Foot nail climbing robot based on high-voltage transmission tower

Abstract

The utility model discloses a foot nail climbing robot based on a high-voltage transmission tower. The foot nail climbing robot comprises a climbing rod on the high-voltage transmission tower; the foot climbing nail robot body is arranged on the climbing rod; the anti-falling mechanism is arranged on the climbing rod, and the anti-falling mechanism comprises four U-shaped plates and four sets of limiting anti-falling assemblies, and the four U-shaped plates and the four sets of limiting anti-falling assemblies are symmetrically arranged; the foot nail climbing robot comprises a foot nail climbing robot body and an adjusting mechanism, the adjusting mechanism is arranged on the foot nail climbing robot body, the adjusting mechanism comprises four gear motors which are symmetrically arranged, each gear motor is connected with a moving assembly, and each U-shaped plate is arranged on the corresponding moving assembly. In rainy days or strong wind weather, the limiting anti-falling assembly is adsorbed on a climbing rod, so that the foot nail climbing robot body for high-position detection and observation can be better clamped on the climbing rod, and the situation that the foot nail climbing robot body falls off from the high position and is damaged is avoided.

Description

Technical Field

[0001] This utility model relates to the field of climbing spike robots, and in particular to a climbing spike robot based on a high-voltage transmission tower. Background Technology

[0002] A spike-climbing robot is a special type of robot designed to climb facilities with spike structures, such as iron towers and angle steel towers of power transmission lines. Spike-climbing robots typically mimic human climbing movements, using end effectors (such as grippers or suction cups) to firmly grasp the spikes, and then using the coordinated movement of robotic arms or joints to lift and transfer their bodies.

[0003] Maintenance of power transmission towers requires manual climbing. For continuous, long-term inspections and observations, the manual workload is enormous. A climbing robot can replace manual labor to climb power transmission towers for extended, continuous inspections and observations. Power transmission towers are towering high, and when climbing to great heights in strong winds or rain, the climbing robot is prone to instability and falls, undoubtedly placing a significant economic and human burden on subsequent maintenance and recovery efforts. Utility Model Content

[0004] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the present invention.

[0005] Therefore, the purpose of this utility model is to provide a climbing robot based on high-voltage transmission towers, in order to solve the problem that "when the climbing robot climbs to a high place for inspection and observation in strong winds or rainy weather, it is easy to fall from a high place due to unstable gripping of the tower, which undoubtedly brings a huge economic burden and manpower investment to the subsequent maintenance and recycling of the climbing robot".

[0006] To solve the above-mentioned technical problems, this utility model provides the following technical solution:

[0007] A climbing robot based on high-voltage transmission towers includes:

[0008] Climbing poles on high-voltage transmission towers;

[0009] The robot body with climbing spikes mounted on the climbing pole;

[0010] An anti-fall mechanism, mounted on the climbing pole, includes four symmetrically arranged U-shaped plates and four sets of limiting anti-fall components; and...

[0011] An adjustment mechanism is provided on the body of the climbing spike robot. The adjustment mechanism includes four symmetrically arranged reduction motors, each of which is connected to a moving component, and each U-shaped plate is provided on the moving component.

[0012] As a preferred embodiment of the climbing robot based on high-voltage transmission towers described in this utility model, each set of limiting and anti-fall components includes a vertical plate fixedly connected to a U-shaped plate and two electric telescopic rods symmetrically fixedly installed on the U-shaped plate. Each telescopic rod has an L-shaped plate fixedly connected to its telescopic end, and each L-shaped plate has a magnet fixedly connected to it. Each magnet abuts against the climbing rod.

[0013] As a preferred embodiment of the climbing robot based on high-voltage transmission towers described in this utility model, each of the moving components includes a threaded rod, each threaded rod is fixedly connected to the output end of a reduction motor, each threaded rod is threaded with a threaded sleeve, each threaded sleeve is fixedly connected to a moving rod, and the end of each moving rod facing away from the threaded sleeve is fixedly connected to a U-shaped plate.

[0014] As a preferred embodiment of the climbing robot based on high-voltage transmission towers described in this utility model, the adjustment mechanism further includes two symmetrically arranged mounting plates and four connecting plates. Each of the reduction motors is fixedly mounted on the mounting plate, each of the connecting plates is fixedly connected to the body of the climbing robot, and each of the threaded rods is rotatably connected to the connecting plate. The two mounting plates and the four connecting plates are jointly provided with four sets of sliding components.

[0015] As a preferred embodiment of the climbing robot based on high-voltage transmission towers described in this utility model, each set of sliding components includes two sliding rods, both ends of each sliding rod are fixedly connected to the mounting plate and the connecting plate respectively, each sliding rod is slidably sleeved with a sliding sleeve, each sliding sleeve is fixedly connected to a vertical rod, and the end of each vertical rod facing away from the sliding sleeve is fixedly connected to a U-shaped plate.

[0016] As a preferred embodiment of the climbing robot based on high-voltage transmission towers described in this utility model, each of the L-shaped plates is fixedly connected with an insertion block, and each of the vertical plates is symmetrically provided with a slot that matches the insertion block.

[0017] The beneficial effects of this utility model are:

[0018] 1. In rainy or windy weather, the limiting anti-fall component is attached to the climbing pole, which makes the climbing robot body for high-altitude detection and observation better clamped on the climbing pole, preventing the climbing robot body from falling from a height and being damaged.

[0019] 2. By activating the electric telescopic rod, the telescopic end of the electric telescopic rod drives the L-shaped plate, the magnet block and the insertion block to move. The insertion block is inserted into the slot, and the magnet block is pressed against and attracted to the climbing rod. In rainy or windy weather, the magnet block is attracted to the climbing rod, so that the climbing nail robot body for high-altitude inspection and observation is better clamped on the climbing rod. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Among them:

[0021] Figure 1 This is a schematic diagram of the overall structure of a climbing robot based on a high-voltage transmission tower proposed in this utility model.

[0022] Figure 2 This is a schematic diagram of a climbing robot based on a high-voltage power transmission tower proposed in this utility model.

[0023] Figure 3 This is a structural diagram of the limiting and anti-fall component in a climbing robot based on a high-voltage transmission tower proposed in this utility model;

[0024] Figure 4 This is a schematic diagram of the structure of the insertion block of a climbing nail robot based on a high-voltage transmission tower proposed in this utility model.

[0025] In the diagram: 100, climbing pole; 200, robot body climbing foot spikes; 300, anti-fall mechanism; 301, U-shaped plate; 302, limit anti-fall component; 302a, vertical plate; 302b, electric telescopic rod; 302c, L-shaped plate; 302d, magnet block; 303, insertion block; 400, adjustment mechanism; 401, geared motor; 402, moving component; 402a, threaded rod; 402b, threaded sleeve; 402c, moving rod; 403, sliding component; 403a, sliding rod; 403b, sliding sleeve; 403c, vertical rod; 404, mounting plate; 405, connecting plate. Detailed Implementation

[0026] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0027] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0028] Secondly, the term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that excludes other embodiments.

[0029] Secondly, this utility model is described in detail with reference to the schematic diagrams. When describing the embodiments of this utility model, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not adhering to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of this utility model. In addition, actual manufacturing should include the three-dimensional spatial dimensions of length, width, and depth.

[0030] Reference Figure 1-4 This utility model provides a climbing robot based on a high-voltage transmission tower, comprising:

[0031] 100mm climbing poles on high-voltage transmission towers;

[0032] The robot body 200 with climbing spikes mounted on the climbing pole 100;

[0033] A fall arrestor 300 is mounted on the climbing pole 100. The fall arrestor 300 includes four symmetrically arranged U-shaped plates 301 and four sets of limit fall arrestor components 302; and...

[0034] An adjustment mechanism 400 is installed on the climbing spike robot body 200. The adjustment mechanism 400 includes four symmetrically arranged reduction motors 401. Each reduction motor 401 is connected to a moving component 402. Each U-shaped plate 301 is installed on the moving component 402. In rainy or windy weather, the limiting anti-fall component 302 is used to attach the climbing robot body 200 to the climbing pole 100, so that the climbing spike robot body 200, which is used for high-altitude detection and observation, is better held on the climbing pole 100, and the climbing spike robot body 200 is prevented from falling from a height and being damaged.

[0035] Each set of limiting and anti-fall components 302 includes a vertical plate 302a fixedly connected to a U-shaped plate 301 and two electric telescopic rods 302b symmetrically fixedly installed on the U-shaped plate 301. Each telescopic end of the electric telescopic rod 302b is fixedly connected to an L-shaped plate 302c, and each L-shaped plate 302c is fixedly connected to a magnet 302d. Each magnet 302d abuts against the climbing rod 100. By activating the electric telescopic rod 302b, the telescopic end of the electric telescopic rod 302b drives the L-shaped plate 302c, the magnet 302d and the insertion block 303 to move. The insertion block 303 is inserted into the slot, and the magnet 302d abuts against and adheres to the climbing rod 100. In rainy or windy weather, the magnet 302d adheres to the climbing rod 100, so that the climbing robot body 200 for high-altitude detection and observation is better clamped on the climbing rod 100.

[0036] Furthermore, each moving component 402 includes a threaded rod 402a, each threaded rod 402a is fixedly connected to the output end of the geared motor 401, each threaded rod 402a is threadedly fitted with a threaded sleeve 402b, each threaded sleeve 402b is fixedly connected to a moving rod 402c, and the end of each moving rod 402c facing away from the threaded sleeve 402b is fixedly connected to the U-shaped plate 301. The output end of the geared motor 401 drives the threaded rod 402a to rotate, and the threaded rod 402a drives the U-shaped plate 301 to move through the threaded sleeve 402b and the moving rod 402c. The vertical plate 302a on the U-shaped plate 301 abuts against the climbing rod 100.

[0037] Furthermore, the adjustment mechanism 400 also includes two symmetrically arranged mounting plates 404 and four connecting plates 405. Each reduction motor 401 is fixedly mounted on the mounting plate 404, and each connecting plate 405 is fixedly connected to the climbing spike robot body 200. Each threaded rod 402a is rotatably connected to the connecting plate 405. Four sets of sliding components 403 are jointly arranged on the two mounting plates 404 and the four connecting plates 405. Each set of sliding components 403 includes two sliding rods. 403a, both ends of each slide rod 403a are fixedly connected to the mounting plate 404 and the connecting plate 405 respectively. Each slide rod 403a is slidably sleeved with a slide sleeve 403b. Each slide sleeve 403b is fixedly connected to a vertical rod 403c. The end of each vertical rod 403c facing away from the slide sleeve 403b is fixedly connected to the U-shaped plate 301. During the movement of the U-shaped plate 301, the slide sleeve 403b and the vertical rod 403c are moved, which can prevent the threaded sleeve 402b from rotating.

[0038] Furthermore, each L-shaped plate 302c is fixedly connected to an insertion block 303, and each vertical plate 302a is symmetrically provided with a slot that matches the insertion block 303, and the insertion block 303 moves into the insertion slot.

[0039] During use, the reduction motor 401 is started, and the output end of the reduction motor 401 drives the threaded rod 402a to rotate. The threaded rod 402a drives the U-shaped plate 301 to move through the threaded sleeve 402b and the moving rod 402c. The vertical plate 302a on the U-shaped plate 301 abuts against the climbing rod 100. The electric telescopic rod 302b is started, and the telescopic end of the electric telescopic rod 302b drives the L-shaped plate 302c, the magnet block 302d and the insertion block 303 to move. The insertion block 303 is inserted into the slot, and the magnet block 302d abuts against and is attracted to the climbing rod 100. In rainy or windy weather, the magnet block 302d is attracted to the climbing rod 100, so that the climbing nail robot body 200 for high-altitude inspection and observation is better clamped on the climbing rod 100, preventing the climbing nail robot body 200 from falling from a height and being damaged.

[0040] It is worth noting that the entire device is controlled by a controller. Since the controller is a common device and belongs to the mature technology, its electrical connection relationship and specific circuit structure will not be described in detail here.

[0041] It should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A climbing robot based on high-voltage transmission towers, characterized in that: include: Climbing poles (100) on high-voltage transmission towers. The robot body (200) with climbing feet is mounted on the climbing pole (100). A fall arrestor (300) is mounted on the climbing pole (100). The fall arrestor (300) includes four symmetrically arranged U-shaped plates (301) and four sets of limiting fall arrestor components (302); and, An adjustment mechanism (400) is provided on the body (200) of the climbing nail robot. The adjustment mechanism (400) includes four symmetrically arranged reduction motors (401), each of which is connected to a moving component (402), and each of the U-shaped plates (301) is provided on the moving component (402).

2. The climbing robot based on a high-voltage transmission tower according to claim 1, characterized in that: Each set of the limiting anti-fall components (302) includes a vertical plate (302a) fixedly connected to the U-shaped plate (301) and two electric telescopic rods (302b) symmetrically fixedly installed on the U-shaped plate (301). Each electric telescopic rod (302b) has an L-shaped plate (302c) fixedly connected to its telescopic end. Each L-shaped plate (302c) has a magnet block (302d) fixedly connected to it. Each magnet block (302d) abuts against the climbing rod (100).

3. The climbing robot based on a high-voltage transmission tower according to claim 1, characterized in that: Each of the moving components (402) includes a threaded rod (402a), each of the threaded rods (402a) is fixedly connected to the output end of the geared motor (401), each of the threaded rods (402a) is threadedly fitted with a threaded sleeve (402b), each of the threaded sleeves (402b) is fixedly connected to a moving rod (402c), and the end of each moving rod (402c) facing away from the threaded sleeve (402b) is fixedly connected to a U-shaped plate (301).

4. The climbing robot based on a high-voltage transmission tower according to claim 3, characterized in that: The adjustment mechanism (400) also includes two symmetrically arranged mounting plates (404) and four connecting plates (405). Each of the geared motors (401) is fixedly mounted on the mounting plate (404), each of the connecting plates (405) is fixedly connected to the body of the climbing nail robot (200), and each of the threaded rods (402a) is rotatably connected to the connecting plate (405). Four sets of sliding components (403) are jointly arranged on the two mounting plates (404) and the four connecting plates (405).

5. The climbing robot based on a high-voltage transmission tower according to claim 4, characterized in that: Each set of sliding components (403) includes two sliding rods (403a). Both ends of each sliding rod (403a) are fixedly connected to the mounting plate (404) and the connecting plate (405) respectively. Each sliding rod (403a) is slidably sleeved with a sliding sleeve (403b). Each sliding sleeve (403b) is fixedly connected with a vertical rod (403c). One end of each vertical rod (403c) away from the sliding sleeve (403b) is fixedly connected to a U-shaped plate (301).

6. The climbing robot based on a high-voltage transmission tower according to claim 2, characterized in that: Each of the L-shaped plates (302c) is fixedly connected to an insertion block (303), and each of the vertical plates (302a) is symmetrically provided with a slot that matches the insertion block (303).

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