Adaptive components have complex structures and high production costs; (2) Low security.

[0006] In view of this, the present invention is hereby proposed. Summary of the Invention

[0007] In order to solve the technical problems existing in the prior art, the present invention provides a single-tube tower installation robot and installation method.

[0008] This invention includes the following technical solutions: The first aspect of the present invention provides a single-tube iron tower installation robot, including a platform, a climbing wheel system, and an installation mechanism. The installation mechanism is connected above the platform and is used for installing a single-tube iron tower. Multiple climbing wheel systems are connected below the platform. Each climbing wheel system includes a floating guide rail, a magnetic wheel, a support wheel, wheel legs, and a drive structure. The slider assembly of the floating guide rail is fixedly connected to the platform. The wheel legs are fixedly connected to the end of the guide rail body of the floating guide rail. The wheel legs are connected to the magnetic wheel and the support wheel. The magnetic wheel is connected to the output end of the drive structure. Multiple climbing wheel systems, including magnetic wheels and support wheels, are used to act on the tower body for climbing.

[0009] Furthermore, the magnetic wheel is located above the support wheel.

[0010] Furthermore, the climbing wheel system is provided with at least four wheels.

[0011] Furthermore, a horizontal angle measuring instrument is installed on the platform.

[0012] Furthermore, the installation mechanism includes a rotating structure, a centering structure, and clamping rods. The rotating structure is fixedly connected to the top of the platform, and the centering structure is fixedly connected to the rotating structure. The centering structure connects two clamping rods. The rotating structure drives the centering structure to rotate, so that the clamping rods grip the tower pipe to be installed and achieve centering of the tower pipe. Furthermore, the rotating structure includes a base, a first guide rail, a track wheel, a rotating platform, and a transmission component. The base is fixedly connected to the platform, and the first guide rail is provided at the upper end of the base. The track wheel is movably arranged within the first guide rail, and the track wheel is connected to the rotating platform via a connecting shaft. The rotating platform is connected to the centering structure. The track wheel slides within the first guide rail to realize the rotation of the rotating platform.

[0013] Furthermore, the first guide rail is an arc-shaped guide rail.

[0014] Furthermore, the transmission component includes a transmission wheel, transmission teeth, and a rotary motor. The transmission teeth are disposed on the side of the first guide rail and mesh with the transmission wheel. The transmission wheel is connected to the output end of the rotary motor via a rotating shaft. The rotary motor is fixedly connected above the rotary table, and the middle part of the rotating shaft is disposed inside the rotary table.

[0015] Furthermore, the centering structure includes a support platform, a lead screw, and a first motor. Two support platforms are fixedly connected above the rotating platform. The two ends of the lead screw are rotatably connected to one support platform, and the two ends of the lead screw are provided with threads of opposite directions. The lead screw is connected to a retaining rod through the threads of opposite directions.

[0016] A second aspect of the present invention provides an installation method for a single-tube steel tower, implemented using the single-tube steel tower installation robot described above, the installation method comprising: The robot's multiple climbing wheels are attached to the tower. The robot climbs to the installation location; The installation mechanism grips the tower pipe to be installed to achieve the centering operation of the tower pipe; After the tower pipe is aligned with the tower body, release the installation mechanism.

[0017] By adopting the above technical solution, the present invention has the following advantages: 1. The robot of the present invention achieves self-adaptation through floating guide rails, which solves the problems of complex structure and high production cost of adaptive components in the prior art. Moreover, the robot can adapt to single-tube iron towers of different diameters by adaptively adjusting the wheel system through floating guide rails. At the same time, the magnetic wheel can attract the tower body, so that the robot can attach to the tower body more stably and improve the safety of robot use.

[0018] 2. The rotating structure, centering structure, and clamping rod of the present invention can quickly and effectively achieve the centering of the tower tube, avoiding manual operation, and has the advantages of reducing costs and improving safety.

[0019] 3. The robot of the present invention has functions such as tower climbing, tower position and posture adjustment, which solves the safety hazards of tower installation and improves work efficiency and safety.

[0020] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention can be realized and obtained by means of the structures pointed out in the description and the drawings. Attached Figure Description

[0021] 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 some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a front view of a single-tube tower installation robot according to an embodiment of the present invention; Figure 2 This is a left view of a single-tube tower installation robot according to an embodiment of the present invention; Figure 3 This is a top view of a single-tube tower installation robot according to an embodiment of the present invention; Figure 4This is a front view of the connection structure between the platform and the climbing wheel system in an embodiment of the present invention; Figure 5 This is a left view of the connection structure between the platform and the climbing wheel system in an embodiment of the present invention; Figure 6 This is a top view of the connection structure between the platform and the climbing wheel system in an embodiment of the present invention; Figure 7 This is a schematic diagram of the rotating structure in an embodiment of the present invention; Figure 8 This is a front view of the rotating structure in an embodiment of the present invention; Figure 9 This is a left view of the rotating structure in an embodiment of the present invention; Figure 10 This is a top view of the rotating structure in an embodiment of the present invention; Figure 11 This is a schematic diagram of the connection structure between the centering structure and the support rod in an embodiment of the present invention; Figure 12 This is a front view of the connection structure between the centering structure and the support pole in an embodiment of the present invention; Figure 13 This is a left view of the connection structure between the centering structure and the support rod in an embodiment of the present invention; Figure 14 This is a top view of the connection structure between the centering structure and the support rod in an embodiment of the present invention.

[0023] In the diagram, 10-platform, 20-climbing wheel system, 21-floating guide rail, 22-magnetic wheel, 23-support wheel, 24-wheel leg, 25-drive structure, 30-installation mechanism, 31-rotating structure, 311-base, 312-first guide rail, 313-track wheel, 314-rotating table, 315-transmission component, 3151-transmission wheel, 3152-transmission gear, 3153-rotary motor, 32-centering structure, 321-support platform, 322-lead screw, 323-first motor, 33-climbing rod, 34-second guide rail. Detailed Implementation

[0024] The following description provides many different embodiments or examples for implementing various features of the invention. The elements and arrangements described in the specific examples below are only for concise expression of the invention and are merely examples, not intended to limit the invention.

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, 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.

[0026] The first aspect of this embodiment provides a single-tube tower installation robot, combined with... Figure 1 , Figure 2 , Figure 3 As shown, the system includes a platform 10, climbing wheel systems 20, and an installation mechanism 30. The installation mechanism 30 is connected to the upper part of the platform 10 and is used for the installation of a single-tube iron tower. Multiple climbing wheel systems 20 are connected to the lower part of the platform 10. Figure 4 , Figure 5 , Figure 6 As shown, the climbing wheel system 20 includes a floating guide rail 21, a magnetic wheel 22, a support wheel 23, wheel legs 24, and a drive structure 25. The slider assembly of the floating guide rail 21 is fixedly connected to the platform 10. The wheel legs 24 are fixedly connected to the end of the guide rail body of the floating guide rail 21. The wheel legs 24 connect the magnetic wheel 22 and the support wheel 23. The magnetic wheel 22 is connected to the output end of the drive structure 25. The magnetic wheels 22 and support wheels 23 of the multiple climbing wheel systems 20 are all used to act on the tower body to climb on the tower body; wherein, the magnetic wheels 22 are attached to the tower body, and the support wheels 23 provide balancing force.

[0027] The floating guide rail 21 is an existing mature product. The floating guide rail 21 includes a slider assembly and a guide rail body. The slider assembly is slidably connected to the guide rail body. In this invention, since the slider assembly is fixed on the platform 10, the guide rail body moves relative to the platform 10.

[0028] The drive structure 25 can be a motor. For example, combined with... Figure 4 , Figure 5 , Figure 6 As shown, the upper end of the wheel leg 24 has a first connecting groove for connecting the magnetic wheel 22, and the magnetic wheel 22 is rotatably connected to the first connecting groove via a first rotating shaft. The lower end of the wheel leg 24 has a second connecting groove for connecting the support wheel 23, and the support wheel 23 is rotatably connected to the second connecting groove via the first rotating shaft. The motor is fixedly connected to the outer wall of the wheel leg 24, and the output end of the motor is fixedly connected to the first rotating shaft to drive the magnetic wheel 22 to rotate. The up-and-down movement of the magnetic wheel 22 is achieved by controlling the rotation direction of the motor. Preferably, the magnetic force of the magnetic wheel 22 is 400N.

[0029] Since the magnetic wheel 22 is an active rotating mechanism, and the support wheel 23 mainly serves as a balancing support without any power, in some embodiments, the magnetic wheel 22 is located above the support wheel 23. This achieves forward-driven motion, which has the advantages of saving time and effort.

[0030] Because the tower's diameter exceeds 1000mm and it has a regular hexagonal structure, to ensure the robot's adhesion and reliability on the tower, and to increase the smoothness and friction of the robot's movement, at least four climbing wheels 20 are provided in some embodiments. Preferably, four climbing wheels 20 are arranged symmetrically on both sides.

[0031] In some embodiments, a horizontal angle measuring instrument is provided on the platform 10. The robot measures the tilt angle of the platform 10 during climbing, thereby adjusting the robot's posture to ensure the platform 10 remains horizontal during movement, ensuring the robot's balance and improving climbing stability and safety.

[0032] Since platform 10 is primarily used to connect the installation mechanism 30 for tower installation, the shape of platform 10 is not limited in this invention. Preferably, in some embodiments, combined with Figure 3 As shown, the platform 10 is annular. The annular platform 10 is better adapted to the shape of the single-tube iron tower, allowing the climbing wheel system 20 to work more effectively on the tower wall.

[0033] In some embodiments, the installation mechanism 30 includes a rotating structure 31, a centering structure 32, and a clamping rod 33. The rotating structure 31 is fixedly connected to the top of the platform 10, and the rotating structure 31 is fixedly connected to the centering structure 32. The centering structure 32 connects two clamping rods 33. The rotating structure 31 is used to drive the centering structure 32 to rotate so that the clamping rods 33 clamp the tower tube to be installed and achieve centering of the tower tube to be installed.

[0034] In some embodiments, combined with Figure 7 , Figure 8 , Figure 9 , Figure 10 As shown, the rotating structure 31 includes a base 311, a first guide rail 312, a track wheel 313, a rotating platform 314, and a transmission component 315. The base 311 is fixedly connected to the platform 10. The first guide rail 312 is provided at the upper end of the base 311. The track wheel 313 is movably arranged in the first guide rail 312. The track wheel 313 is connected to the rotating platform 314 through a connecting shaft. The rotating platform 314 is connected to the centering structure 32. The track wheel 313 slides in the first guide rail 312 to realize the rotation of the rotating platform 314.

[0035] Preferably, combined with Figure 8As shown, four track wheels 313 are provided.

[0036] In some embodiments, the first guide rail 312 is an arc-shaped guide rail.

[0037] In some embodiments, combined with Figure 7 , Figure 8 , Figure 9 , Figure 10 As shown, the transmission component 315 includes a transmission wheel 3151, a transmission gear 3152, and a rotary motor 3153. The transmission gear 3152 is disposed on the side of the first guide rail 312 and meshes with the transmission wheel 3151. The transmission wheel 3151 is connected to the output end of the rotary motor 3153 through a rotating shaft. The rotary motor 3153 is fixedly connected above the rotary table 314, and the middle part of the rotating shaft is disposed inside the rotary table 314.

[0038] In some embodiments, combined with Figure 11 , Figure 12 , Figure 13 , Figure 14 As shown, the centering structure 32 includes a support platform 321, a lead screw 322, and a first motor 323. Two support platforms 321 are fixedly connected above the rotating platform 314. The two ends of the lead screw 322 are rotatably connected to one support platform 321 respectively. The two ends of the lead screw 322 are provided with threads of opposite directions, and the lead screw 322 is connected to a clamping rod 33 through these opposite threads. This structure allows the drive screw 322 to rotate synchronously and adjust the movement of the two clamping rods 33, enabling them to move towards or away from each other, thus better clamping the tower tube.

[0039] In some embodiments, combined with Figure 12 , Figure 14 As shown, the rotary table 314 is also provided with two second guide rails 34, each of which is connected to a slider, and each slider is connected to a retaining rod 33; this structure can guide the retaining rods 33 when they move towards each other or away from each other.

[0040] In some embodiments, the system further includes a camera and a remote control system. The camera is mounted on the platform 10 to monitor the tower structure in real time. The remote control system has a human-machine interface (HMI) that displays the tower structure information transmitted from the camera and the tilt angle measured by a horizontal angle measuring instrument. Control commands are input into the HMI to control operations such as robot climbing and tower installation. The remote control system improves the safety and efficiency of tower installation.

[0041] In some embodiments, the remote control system is only used to display the tower structure as transmitted by the camera, while the robot is controlled by a handheld robot controller; it has the advantages of simple operation and high efficiency.

[0042] It's worth noting that the robot controller and remote control system essentially control the robot by starting and stopping its various motors. Motor start-stop control can be achieved using existing remote control methods, which will not be elaborated upon here.

[0043] This invention enables a robot to climb communication towers via magnetic wheel 22 adsorption and motor drive. Simultaneously, combined with centering structure 32 and rotating mechanism, it allows for the adjustment of the position and attitude of the tower body to be installed, replacing manual labor in the automated installation of single-tube towers in high-altitude and high-risk environments. This structure can be applied to the installation of all single-tube tower bodies for communication towers.

[0044] The second aspect of this embodiment provides an installation method for a single-tube iron tower, implemented based on the single-tube iron tower installation robot described above. The installation method includes: The robot's multiple climbing wheel systems 20 are attached to the tower body; The robot climbs to the installation location; The installation mechanism 30 clamps the tower pipe to be installed to achieve the centering operation of the tower pipe to be installed; After the tower pipe is aligned with the tower body, loosen the installation mechanism 30.

[0045] All terms used in this invention (including technical or scientific terms) have the same meaning as understood by one of ordinary skill in the art to which this invention pertains, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries should be interpreted as having meanings consistent with their meanings in the context of the relevant art, and not as idealized or highly formalized, unless expressly defined herein.

[0046] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A single-tube tower installation robot, comprising a platform (10), characterized in that, It also includes a climbing wheel system (20) and an installation mechanism (30). The installation mechanism (30) is connected above the platform (10). The installation mechanism (30) is used for the installation of a single-tube iron tower. Multiple climbing wheel systems (20) are connected below the platform (10). The climbing wheel system (20) includes a floating guide rail (21), a magnetic wheel (22), a support wheel (23), wheel legs (24), and a drive structure (25). The slider assembly of the floating guide rail (21) is fixedly connected to the platform (10). The end of the guide rail body of the floating guide rail (21) is fixedly connected to the wheel leg (24). The wheel leg (24) is connected to the magnetic wheel (22) and the support wheel (23). The magnetic wheel (22) is connected to the output end of the drive structure (25). The magnetic wheels (22) and support wheels (23) of the multiple climbing wheel systems (20) are used to act on the tower body to climb the tower body.

2. The single-tube tower installation robot according to claim 1, characterized in that, The magnetic wheel (22) is located above the support wheel (23).

3. The single-tube tower installation robot according to claim 1, characterized in that, The climbing wheel system (20) shall be provided with at least four wheels.

4. The single-tube tower installation robot according to claim 1, characterized in that, A horizontal angle measuring instrument is installed on the platform (10).

5. A single-tube tower installation robot according to claim 1, characterized in that, The installation mechanism (30) includes a rotating structure (31), a centering structure (32), and a clamping rod (33). The rotating structure (31) is fixedly connected above the platform (10). The rotating structure (31) is fixedly connected to the centering structure (32). The centering structure (32) connects two clamping rods (33). The rotating structure (31) is used to drive the centering structure (32) to rotate so that the clamping rods (33) clamp the tower tube to be installed and achieve the centering of the tower tube to be installed.

6. A single-tube tower installation robot according to claim 5, characterized in that, The rotating structure (31) includes a base (311), a first guide rail (312), a track wheel (313), a rotating platform (314), and a transmission component (315). The base (311) is fixedly connected to the platform (10). The first guide rail (312) is provided at the upper end of the base (311). The track wheel (313) is movably arranged in the first guide rail (312). The track wheel (313) is connected to the rotating platform (314) through a connecting shaft. The rotating platform (314) is connected to the centering structure (32). The track wheel (313) slides in the first guide rail (312) to realize the rotation of the rotating platform (314).

7. A single-tube tower installation robot according to claim 6, characterized in that, The first guide rail (312) is an arc-shaped guide rail (312).

8. A single-tube tower installation robot according to claim 6, characterized in that, The transmission component (315) includes a transmission wheel (3151), a transmission gear (3152), and a rotary motor (3153). The transmission gear (3152) is disposed on the side of the first guide rail (312). The transmission gear (3152) meshes with the transmission wheel (3151). The transmission wheel (3151) is connected to the output end of the rotary motor (3153) through a rotating shaft. The rotary motor (3153) is fixedly connected above the rotary table (314). The middle part of the rotating shaft is disposed inside the rotary table (314).

9. A single-tube tower installation robot according to claim 6, characterized in that, The centering structure (32) includes a support platform (321), a lead screw (322) and a first motor (323). Two support platforms (321) are fixedly connected above the rotating platform (314). The two ends of the lead screw (322) are rotatably connected to one support platform (321) respectively. The two ends of the lead screw (322) are provided with threads with opposite directions of rotation. The lead screw (322) is connected to a retaining rod (33) respectively through the threads with opposite directions of rotation.

10. A method for installing a single-tube iron tower, characterized in that, Based on the single-tube tower installation robot according to any one of claims 1-9, the installation method includes: The robot's multiple climbing wheel systems (20) are attached to the tower body; The robot climbs to the installation location; The installation mechanism (30) grips the tower pipe to be installed to achieve the centering operation of the tower pipe to be installed; After the tower pipe is aligned with the tower body, release the installation mechanism (30).

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