Safe anti-falling robot for iron tower

Abstract

The utility model relates to the technical field of power equipment, in particular to a safety anti-falling robot for an iron tower, which comprises a robot body, a visual identification system, a front wheel foot and a rear wheel foot, and the rear part of the machine body is also connected with an anti-falling device and a clamping mechanism for fixing the anti-falling device through a turnover mechanism. After the robot carries the anti-falling device bound with the anti-falling safety rope to the iron tower and installs the anti-falling device, an operator carries out tower climbing operation under the protection of the anti-falling safety rope, the tower climbing state of the operator is monitored through the visual identification system, and the operation safety is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to power equipment technical field especially relates to iron tower safety anti -falling robot. BACKGROUND

[0002] Iron tower is a kind of high-rise structure, and is widely used in overhead transmission line, communication, meteorological observation, radio and television and other fields.

[0003] When multiple workers need to climb the iron tower for maintenance, installation work, the first climber will be alternately hooked in the hook of the double-hook safety rope connected with the front hanging point of the full-body safety belt on the tower as a fall-prevention protection means to climb the high tower, and then install the guide rope type anti-falling safety rope at high altitude, the ground personnel fix the anti-falling safety rope under the iron tower, and other workers use the anti-falling safety rope and self-locking device to cooperate to climb the tower. But for the first person who installs and the last person who dismounts the anti-falling safety rope, the climbing difficulty is great during the process of climbing the tower, and in addition, since the hook of the double-hook safety rope is alternately hooked on the tower as the only fall-prevention means, if the hook cannot be correctly and firmly hooked, the risk of falling from a high altitude will be faced. SUMMARY

[0004] To solve the problem of great climbing difficulty and safety hazard for the first person who installs and the last person who dismounts the anti-falling safety rope when climbing the iron tower manually in the prior art, the utility model provides an iron tower safety anti-falling robot to ensure the safety of the tower climbing workers.

[0005] To achieve the above-mentioned purpose, the following technical solutions are provided:

[0006] The iron tower safety anti-falling robot comprises a robot body, a visual identification system installed on the robot body, front wheel feet and rear wheel feet used for embracing and clamping the tower at both ends of the robot body, and a fall-prevention device and a clamping mechanism for fixing the fall-prevention device at the rear part of the robot body through a turnover mechanism.

[0007] Further, the turnover mechanism comprises a wheel plate frame, a turnover arm and a turnover driving device, one end of the turnover arm is rotatably installed on the wheel plate frame and is in transmission connection with the turnover driving device, and the other end of the turnover arm is in rotation connection with the fall-prevention device.

[0008] Further, the fall-prevention device is an L-shaped frame body comprising a horizontal frame body and a vertical frame body connected with each other, and the inner sides of the horizontal frame body and the vertical frame body are both provided with sawtooth-shaped protrusions.

[0009] Further, the clamping mechanism comprises a fastening piece slidingly arranged in the inner side of the side frame body of the anti-falling device, the fastening piece is drivingly connected with a sliding driving device; the sliding driving device comprises a lead screw motor, a lead screw and a sliding block on the lead screw; the lead screw motor is installed on the side frame body on the same side as the fastening piece, the side frame body is provided with a sliding groove, the sliding block is slidingly arranged in the sliding groove and is threadedly connected with the lead screw, one end of the lead screw is drivingly connected with the lead screw motor, and the other end is rotatably installed on the frame body.

[0010] Further, the anti-falling device is fixed with an anti-falling safety rope.

[0011] The utility model discloses the beneficial effects are:

[0012] After the robot carries the anti-falling device to the iron tower, the control unit in the robot operates the wheel foot mechanism to embrace and fix on the tower, then the robot controls the turnover mechanism to fix the anti-falling device on the iron tower, the anti-falling safety rope is placed on the anti-falling device, and the tower climbing operation of the operating personnel is carried out under the protection of the anti-falling safety rope, and the tower climbing state of the operating personnel is monitored through the visual identification system, so that the operation safety is improved. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 It is a structural schematic view of the utility model iron tower safety anti-falling robot;

[0014] Figure 2 It is a structural schematic view of the anti-falling device in the utility model;

[0015] Figure 3 It is a state schematic view that the utility model iron tower safety anti-falling robot fixes the anti-falling device on the horizontal truss;

[0016] Figure 4 It is the schematic diagram that the anti-falling device cooperates with the operating personnel to climb the iron tower;

[0017] In the drawing: 1, robot body;2, visual identification system;3, front wheel foot;4, rear wheel foot;5, anti-falling device;6, wheel plate frame;7, turnover arm;8, transverse frame body;9, vertical frame body;10, sawtooth protrusion;11, fastening piece;12, lead screw motor;13, lead screw;14, sliding block;15, anti-falling safety rope;16, tower;17, horizontal angle steel;18, sliding groove;19, depth camera;20, turnover driving device. DETAILED DESCRIPTION

[0018] The utility model iron tower safety anti-falling robot is described in detail below in combination with specific embodiments.

[0019] As Figure 1 , Figure 2As shown, a tower safety anti-falling robot includes a robot body 1, a visual recognition system 2 mounted on the robot body 1, and front wheel feet 3 and rear wheel feet 4 at both ends of the robot body for embracing and clamping the tower 16, and a falling prevention device 5 connected through a turnover mechanism at the rear of the robot body, and a clamping mechanism for fixing the falling prevention device 5.

[0020] The front wheel feet 3 and the rear wheel feet 4 are each provided with a clamping mechanism that can be controlled and operated by an internal control unit of the robot, and can be suitable for different specifications of angle steel sizes. The front wheel feet 3 and the rear wheel feet 4 can use the clamping assembly in the prior art CN112356940B.

[0021] In this embodiment, as shown in Figure 3 Figure 4 The falling prevention device 5 is fixed with a falling prevention safety rope 15, the robot takes the falling prevention safety rope 15 to a high place, and clamps and fixes it on the angle steel of the iron tower through the front wheel feet 3 and the rear wheel feet 4, then adjusts the posture of the robot to lift the falling prevention device 5 above the horizontal angle steel 17, the control unit inside the robot controls the turnover mechanism to turn over and drop the falling prevention device 5 on the horizontal angle steel 17, and then the control unit drives the clamping mechanism to fix the falling prevention device 5 on the angle steel. After the falling prevention safety rope 15 is hung down, the workers perform the climbing operation under the protection of the falling prevention safety rope 15. When the operation is completed, the robot control unit controls the clamping device to loosen the angle steel, and then controls the turnover mechanism to take off the falling prevention device 5 from the angle steel, and the robot returns to the ground. This process replaces the manual first climbing of the tower to fix the falling prevention safety rope 15, improves the operation safety, and also solves the problem of no protection and high risk in manually taking off the falling prevention safety rope 15 after the work is completed.

[0022] In this embodiment, the visual recognition system 2 includes a camera at the front end of the robot body 1, and a depth camera 19 at the bottom of the front wheel feet 3 and the rear wheel feet 4. The image recognition capability of the visual recognition system 2 can be used to monitor the safety protection of the workers climbing the iron tower, such as incorrect wearing of safety belts, not wearing safety belts, and loss of protection of safety belts. The background management personnel can also real-time understand the tower climbing process, which helps to improve the safety guarantee in the process of personnel climbing the tower. The visual recognition algorithm can use the mature algorithm in the prior art, which will not be described in detail here. The visual recognition system 2 can use but is not limited to the Sik Ranger3 three-dimensional visual detection system.

[0023] The falling prevention device 5 is installed on the wheel plate frame 6 at the rear of the robot body 1 through the turnover mechanism. The turnover mechanism includes the wheel plate frame 6, a turnover arm 7, and a turnover driving device 20. One end of the turnover arm 7 is rotatably installed on the wheel plate frame 6 and is in transmission connection with the turnover driving device 20. The other end of the turnover arm 7 is in rotational connection with the falling prevention device 5.

[0024] ​The tilting drive device 20 is used to rotate the tilting arm 7, thereby enabling the fall arrestor 5 to be placed on or removed from the angle steel of the tower. In this embodiment, the tilting drive device 20 is a servo motor or a rotary motor.

[0025] In this embodiment, as Figure 2 As shown, the fall arrestor 5 is an L-shaped frame, including a horizontal frame 8 and a vertical frame 9 connected to each other. Both the horizontal frame 8 and the vertical frame 9 have serrated protrusions 10 on their inner sides. The right angle of the L-shaped frame can fit against the right angle edge of the angle steel. The serrated protrusions 10 increase the friction with the surface of the angle steel. If a fall occurs while workers are climbing the tower, the fall arrestor rope 15 forms a wedge-shaped locking structure through the engagement of the serrated protrusions with the edge of the angle steel, further preventing detachment and swaying.

[0026] The clamping mechanism includes a fastening element 11 that is slidably disposed inside the frame on one side of the fall arrestor 5. The fastening element 11 is connected to a sliding drive device. The sliding drive device includes a lead screw motor 12, a lead screw 13, and a slider 14 on the lead screw. The lead screw motor 12 is mounted on the frame on the same side as the fastening element 11. The frame on this side is provided with a slide groove 18. The lead screw 13 is threadedly connected to the slider 14. The slider 14 is slidably disposed inside the slide groove 18. One end of the lead screw 13 is connected to the lead screw motor 12, and the other end is rotatably mounted on the frame.

[0027] In this embodiment, the fastening member 11 is an L-shaped fastener, with its bottom protruding from the inner side of the horizontal bracket to secure it to the inner side of the angle steel. After the fall arrestor 5 falls onto the horizontal angle steel 17, the fastening member 11 slides via a sliding drive device, thus fixing the fall arrestor 5 to the horizontal angle steel 17. Furthermore, the end of the L-shaped fastener has a wedge-shaped structure, allowing it to extend into the inner side of the angle steel and adapt to angle steels of different thicknesses, thus expanding its applicability.

Claims

1. A tower safety fall-prevention robot, characterized in that, It includes a robot body (1), a vision recognition system (2) installed on the robot body (1), and front wheel feet (3) and rear wheel feet (4) at both ends of the body for hugging and clamping the tower (16). The rear of the robot body is also connected to a fall protection device (5) and a clamping mechanism for fixing the fall protection device (5) via a flipping mechanism.

2. The tower safety fall prevention robot as described in claim 1, characterized in that, The flipping mechanism includes a wheel plate frame (6), a flipping arm (7) and a flipping drive device (20). One end of the flipping arm (7) is rotatably mounted on the wheel plate frame (6) and is connected to the flipping drive device (20) via transmission. The other end of the flipping arm (7) is rotatably connected to the fall arrestor (5).

3. The tower safety fall-prevention robot as described in claim 1 or 2, characterized in that, The fall arrestor (5) is an L-shaped frame, including a horizontal frame (8) and a vertical frame (9) that are connected to each other. The inner sides of the horizontal frame (8) and the vertical frame (9) are provided with serrated protrusions (10).

4. The tower safety fall-prevention robot as described in claim 1 or 2, characterized in that, The clamping mechanism includes a fastening element (11) that is slidably disposed inside the frame on one side of the fall arrestor (5). The fastening element (11) is connected to a sliding drive device. The sliding drive device includes a lead screw motor (12), a lead screw (13), and a slider (14) on the lead screw (13). The lead screw motor (12) is mounted on the frame on the same side as the fastening element (11). The frame on this side is provided with a slide groove (18). The lead screw (13) is threadedly connected to the slider (14). The slider (14) is slidably disposed inside the slide groove (18). One end of the lead screw (13) is connected to the lead screw motor (12), and the other end is rotatably mounted on the frame.

5. The tower safety fall prevention robot as described in claim 3, characterized in that, The clamping mechanism includes a fastening element (11) that is slidably disposed inside the frame on one side of the fall arrestor (5). The fastening element (11) is connected to a sliding drive device. The sliding drive device includes a lead screw motor (12), a lead screw (13), and a slider (14) on the lead screw (13). The lead screw motor (12) is mounted on the frame on the same side as the fastening element (11). The frame on this side is provided with a slide groove (18). The lead screw (13) is threadedly connected to the slider (14). The slider (14) is slidably disposed inside the slide groove (18). One end of the lead screw (13) is connected to the lead screw motor (12), and the other end is rotatably mounted on the frame.

6. The tower safety fall-prevention robot as described in claim 1, 2, or 5, characterized in that, A fall arresting safety rope (15) is fixed on the fall arresting device (5).

7. The tower safety fall-prevention robot as described in claim 3, characterized in that, A fall arresting safety rope (15) is fixed on the fall arresting device (5).

8. The tower safety fall-prevention robot as described in claim 4, characterized in that, A fall arresting safety rope (15) is fixed on the fall arresting device (5).

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