Magnetic type tower climbing robot device

Abstract

The utility model relates to the technical field of electric power detection, in particular to a magnetic type tower climbing robot device which comprises a driving unit, a protective shell is arranged on the driving unit, a gear cleaning unit is arranged on the protective shell, a guide unit is further arranged in the protective shell, and the driving unit comprises a second fixing frame arranged in the protective shell. A second motor is arranged in the second fixing frame, second magnetic attraction wheels are symmetrically and rotationally installed in the second fixing frame, the second motor drives the second magnetic attraction wheels to rotate through a gear set, the guide unit comprises a first fixing frame arranged in the protective shell, a first motor is arranged in the first fixing frame, and a second motor is arranged in the second fixing frame. According to the magnetic type tower climbing robot device, the conical plate and the spring rod of the gear clearing unit are designed, dirt on the surface of a tower can be effectively cleared away, the dirt is prevented from affecting the adsorption effect of the magnetic wheels, and it is ensured that the robot can stably climb in the complex environment.

Description

Technical Field

[0001] This utility model relates to the field of power detection technology, specifically a magnetic pole climbing robot device. Background Technology

[0002] Power transmission relies on high-voltage transmission lines. Due to the wide distribution of transmission lines, the complex terrain, and the harsh natural environment, power lines and tower accessories are exposed to the elements for a long time. They suffer from damage such as broken strands, wear, and corrosion due to continuous mechanical tension, electrical flashover, and material aging. They must be repaired or replaced in a timely manner. Therefore, regular inspections of transmission lines are necessary.

[0003] Chinese patent CN204577979U discloses a transmission line tower climbing and inspection robot, including magnetic wheels for the robot to climb and move on guide rails. The robot also includes a housing for mounting and fixing the magnetic wheels, with a drive mechanism for driving the magnetic wheels and a camera for inspection. This transmission line tower climbing and inspection robot can move up and down along the longitudinal guide rails of a fall arrestor, transmitting video images of the towers and equipment on them to the ground. Within a certain range, it can replace manual tower climbing for inspection, improving inspection efficiency and reducing labor intensity.

[0004] Due to the complex and variable outdoor environment of power transmission lines, dust, sand, bird droppings, and other dirt easily accumulate on the surface of the towers and guide rails. When the climbing inspection robot is working, the magnetic wheels easily attract these dirt during the adsorption process. This not only affects the tight fit between the magnetic wheels and the climbing surface but also weakens the magnetic wheel's adsorption strength, leading to the risk of the robot swaying or even slipping during the climbing process. In addition, in rainy weather, rainwater forms a water film on the climbing surface, further reducing the friction between the magnetic wheels and the climbing surface, making the robot more prone to slipping and unable to climb stably, seriously affecting the normal operation of the inspection work. To address this, we propose a magnetic tower climbing robot device. Utility Model Content

[0005] To address the aforementioned technical problems, this application provides a magnetic pole climbing robot device, including a drive unit, a protective shell on the drive unit, a clearing unit on the protective shell, and a guide unit inside the protective shell.

[0006] In some embodiments, the drive unit includes a second fixed frame disposed within a protective housing, a second motor disposed within the second fixed frame, and a second magnetic wheel symmetrically rotatably mounted within the second fixed frame, wherein the second motor drives the second magnetic wheel to rotate via a gear set.

[0007] In some embodiments, the guide unit includes a first fixing frame disposed within a protective housing, a first motor disposed within the first fixing frame, a screw disposed at the output end of the first motor, a push rod screwed onto the screw, the push rod being inserted into the first fixing frame and slidably assembled, a movable plate symmetrically disposed on one side of the screw, the movable plate being inserted into the protective housing and slidably assembled, and a clamping wheel being rotatably mounted on the bottom surface of the movable plate.

[0008] In some embodiments, the clearing unit includes a contact plate inserted and slidably mounted on one side of the protective shell, a tapered plate provided on one side of the contact plate, and spring rods symmetrically provided on the other side of the contact plate. A fixing plate is provided on one side of the second fixing frame, and the spring rods are inserted into the fixing plate and slidably assembled.

[0009] In some embodiments, the bottom surface of the contact plate is provided with a clearance groove, and the contact plate is symmetrically provided with protrusions, and a first magnetic roller is rotatably installed in the protrusion.

[0010] In some embodiments, a blocking unit is further provided between the clearing unit and the driving unit. The blocking unit includes an extension section provided on the second fixing frame. A locking ring is provided at the other end of the extension section. An opening section is also provided at the connection between the locking ring and the extension section. A detection head is provided on the other side of the contact plate. A plug rod is provided on the detection head.

[0011] In some embodiments, the second magnetic wheel includes a wheel body rotatably mounted in a second fixed frame, the wheel body having uniformly distributed grooves, an elastic sleeve being disposed in the grooves, and a magnetic block being disposed in the elastic sleeve.

[0012] This utility model has at least the following beneficial effects:

[0013] 1. The elastic sleeve and magnetic block design of the second magnetic wheel in the drive unit can not only buffer the contact force and avoid rigid collisions, but also ensure the adsorption effect, thereby improving the safety and stability of climbing.

[0014] 2. The conical plate of the cleaning unit can effectively remove dirt from the surface of the tower, prevent dirt from affecting the magnetic attraction effect of the magnetic roller, and ensure that the robot can climb stably in complex environments;

[0015] 3. The setting of the blocking unit effectively avoids unnecessary extension and retraction of the spring rod during normal use, ensuring the stability and reliability of the cleaning unit and enabling the cleaning unit to perform its function of removing dirt normally;

[0016] 4. When encountering a hard object, the blocking unit can trigger the emergency braking mechanism in time through the detection head to avoid rigid collisions, protect the various components of the device, extend the service life of the device, and improve the safety of the robot working in complex environments. Attached Figure Description

[0017] Figure 1 This is a first-person view structural diagram of the present invention;

[0018] Figure 2 This is a schematic diagram of the overall second-view structure of this utility model;

[0019] Figure 3 This is a schematic diagram of the drive unit structure of this utility model;

[0020] Figure 4 for Figure 3 Enlarged view of point A in the middle;

[0021] Figure 5 This is a schematic diagram of the second magnetic chuck structure of this utility model.

[0022] In the diagram: 1. Protective shell; 2. Clearing unit; 21. Contact plate; 22. Clearing groove; 23. First magnetic suction wheel; 24. Spring rod; 25. Protrusion; 3. Guide unit; 31. First motor; 32. First fixing frame; 33. Screw; 34. Push rod; 35. Movable plate; 36. Clamping wheel; 4. Drive unit; 41. Second magnetic suction wheel; 411. Wheel body; 412. Groove; 413. Elastic sleeve; 414. Magnetic block; 42. Fixing plate; 43. Second motor; 44. Second fixing frame; 45. Gear set; 46. Blocking unit; 461. Engaging ring; 462. Opening section; 463. Extension section; 464. Insert rod; 465. Detection head. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model. Example

[0024] Please see Figures 1-5 This utility model provides a technical solution: a magnetic pole climbing robot device, mainly composed of a drive unit 4, a protective shell 1, a clearing unit 2 and a guide unit 3.

[0025] The protective shell 1 serves as the external protective structure for the entire device, providing installation space and protection for the internal units and preventing external factors such as dust and rain from corroding the internal components. The protective shell 1 is equipped with a cleaning unit 2 to remove dirt from the surface of the tower and the guide rail. The protective shell 1 is also equipped with a guide unit 3 to ensure the directional stability of the robot during the climbing process. The drive unit 4 is located inside the protective shell 1 to provide power for the robot's climbing.

[0026] The drive unit 4 includes a second fixed frame 44 disposed within the protective shell 1. The second fixed frame 44 serves to support and fix components such as the second motor 43 and the second magnetic wheel 41. The second motor 43 is disposed within the second fixed frame 44 and acts as a power source, driving the second magnetic wheel 41 to rotate via a gear set 45. The second magnetic wheel 41 is symmetrically rotatably mounted within the second fixed frame 44. The second magnetic wheel 41 includes a wheel body 411 rotatably mounted within the second fixed frame 44. The wheel body 411 has evenly distributed grooves 412. An elastic sleeve 413 is disposed within the grooves 412. A magnetic block 414 is disposed within the elastic sleeve 413. The elastic sleeve 413 can buffer the contact force between the magnetic block 414 and the tower surface to a certain extent. At the same time, it can rebound when in contact with hard objects, avoiding rigid contact between the magnetic block 414 and hard objects. It can also ensure that the magnetic block 414 is tightly attached to the tower surface, enhancing the adsorption effect.

[0027] The guiding unit 3 includes a first fixing frame 32 set inside the protective shell 1. The first fixing frame 32 is used to install and fix components such as the first motor 31 and the screw 33. The first fixing frame 32 is equipped with the first motor 31. The output end of the first motor 31 is equipped with the screw 33. The push rod 34 is screwed onto the screw 33 and is inserted into the first fixing frame 32 and slidably assembled. When the first motor 31 rotates, it drives the screw 33 to rotate. The screw 33 causes the push rod 34 to move along the axis of the screw 33 through thread transmission. A movable plate 35 is symmetrically arranged on one side of the screw 33. The movable plate 35 is inserted into the protective shell 1 and slidably assembled. The bottom surface of the movable plate 35 is rotatably mounted with a clamping wheel 36. When the push rod 34 moves, it pushes the movable plate 35 to move, thereby adjusting the distance between the clamping wheel 36 and the tower, so that the clamping wheel 36 can closely fit the surface of the tower, playing a guiding and auxiliary support role, and ensuring that the robot climbs the tower stably.

[0028] The cleaning unit 2 includes a contact plate 21 inserted and slidably mounted on one side of the protective shell 1. A tapered plate is provided on one side of the contact plate 21. The shape design of the tapered plate helps to push dirt on the tower surface to both sides. A spring rod 24 is symmetrically arranged on the other side of the contact plate 21. A fixing plate 42 is provided on one side of the second fixing frame 44, and the spring rod 24 is inserted into the fixing plate 42 and slidably assembled.

[0029] In drive unit 4, the second motor 43 transmits power to the second magnetic wheel 41 through gear set 45, causing the wheel 411 to rotate. The magnetic block 414 uses magnetic force to adhere to the surface of the tower, enabling the robot to climb and move. In guide unit 3, the first motor 31 rotates, driving the screw 33 to rotate. The threaded transmission between the screw 33 and the push rod 34 causes the push rod 34 to move, thereby pushing the movable plate 35 and the clamping wheel 36 to adjust their positions. Through the contact between the clamping wheel 36 and the surface of the tower, the lateral movement of the robot is restricted, ensuring its stable climbing along the vertical direction of the tower. In cleaning unit 2, the conical plate on the contact plate 21 pushes dirt to both sides during the robot's climbing process, reducing the impact of dirt on the magnetic wheel adsorption. The entire device works in concert to achieve stable climbing and cleaning protection of the robot on the tower through the drive unit providing power, the guide unit ensuring direction, and the cleaning unit removing obstacles.

[0030] In use, the first motor 31 of the guide unit 3 is started first. The first motor 31 drives the screw 33 to rotate, causing the push rod 34 to push the movable plate 35 to move, adjusting the clamping wheel 36 to a suitable position so that it fits tightly against the tower surface, completing the guidance and pre-positioning. Then the second motor 43 of the drive unit 4 is started. The second motor 43 drives the second magnetic suction wheel 41 to rotate through the gear set 45. The magnetic suction block 414 is attracted to the tower surface. Under the rotation of the second magnetic suction wheel 41, the robot begins to climb along the tower. During the climbing process, the contact plate 21 of the cleaning unit 2 always keeps in contact with the tower surface. The conical plate pushes the dust, sand, bird droppings and other dirt on the tower surface to both sides to prevent the dirt from being attracted by the second magnetic suction wheel 41, which would affect the adsorption effect and climbing stability. Example

[0031] Please see Figures 1-5 This utility model provides a technical solution: Based on embodiment 1, the bottom surface of the contact plate 21 is provided with an avoidance groove 22. The avoidance groove 22 can avoid excessive friction between 21 and the contact surface, reducing forward resistance. The contact plate 21 is symmetrically provided with protrusions 25, and a first magnetic suction wheel 23 is rotatably installed in the protrusions 25. The first magnetic suction wheel 23 is provided so that while cleaning the dirt, the cleaning unit 2 can also use the attraction force of the first magnetic suction wheel 23 to assist the robot in climbing. When the robot encounters greater resistance or is in a special structure, the first magnetic suction wheel 23 can be attracted to the surface of the tower, enhancing the robot's climbing ability and stability. Example

[0032] Please see Figures 1-5 This utility model provides a technical solution:

[0033] A blocking unit 46 is also provided between the clearing unit 2 and the driving unit 4. The blocking unit 46 includes an extension section 463 provided on the second fixed frame 44. A locking ring 461 is provided at the other end of the extension section 463. An opening section 462 is also provided at the connection between the locking ring 461 and the extension section 463. The design of the opening section 462 gives the locking ring 461 a certain elastic deformation capability. A detection head 465 is provided on the other side of the contact plate 21. A plug rod 464 is provided on the detection head 465. The plug rod 464 is used in conjunction with the locking ring 461.

[0034] Under normal circumstances, the insertion rod 464 is held by the retaining ring 461. Simultaneously, the retaining ring 461 can undergo a certain elastic deformation through the opening section 462, maintaining a certain rigid contact between the cleaning unit 2 and the guide unit 3. This ensures that the cleaning unit 2 is normally driven by the guide unit 3, climbing and removing debris along with the robot. When the cleaning unit 2 encounters an unmovable hard object, such as a bolt, the object will prevent the cleaning unit 2 from moving forward. At this time, the drive unit 4 continues to drive the robot forward. In this situation, the insertion rod 464 will break through the limit of the retaining ring 461. This releases the rigid connection between the clearing unit 2 and the guide unit 3, causing the spring rod 24 to extend and retract due to resistance, thus allowing the clearing unit 2 to rebound. When the clearing unit 2 rebounds to a certain extent, the detection head 465 contacts the fixed plate 42. After the sensor inside the detection head 465 detects the contact signal, it transmits the signal to the control system. The control system then controls the first motor 31 of the guide unit 3 to start, causing the clamping wheel 36 to clamp the tower surface. At the same time, it controls the second motor 43 to stop driving, achieving emergency braking to avoid rigid collisions and protect the device from damage.

[0035] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0036] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention.

Claims

1. A magnetic pole climbing robot device, comprising a drive unit (4), characterized in that: The drive unit (4) is provided with a protective shell (1), the protective shell (1) is provided with a clearing unit (2), and the protective shell (1) is also provided with a guide unit (3).

2. The magnetic pole climbing robot device according to claim 1, characterized in that: The drive unit (4) includes a second fixed frame (44) disposed inside the protective shell (1), a second motor (43) disposed inside the second fixed frame (44), a second magnetic chuck (41) symmetrically rotated inside the second fixed frame (44), and the second motor (43) drives the second magnetic chuck (41) to rotate through a gear set (45).

3. The magnetic pole climbing robot device according to claim 1, characterized in that: The guide unit (3) includes a first fixing frame (32) disposed inside the protective shell (1), a first motor (31) disposed inside the first fixing frame (32), a screw (33) disposed at the output end of the first motor (31), a push rod (34) screwed onto the screw (33), and the push rod (34) is inserted into the first fixing frame (32) and slidably assembled. A movable plate (35) is symmetrically disposed on one side of the screw (33), and the movable plate (35) is inserted into the protective shell (1) and slidably assembled. A clamping wheel (36) is rotatably mounted on the bottom surface of the movable plate (35).

4. The magnetic pole climbing robot device according to claim 2, characterized in that: The cleaning unit (2) includes a contact plate (21) inserted and slidably installed on one side of the protective shell (1). A tapered plate is provided on one side of the contact plate (21), and a spring rod (24) is symmetrically provided on the other side of the contact plate (21). A fixing plate (42) is provided on one side of the second fixing frame (44), and the spring rod (24) is inserted into the fixing plate (42) and slidably assembled.

5. The magnetic pole climbing robot device according to claim 4, characterized in that: The bottom surface of the contact plate (21) is provided with a clearance groove (22), and the contact plate (21) is symmetrically provided with protrusions (25), and a first magnetic suction wheel (23) is rotatably installed in the protrusions (25).

6. The magnetic pole climbing robot device according to claim 4, characterized in that: A blocking unit (46) is also provided between the clearing unit (2) and the driving unit (4). The blocking unit (46) includes an extension section (463) provided on the second fixing frame (44). A locking ring (461) is provided at the other end of the extension section (463). An opening section (462) is also provided at the connection between the locking ring (461) and the extension section (463). A detection head (465) is provided on the other side of the contact plate (21). A plug rod (464) is provided on the detection head (465).

7. The magnetic pole climbing robot device according to claim 5, characterized in that: The second magnetic wheel (41) includes a wheel body (411) rotatably mounted in the second fixed frame (44). The wheel body (411) has evenly distributed grooves (412) on it. An elastic sleeve (413) is provided in the groove (412), and a magnetic block (414) is provided in the elastic sleeve (413).

Images