Tower cross arm mounting robot

Abstract

The utility model belongs to the technical field of tower equipment maintenance, and particularly relates to a tower cross arm mounting robot. Comprising a self-adaptive guide walking mechanism, a ring gear steering mechanism and a magnetic type self-resetting locking device which are sequentially connected from bottom to top, and the self-adaptive guide walking mechanism is used for walking on a tower; the circular ring gear steering mechanism is arranged on the self-adaptive guide walking mechanism, two sets of magnetic attraction type self-resetting locking devices are arranged on the circular ring gear steering mechanism in parallel, the circular ring gear steering mechanism is used for driving the magnetic attraction type self-resetting locking devices to rotate in the circumferential direction, and the two sets of magnetic attraction type self-resetting locking devices are used for fixedly installing the cross arm on a tower. According to the self-adaptive guide walking mechanism, cylindrical rod-shaped building surfaces can effectively pass through the self-adaptive guide walking mechanism, due to the design of the annular rack, the self-adaptive guide walking mechanism can be well suitable for entering a to-be-operated space, and the self-adaptive guide walking mechanism has the advantages of being good in environment operation adaptability, stable in design structure, easy in function implementation and the like, and is wide in application range.

Description

Technical Field

[0001] This utility model belongs to the field of pole and tower equipment maintenance technology, and specifically relates to a pole and tower crossarm installation robot. Background Technology

[0002] Due to the high requirements for safety and efficiency in power systems, high-voltage transmission towers and signal towers are the lifelines of the power system, and their safe operation directly affects the stability and reliability of power supply. Traditional maintenance methods mainly rely on manual climbing of the towers, which not only consumes a lot of physical strength and affects work efficiency, but also poses risks of falls from heights and electric shock. With the continuous construction of high-voltage and ultra-high-voltage transmission lines, the height of the towers is constantly increasing, and the power sector urgently needs an automated device that can replace manual inspection and maintenance. Utility Model Content

[0003] In view of the above-mentioned defects in the prior art, the purpose of this utility model is to provide a pole crossarm installation robot to solve the problems of high difficulty and high risk factor of manual pole line crossarm replacement, and improve the efficiency of crossarm replacement.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] This utility model provides a pole crossarm installation robot, including an adaptive guiding walking mechanism, a ring gear steering mechanism, and a magnetic self-resetting locking device. The adaptive guiding walking mechanism is used to walk on the pole. The ring gear steering mechanism is set on the adaptive guiding walking mechanism, and two sets of magnetic self-resetting locking devices are arranged in parallel on the ring gear steering mechanism. The ring gear steering mechanism is used to drive the magnetic self-resetting locking devices to rotate circumferentially, and the two sets of magnetic self-resetting locking devices are used to fix the crossarm on the pole.

[0006] The adaptive guiding walking mechanism includes a ring frame and multiple sets of walking wheels arranged circumferentially inside the ring frame, wherein the ring frame is a detachable split structure; each set of walking wheels includes two walking wheels arranged symmetrically at the top and bottom and a connecting component connecting the two walking wheels, and the connecting component can adjust the distance between the two walking wheels.

[0007] The walking wheel includes a guide rubber wheel, a guide wheel shaft, and a guide wheel frame, wherein one end of the guide wheel frame is hinged to the annular frame, and the other end is rotatably mounted with the guide rubber wheel via the guide wheel shaft;

[0008] The connecting assembly includes a tension nut and two tensioning ring bolts. One end of each tensioning ring bolt is threaded to both ends of the tension nut, and the other end of each tensioning ring bolt is hinged to two guide wheel frames. The center distance between the two guide rubber wheels can be adjusted by the tension nut.

[0009] The circular gear steering mechanism includes a ring gear carrier, a circular gear, guide wheel bearings, a drive gear, and a drive servo motor. The ring gear carrier is connected to the adaptive guiding travel mechanism via multiple double-headed bolts. The circular gear is rotatably mounted on the ring gear carrier and is positioned on its inner side by multiple guide wheel bearings arranged circumferentially on the ring gear carrier. The drive servo motor is mounted on the ring gear carrier and has a drive gear at its output end, which meshes with the circular gear.

[0010] The magnetic self-resetting locking device includes an internal hexagonal sleeve I, a worm gear reducer motor, a motor support frame, a slider, a linear slide rail, a locking bolt, a crossbeam support frame, a sleeve support frame, a fixing nut, an internal hexagonal sleeve II, and two magnetic locking mechanisms. The crossbeam support frame and the linear slide rail are mounted on the ring gear steering mechanism. The motor support frame and the sleeve support frame are slidably connected to the linear slide rail via the slider. The worm gear reducer motor is mounted on the motor support frame, and its output shaft is aligned with the internal hexagonal sleeve I. The internal hexagonal sleeve II is mounted on the sleeve support frame, and it is coaxial with the internal hexagonal sleeve I. The fixing nut is placed inside the internal hexagonal sleeve II. One end of the locking bolt is inserted into the internal hexagonal sleeve I, and the other end is connected to the fixing nut. The worm gear reducer motor drives the locking bolt to rotate, tightening the other end of the locking bolt to the fixing nut.

[0011] Two magnetic locking mechanisms are respectively installed on the linear slide rail, and the two magnetic locking mechanisms are used to lock or release the motor support frame and the sleeve support frame respectively.

[0012] The magnetic locking mechanism includes a slide rail limiting block, an electromagnetic lock, and a guide release module. The slide rail limiting block is fixed on the linear slide rail, and the electromagnetic lock is disposed on the side of the slide rail limiting block for locking the motor support frame or the sleeve support frame on the side. The guide release module is disposed on the slide rail limiting block for releasing and guiding the unlocked motor support frame or the sleeve support frame.

[0013] The electromagnetic lock includes an electromagnetic lock housing and an electromagnetic valve, an electromagnetic spring, and an electromagnetic locking pin arranged sequentially within the electromagnetic lock housing. The electromagnetic lock housing is fixed to the slide rail limit block, and the electromagnetic locking pin extends out of the electromagnetic lock housing to the outside. The electromagnetic valve compresses and extends the electromagnetic spring by discharging, thereby causing the electromagnetic locking pin to extend and retract.

[0014] The guide release module includes a spring and a guide pin, wherein the guide pin is disposed on the slide rail limiting block in a direction parallel to the linear slide rail, and its end is inserted into the guide hole on the motor support frame or the sleeve support frame; the spring is sleeved on the guide pin, and both ends of the spring abut against the slide rail limiting block and the motor support frame respectively, or both ends of the spring abut against the slide rail limiting block and the sleeve support frame respectively.

[0015] The pole crossarm installation robot is pulled on the pole by an external traction device and can be fixed on the pole.

[0016] The external traction device includes an inclined self-locking ring fixing mechanism, an unmanned conveyor, an electric conveying winch, and a connecting rope. The inclined self-locking ring fixing mechanism is nested on the tower and can self-lock in an inclined state. The unmanned conveyor is magnetically fixed to the inclined self-locking ring fixing mechanism and is used to drive the inclined self-locking ring fixing mechanism to slide along the tower to the working position. The electric conveying winch is set on the ground at the bottom of the tower. One end of the connecting rope is wound around the electric conveying winch, and the other end is connected to the tower crossarm installation robot after passing through the inclined self-locking ring fixing mechanism. The tower crossarm installation robot can move on the tower by raising and lowering the connecting rope through the electric conveying winch.

[0017] The inclined self-locking ring fixing mechanism includes a fixed retaining ring, a connecting rod, a fixed pulley, and a fixed crossbeam. There are two fixed retaining rings and two connecting rods. The two connecting rods are arranged in parallel, and the two fixed retaining rings are hinged to one end of the two connecting rods. The other end of the two connecting rods is connected to the fixed crossbeam, and the fixed pulley is set on the fixed crossbeam. When the unmanned conveyor releases the inclined self-locking ring fixing mechanism, the ends of the two connecting rods tilt downward under the influence of gravity, causing the two fixed retaining rings to lock the tower.

[0018] The advantages and beneficial effects of this utility model compared with the prior art are as follows: The pole crossarm installation robot provided by this utility model can effectively pass through cylindrical pole-shaped building surfaces through an adaptive guiding walking mechanism. Due to its ring frame design, it can be well adapted to enter the work space. This working mechanism has the advantages of good environmental adaptability, stable design structure and easy function implementation, and has a wide range of applications. The ring gear steering mechanism achieves high-precision transmission through the meshing of servo motor and gear, making the crossarm changing angle more accurate and reducing the error of the installation operation. The magnetic self-resetting locking device performs the installation operation through magnetic attraction, without manual intervention. The operation is stable, firm and responsive, reducing the need for manual labor and improving efficiency.

[0019] This invention utilizes the electric winch conveyor body to reduce the power loss inside the robot and save energy. Attached Figure Description

[0020] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0021] Figure 1 This is an isometric drawing of a pole crossarm installation robot according to the present invention;

[0022] Figure 2 This is a front view of a pole crossarm installation robot according to the present invention;

[0023] Figure 3 This is a schematic diagram of the adaptive guiding walking mechanism in this utility model;

[0024] Figure 4 This is a cross-sectional view of the adaptive guiding walking mechanism in this utility model;

[0025] Figure 5 This is a schematic diagram of the circular gear steering mechanism in this utility model;

[0026] Figure 6 This is a lower axonometric schematic diagram of the circular gear steering mechanism in this utility model;

[0027] Figure 7 This is a cross-sectional view of the circular gear steering mechanism in this utility model;

[0028] Figure 8 This is a schematic diagram of the magnetic self-resetting locking device in this utility model;

[0029] Figure 9 This is a cross-sectional view of the magnetic self-resetting locking device of this utility model;

[0030] Figure 10 This is a schematic diagram of the electromagnetic locking device in this utility model;

[0031] Figure 11 This is a schematic diagram of the structure of the inclined self-locking ring fixing device of this utility model;

[0032] Figure 12 This is a schematic diagram of the working state of the crossarm installation robot for medium-pole towers of this utility model;

[0033] Figure 13 This is a schematic diagram showing the completed installation of the crossarm of the tower in an embodiment of this utility model.

[0034] In the diagram: 1-Adaptive guiding walking mechanism, 2-Circular gear steering mechanism, 3-Magnetic self-resetting locking device, 4-Guide rubber wheel, 5-Guide wheel shaft, 6-Guide wheel frame, 7-Tensioning ring bolt, 8-Tensioning nut, 9-Circular frame, 10-Circular frame limit bolt, 11-Double-headed bolt post, 12-Circular gear frame, 13-Circular gear, 14-Guide wheel shaft, 15-Guide wheel bearing, 16-Drive gear, 17-Drive servo motor, 18-Hex socket sleeve I, 19-Worm gear reducer motor, 20-Motor support frame, 21-Slider, 22-Linear slide rail, 23-Locking 24-Long bolt, 25-Crossarm support frame, 26-Sleeve support frame, 27-Slide rail limit block, 28-Spring, 29-Electromagnetic locker, 20-Solenoid valve, 21-Electromagnetic spring, 22-Electromagnetic locking pin, 23-Magnetic locker housing, 24-Guide pin, 35-Fixing nut, 36-Fixing circlip, 37-Connecting rod, 38-Fixing pulley, 39-Fixing crossbeam, 40-Inclined self-locking ring fixing mechanism, 41-Unmanned conveyor, 42-Electric conveying winch, 43-Hexagon socket II, 44-Connecting rope, 45-Cement pole, 46-Crossarm, 47-Crossarm fixing ring frame. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] See Figures 1 to 9 As shown, this utility model provides a pole crossarm installation robot, including an adaptive guiding walking mechanism 1, a circular gear steering mechanism 2, and a magnetic self-resetting locking device 3. The adaptive guiding walking mechanism 1 is used to walk on the pole, the circular gear steering mechanism 2 is set on the adaptive guiding walking mechanism 1, and two sets of magnetic self-resetting locking devices 3 are arranged in parallel on the circular gear steering mechanism 2. The circular gear steering mechanism 2 is used to drive the magnetic self-resetting locking devices 3 to rotate circumferentially, and the two sets of magnetic self-resetting locking devices 3 are used to fix the crossarm on the pole.

[0037] See Figure 3 , Figure 4 As shown in the embodiment of this utility model, the adaptive guiding walking mechanism 1 includes a ring frame 9 and multiple sets of walking wheels arranged circumferentially inside the ring frame 9, wherein the ring frame 9 is a detachable split structure; the walking wheel set includes two walking wheels arranged symmetrically above and below and a connecting component connecting the two walking wheels, and the connecting component can adjust the distance between the two walking wheels.

[0038] In this embodiment of the invention, the walking wheel includes a guide rubber wheel 4, a guide wheel shaft 5, and a guide wheel frame 6. One end of the guide wheel frame 6 is hinged to the annular frame 9, and the other end is rotatably mounted with the guide rubber wheel 4 via the guide wheel shaft 5. The guide rubber wheel 4 can roll within the wheel groove. The connecting assembly includes a tension nut 8 and two tensioning ring bolts 7. One end of each of the two tensioning ring bolts 7 is threaded to both ends of the tension nut 8, and the rings at the other ends of the two tensioning ring bolts 7 are hinged to the two guide wheel frames 6. By tightening the tension nut 8, the center distance between the two guide rubber wheels 4 can be adjusted, thus changing the walking radius of the robot body.

[0039] Specifically, the ring frame 9 includes a left frame and a right frame. The two ends of the left frame and the right frame are interlocked and fixed by the ring frame limiting bolts 10. Four sets of walking wheels are evenly distributed on the inner side of the ring frame 9. The ring frame 9 is provided with slots, and the guide wheel frame 6 is locked in the slots of the ring frame 9, allowing it to rotate flexibly.

[0040] See Figure 2 , Figures 5 to 7 As shown in the embodiment of this utility model, the circular gear steering mechanism 2 includes a ring gear frame 12, a circular gear 13, guide wheel bearings 15, a drive gear 16, and a drive servo motor 17. The ring gear frame 12 is connected to the ring frame 9 in the adaptive guiding walking mechanism 1 through multiple double-headed bolts 11. A space is left between the ring gear frame 12 and the ring frame 9 to facilitate the placement of the drive servo motor 17. The circular gear 13 is rotatably mounted on the ring gear frame 12, and its inner side is positioned by multiple guide wheel bearings 15 arranged circumferentially on the ring gear frame 12. Specifically, the guide wheel shaft 14 is placed in corresponding holes arranged circumferentially on the inner side of the ring gear frame 12. The upper and lower ends of the guide wheel shaft 14 pass through the ring gear frame 12 and are respectively mounted with guide wheel bearings 15. The circular gear 13 is tangentially mounted above the ring gear frame 12 with all the guide wheel bearings 15. Two drive servos 17 are symmetrically arranged at the bottom of the ring gear carrier 12. The output ends of the two drive servos 17 pass through the ring gear carrier 12 and are connected to two drive gears 16. Both drive gears 16 mesh with the ring gear 13. The drive servos 17 drive the drive gears 16 to rotate, thereby driving the ring gear 13 to rotate. A magnetic self-resetting locking device 3 is installed on the ring gear 13 and rotates together with the ring gear 13.

[0041] See Figure 8 , Figure 9As shown in the embodiment of this utility model, the magnetic self-resetting locking device 3 includes an internal hexagonal sleeve I 18, a worm gear reducer motor 19, a motor support frame 20, a slider 21, a linear slide rail 22, a locking bolt 23, a crossarm support frame 24, a sleeve support frame 25, a fixing nut 30, an internal hexagonal sleeve II 39, and a magnetic locking mechanism. The crossarm support frame 24 and the linear slide rail 22 are mounted on the circular gear 13 in the circular gear steering mechanism 2 and can rotate together with the circular gear 13. The crossarm support frame 24 is used to support the crossarm. The motor support frame 20 and the sleeve support frame 25 are slidably connected to the linear guide rail 22 via the slider 21. The worm gear reducer motor 19 is mounted on the motor support frame 20, and its output shaft is aligned with the internal hexagonal socket I 18. The internal hexagonal socket II 39 is mounted on the sleeve support frame 25, and the internal hexagonal socket II 39 is coaxial with the internal hexagonal socket I 18. The internal hexagonal socket II 39 is used to house the fixing nut 30. The bolt head of the locking bolt 23 is mated with the internal hexagonal socket I 18, and the threaded end of the locking bolt 23 corresponds to the fixing nut 30. The worm gear reducer motor 19 drives the locking bolt 23 to rotate, so that the other end of the locking bolt 23 is tightened with the fixing nut 30, thus fixing the crossarm at the specified height. Since it is necessary to fix the crossarm to a different position, the bolt locking method is used to make the connection more secure.

[0042] Furthermore, the linear slide rail 22 is provided with two magnetic locking mechanisms located inside the motor support frame 20 and the sleeve support frame 25, respectively. The two magnetic locking mechanisms are used to lock and release the motor support frame 20 and the sleeve support frame 25, respectively.

[0043] See Figure 8 , Figure 9 As shown in the embodiment of this utility model, the magnetic locking mechanism includes a slide rail limiting block 26, an electromagnetic locker 28, and a guide release module. The slide rail limiting block 26 is fixed on the linear slide rail 22 and close to the inner side of the ring gear frame 12, limiting the initial movement position of the slider 21. The electromagnetic locker 28 is disposed on the side of the slide rail limiting block 26 and is used to lock the side of the motor support frame 20 or the sleeve support frame 25. The guide release module is disposed on the slide rail limiting block 26 and is used to release and guide the unlocked motor support frame 20 or the sleeve support frame 25.

[0044] In this embodiment of the present invention, the guide release module includes a spring 27 and a guide pin 29. The guide pin 29 is disposed on the slide rail limiting block 26 in a direction parallel to the linear slide rail 22, and its end is inserted into the guide hole on the motor support frame 20 or the sleeve support frame 25. The spring 27 is sleeved on the guide pin 29, and both ends of the spring 27 abut against the slide rail limiting block 26 and the motor support frame 20, respectively, or both ends of the spring 27 abut against the slide rail limiting block 26 and the sleeve support frame 25, respectively.

[0045] See Figure 10 As shown in the embodiment of this utility model, the electromagnetic lock 28 includes an electromagnetic lock housing 284 and an electromagnetic valve 281, an electromagnetic spring 282, and an electromagnetic locking pin 283 sequentially disposed within the electromagnetic lock housing 284. The electromagnetic lock housing 284 is fixed to the slide rail limiting block 26, and the electromagnetic locking pin 283 extends outward from the electromagnetic lock housing 284. The electromagnetic valve 281 compresses and extends the electromagnetic spring 282 by energizing and de-energizing, thereby causing the electromagnetic locking pin 283 to extend and retract, thus locking and releasing the motor support frame 20 or the sleeve support frame 25. When the electromagnetic locking pin 283 passes through the corresponding locking hole of the motor support frame 20 or the sleeve support frame 25, it locks the relative position of the motor support frame 20 and the sleeve support frame 25 with the slide rail limiting block 26. When the electromagnetic valve 281 is not energized, the electromagnetic spring 282 remains in its current state.

[0046] In this embodiment of the invention, the pole crossarm installation robot is pulled up and down along the pole by an external traction device and can be fixed to the pole. See also Figure 12 As shown, the external traction device includes an inclined self-locking ring fixing mechanism 35, an unmanned conveyor 36, an electric conveying winch 37, and a connecting rope 40. The inclined self-locking ring fixing mechanism 35 is nested on the tower and can self-lock in an inclined state. The unmanned conveyor 36 is magnetically fixed to the inclined self-locking ring fixing mechanism 35 and can drive the inclined self-locking ring fixing mechanism 35 to move upward along the tower to the working position. The electric conveying winch 37 is set on the ground at the bottom of the tower. One end of the connecting rope 40 is wound around the electric conveying winch 37, and the other end is connected to the tower crossarm installation robot after passing through the inclined self-locking ring fixing mechanism 35. The tower crossarm installation robot can move up and down by raising and lowering the connecting rope 40 through the electric conveying winch 37.

[0047] See Figure 11 As shown in the embodiment of this utility model, the inclined self-locking ring fixing mechanism 35 includes a fixing ring 31, a connecting rod 32, a fixed pulley 33, and a fixed crossbeam 34. There are two fixing rings 31 and two connecting rods 32, with the two connecting rods 32 arranged in parallel. The two fixing rings 31 are hinged to one end of the two connecting rods 32 and move within the fixing holes of the connecting rods 32, encasing the tower. The other ends of the two connecting rods 32 are connected to the fixed crossbeam 34. The fixed pulley 33 is located at the middle position of the fixed crossbeam 34, and the connecting rope 40 is guided through the fixed pulley 33. When the unmanned conveyor 36 releases the inclined self-locking ring fixing mechanism 35, the ends of the two connecting rods 32 tilt downwards due to gravity, causing the two fixing rings 31 to lock onto the tower.

[0048] In this embodiment of the invention, the adaptive guiding walking mechanism 1 provides basic support and structural stability for the entire robot body, and the symmetrically arranged guide rubber wheels 4 enable the robot to move in both directions. The circular gear steering mechanism 2 is mounted on the adaptive guiding walking mechanism 1 via double-headed bolts 11, and the magnetic self-resetting locking device 3 is mounted on the circular gear 13 in the circular gear steering mechanism 2. The rotation of the circular gear 13 provides an arbitrary angle for mounting the crossbeam.

[0049] The working principle of this utility model embodiment is as follows:

[0050] The robot body and the inclined self-locking ring fixing mechanism 35 are nested on the outside of the tower. The connecting rope 40 of the electric conveyor winch 37 is connected to the robot body via a fixed pulley 33. The unmanned conveyor 36 uses an electromagnet to attract the two fixing rings 31 of the inclined self-locking ring fixing mechanism 35, smoothly bringing the inclined self-locking ring fixing mechanism 35 to the working position. At the same time, the electric conveyor winch 37 rotates to convey the connecting rope 40. When the working position is reached, the unmanned conveyor 36 releases the inclined self-locking ring fixing mechanism 35. Under the influence of gravity, the end of the connecting rod 32 tilts downward, and the two fixing rings 31 lock onto the tower. The electric conveyor winch 37 rotates to tighten the connecting rope 40. The robot body moves upward under the traction of the connecting rope 40. When the working position is reached, the electric conveyor winch 37 stops rotating, fixing the robot body to the tower. Simultaneously, the drive servo motor 17 outputs power, and the drive gear 16 meshes with the ring gear 13 and begins to rotate, thereby driving the crossarm 42 above the ring gear 13 to rotate until the crossarm 42 reaches the preset position and stops rotating. Subsequently, the worm gear reducer motor 19 in the magnetic self-resetting locking device 3 outputs torque to drive the internal hexagon socket sleeve I 18 connected to the output shaft to rotate, tightening the locking bolt 23 into the fixing nut 30 inside the internal hexagon socket sleeve II 39 at the other end, fixing the crossarm 42 at the specified height. At the same time, the solenoid valve 281 is energized, the electromagnetic spring 282 on the side of the slide rail limit block 26 is compressed, which drives the electromagnetic locking pin 283 to be pulled out, releasing the locking state between the motor support frame 20 and the sleeve support frame 25 and the corresponding slide rail limit block 26. The spring 27 on the slide rail limit block 26 pushes the motor support frame 20 and the sleeve support frame 25 to both sides through elastic force, so that the internal hexagonal socket I 18 and internal hexagonal socket II 39 are away from the crossarm 42 and do not come into contact, and the replacement operation is completed.

[0051] See Figure 13 As shown, in this embodiment, the pole is a cement pole 41. The inner sides of the two crossarms 40 are in contact with the cement pole 41 through two crossarm fixing rings 39 respectively. The two crossarms 42 are fixed to the cement pole 41 from both sides by tightening with two locking bolts 23 and two fixing nuts 30.

[0052] This utility model provides a pole crossarm installation robot that effectively traverses cylindrical building surfaces through an adaptive guiding walking mechanism. Its ring-shaped frame design allows for easy access to workspaces. The robot boasts advantages such as good environmental adaptability, a robust structure, and ease of implementation, making it widely applicable. The ring gear steering mechanism, through servo motor and gear meshing, achieves high-precision transmission, resulting in more accurate crossarm angle changes and reduced installation errors. The magnetic self-resetting locking device uses magnetic force for installation, eliminating the need for manual intervention. This provides stable, secure, and rapid operation, reducing manual labor and increasing efficiency. The utility model utilizes an electric winch conveyor, reducing internal power loss and saving energy. This utility model achieves automated crossarm installation, improving work efficiency and reducing labor costs.

[0053] The above description is merely an embodiment of this utility model and is not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, extensions, etc., made within the spirit and principles of this utility model are included within the scope of protection of this utility model.

Claims

1. A robot for installing crossarms of poles, characterized in that, It includes an adaptive guiding walking mechanism (1), a circular gear steering mechanism (2), and a magnetic self-resetting locking device (3). The adaptive guiding walking mechanism (1) is used to walk on the tower. The circular gear steering mechanism (2) is set on the adaptive guiding walking mechanism (1). Two sets of magnetic self-resetting locking devices (3) are arranged in parallel on the circular gear steering mechanism (2). The circular gear steering mechanism (2) is used to drive the magnetic self-resetting locking device (3) to rotate circumferentially. The two sets of magnetic self-resetting locking devices (3) are used to fix the crossarm on the tower.

2. The pole crossarm installation robot according to claim 1, characterized in that, The adaptive guiding walking mechanism (1) includes a ring frame (9) and multiple sets of walking wheels arranged circumferentially inside the ring frame (9), wherein the ring frame (9) is a detachable split structure; each set of walking wheels includes two walking wheels arranged symmetrically above and below and a connecting component connecting the two walking wheels, and the connecting component can adjust the distance between the two walking wheels.

3. The pole crossarm installation robot according to claim 2, characterized in that, The walking wheel includes a guide rubber wheel (4), a guide wheel shaft (5) and a guide wheel frame (6), wherein one end of the guide wheel frame (6) is hinged to the annular frame (9), and the other end is rotatably mounted with the guide rubber wheel (4) through the guide wheel shaft (5); The connecting assembly includes a tension nut (8) and two tension ring bolts (7), one end of each tension ring bolt (7) is threaded to both ends of the tension nut (8), and the rings at the other end of the tension ring bolts (7) are hinged to two guide wheel frames (6). The center distance between the two guide rubber wheels (4) can be adjusted by the tension nut (8).

4. The pole crossarm installation robot according to claim 1, characterized in that, The circular gear steering mechanism (2) includes a ring gear carrier (12), a circular gear (13), a guide wheel bearing (15), a drive gear (16), and a drive servo motor (17). The ring gear carrier (12) is connected to the adaptive guiding walking mechanism (1) through multiple double-headed bolts (11). The circular gear (13) is rotatably mounted on the ring gear carrier (12) and is positioned on the inner side by multiple guide wheel bearings (15) arranged circumferentially on the ring gear carrier (12). The drive servo motor (17) is arranged on the ring gear carrier (12) and has a drive gear (16) at its output end. The drive gear (16) meshes with the circular gear (13).

5. The pole crossarm installation robot according to claim 1, characterized in that, The magnetic self-resetting locking device (3) includes an internal hexagonal sleeve I (18), a worm gear reducer motor (19), a motor support frame (20), a slider (21), a linear slide rail (22), a locking bolt (23), a crossbeam support frame (24), a sleeve support frame (25), a fixing nut (30), an internal hexagonal sleeve II (39), and two magnetic locking mechanisms. The crossbeam support frame (24) and the linear slide rail (22) are mounted on the ring gear steering mechanism (2). The motor support frame (20) and the sleeve support frame (25) are slidably connected to the linear slide rail (22) via the slider (21). The worm gear reducer motor (19) is mounted on the motor support frame (20), and its output shaft is aligned with the hexagon socket I (18); the hexagon socket II (39) is mounted on the sleeve support frame (25), and the hexagon socket II (39) and the hexagon socket I (18) are coaxial. The fixing nut (30) is placed inside the hexagon socket II (39); one end of the locking bolt (23) is inserted into the hexagon socket I (18), and the other end is connected to the fixing nut (30). The worm gear reducer motor (19) drives the locking bolt (23) to rotate, so that the other end of the locking bolt (23) is tightened with the fixing nut (30). Two magnetic locking mechanisms are respectively installed on the linear slide rail (22), and the two magnetic locking mechanisms are used to lock or release the motor support frame (20) and the sleeve support frame (25).

6. The pole crossarm installation robot according to claim 5, characterized in that, The magnetic locking mechanism includes a slide rail limiting block (26), an electromagnetic lock (28), and a guide release module. The slide rail limiting block (26) is fixed on the linear slide rail (22), and the electromagnetic lock (28) is disposed on the side of the slide rail limiting block (26) for locking the side of the motor support frame (20) or the sleeve support frame (25). The guide release module is disposed on the slide rail limiting block (26) for releasing and guiding the unlocked motor support frame (20) or the sleeve support frame (25).

7. The pole crossarm installation robot according to claim 6, characterized in that, The electromagnetic lock (28) includes an electromagnetic lock housing (284) and an electromagnetic valve (281), an electromagnetic spring (282), and an electromagnetic locking pin (283) arranged sequentially inside the electromagnetic lock housing (284). The electromagnetic lock housing (284) is fixed on the slide rail limit block (26), and the electromagnetic locking pin (283) extends out of the electromagnetic lock housing (284) to the outside. The electromagnetic valve (281) compresses and extends the electromagnetic spring (282) by discharging, thereby causing the electromagnetic locking pin (283) to extend and retract.

8. The pole crossarm installation robot according to claim 6, characterized in that, The guide release module includes a spring (27) and a guide pin (29), wherein the guide pin (29) is disposed on the slide rail limiting block (26) in a direction parallel to the linear slide rail (22), and its end is inserted into the guide hole on the motor support frame (20) or the sleeve support frame (25); the spring (27) is sleeved on the guide pin (29), and both ends of the spring (27) abut against the slide rail limiting block (26) and the motor support frame (20) respectively, or both ends of the spring (27) abut against the slide rail limiting block (26) and the sleeve support frame (25) respectively.

9. The pole crossarm installation robot according to claim 1, characterized in that, The pole crossarm installation robot is pulled on the pole by an external traction device and can be fixed on the pole. The external traction device includes an inclined self-locking ring fixing mechanism (35), an unmanned conveyor (36), an electric conveying winch (37), and a connecting rope (40). The inclined self-locking ring fixing mechanism (35) is nested on the tower and can self-lock in an inclined state. The unmanned conveyor (36) is magnetically fixed to the inclined self-locking ring fixing mechanism (35). The unmanned conveyor (36) is used to drive the inclined self-locking ring fixing mechanism (35) to slide along the tower to the working position. The electric conveying winch (37) is set on the ground at the bottom of the tower. One end of the connecting rope (40) is wound around the electric conveying winch (37), and the other end is connected to the tower crossarm installation robot after passing through the inclined self-locking ring fixing mechanism (35). The tower crossarm installation robot can walk on the tower by raising and lowering the connecting rope (40) through the electric conveying winch (37).

10. The pole crossarm installation robot according to claim 9, characterized in that, The inclined self-locking ring fixing mechanism (35) includes a fixed retaining ring (31), a connecting rod (32), a fixed pulley (33), and a fixed crossbeam (34). There are two fixed retaining rings (31) and two connecting rods (32). The two connecting rods (32) are arranged in parallel. The two fixed retaining rings (31) are hinged to one end of the two connecting rods (32). The other end of the two connecting rods (32) is connected to the fixed crossbeam (34). The fixed pulley (33) is set on the fixed crossbeam (34). When the unmanned conveyor (36) releases the inclined self-locking ring fixing mechanism (35), the ends of the two connecting rods (32) tilt downward under the influence of gravity, so that the two fixed retaining rings (31) lock the tower.

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