A tower rail climbing inspection robot

Abstract

The utility model relates to the field of transmission line inspection, especially a tower track climbing inspection robot, including main part, drive component and magnetic attraction wheel group, drive component installs inside the main part, magnetic attraction wheel group installs the bottom of main part, drive component includes drive motor and worm wheel and worm drive component, magnetic attraction wheel group includes the magnetic attraction driving wheel and magnetic attraction driven wheel along the main part front and back setting, drive motor passes through worm wheel and worm drive component with magnetic attraction driving wheel transmission connection, magnetic attraction driving wheel drives the main part moves along the tower track, solves the problem that current magnetic attraction adsorption type inspection robot complete machine weight is heavy, and energy consumption is high.

Description

Technical Field

[0001] This utility model relates to the field of power transmission line inspection, and in particular to a tower track climbing inspection robot. Background Technology

[0002] High-voltage transmission lines are an indispensable part of the power transmission system. To ensure the safety, stability, and reliability of the power supply system, regular inspections and maintenance of transmission lines and towers are necessary to guarantee their safe and reliable operation. Currently, the main methods for inspecting transmission lines and climbing up and down transmission towers in China are manual and robotic inspections. Manual tower climbing is costly, carries high safety risks, and is inefficient. Therefore, robotic tower climbing is used instead. Inspection robots include robotic arm-type and magnetic adsorption-type robots. Robotic arm-type robots require high precision in their mechanical structure and are expensive. Existing magnetic adsorption-type robots require significant suction force to prevent them from falling off, necessitating multiple motors to provide substantial torque for driving the robot up and down the tower. This results in high energy consumption, a relatively complex structure, and a heavy overall weight. Utility Model Content

[0003] To address the aforementioned shortcomings, the purpose of this invention is to propose a tower track climbing and inspection robot, which solves the problems of heavy weight and high energy consumption of existing magnetic adsorption inspection robots.

[0004] To achieve this objective, the present invention adopts the following technical solution: A tower track climbing and inspection robot includes a main body, a drive assembly, and a magnetic wheel assembly; The drive assembly is installed inside the main body, and the magnetic wheel assembly is installed at the bottom of the main body; The drive assembly includes a drive motor and a worm gear transmission assembly. The magnetic wheel set includes a magnetic drive wheel and a magnetic driven wheel arranged along the front and rear of the main body. The drive motor is connected to the magnetic drive wheel through the worm gear transmission assembly. The magnetic drive wheel drives the main body to move along the iron tower track.

[0005] Preferably, the worm gear transmission assembly includes a worm, a worm wheel, a first bevel gear, and a second bevel gear; The worm gear is connected to the output end of the drive motor for transmission, the worm wheel meshes with the worm gear for transmission, the worm wheel is coaxially and fixedly connected to the first bevel gear, the first bevel gear meshes with the second bevel gear for transmission, and the second bevel gear is fixedly connected to the end of the drive shaft of the magnetic drive wheel.

[0006] Preferably, the worm wheel and worm are located inside the main body, the drive motor and the worm are arranged in the middle of the main body in the front-rear direction, and the worm wheel is horizontally arranged on one side of the worm.

[0007] Preferably, the first bevel gear and the second bevel gear are located below the main body. The first bevel gear is connected to the worm gear via a rotating shaft. The rotating shaft passes through a connecting hole at the bottom of the main body. A positioning seat extends upward from the connecting hole. A bearing is provided between the inner wall of the positioning seat and the rotating shaft. The bearing is located between the worm gear and the first bevel gear.

[0008] Preferably, the magnetic drive wheel and the magnetic driven wheel are centrally located along the main body, with the magnetic driven wheel positioned directly in front of the magnetic drive wheel.

[0009] Preferably, the main body has two mounting seats fixedly connected inside, and the worm gear is rotatably connected between the two mounting seats.

[0010] Preferably, the bottom of the main body is provided with two inwardly recessed clearance areas, which are located directly above the magnetic driving wheel and the magnetic driven wheel, respectively.

[0011] Preferably, it further includes a side pressure wheel assembly, which is installed at the bottom of the main body and located outside the magnetic suction wheel assembly. The side pressure wheel assembly is used to guide and limit the movement of the main body along the tower track.

[0012] Preferably, the cross-section of the tower track is T-shaped; The side pressure wheel assembly is connected to the bottom of the main body via a connecting arm; The side pressure roller assembly includes a side guide roller and a bottom guide roller. Both the side guide roller and the bottom guide roller are rotatably connected to the connecting arm. The side guide roller rolls against the side of the tower track, and the bottom guide roller rolls against the bottom of the tower track.

[0013] Preferably, the bottom guide wheel is connected to the connecting arm via an elastic element.

[0014] The technical solution provided by this utility model can include the following beneficial effects: This solution uses a single drive motor to drive the magnetic drive wheel to rotate, and the main body drives the magnetic driven wheel to rotate, reducing the use of synchronous gears, simplifying the structure, reducing overall weight, and lowering energy consumption. At the same time, the use of a worm gear transmission assembly can effectively replace part of the static holding effect of the magnetic attraction force, reducing the magnetic strength requirements of the magnetic drive wheel and the magnetic driven wheel, thereby further reducing the energy consumption required to drive the magnetic drive wheel to rotate. Attached Figure Description

[0015] Figure 1 This is a first structural schematic diagram of an embodiment of the present invention.

[0016] Figure 2 This is an internal structural diagram of the main body of one embodiment of the present utility model.

[0017] Figure 3 This is a cross-sectional view of a drive component according to an embodiment of the present invention.

[0018] Figure 4 This is a second structural schematic diagram of one embodiment of the present invention.

[0019] Figure 5 yes Figure 4 A magnified view of area A in the middle.

[0020] The components include: main body 1, housing 11, connecting hole 111, positioning seat 112, bearing 113, mounting seat 114, clearance area 115, drive assembly 2, drive motor 21, worm gear transmission assembly 22, worm 221, worm gear 222, first bevel gear 223, second bevel gear 224, rotating shaft 225, magnetic drive wheel 23, drive shaft 231, side pressure wheel assembly 31, side guide wheel 311, bottom guide wheel 312, elastic element 313, connecting arm 32, magnetic driven wheel 33, and tower track 4. Detailed Implementation

[0021] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0022] In the description of this utility model, it should be understood that the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this utility model. Furthermore, features defined with "first" and "second" may explicitly or implicitly include one or more of these features, used to distinguish and describe features, without any order or emphasis.

[0023] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0024] It should be noted that this embodiment exemplarily describes the tower track climbing and inspection robot from a horizontal perspective. In actual operation, the tower track 4 is usually set vertically from bottom to top along the height direction of the power tower; the tower track climbing and inspection robot is usually loaded vertically onto the tower track 4 and climbs along the tower track 4.

[0025] A tower track climbing and inspection robot includes a main body 1, a drive assembly 2, and a magnetic wheel assembly; The drive assembly 2 is installed inside the main body 1, and the magnetic wheel assembly is installed at the bottom of the main body 1; The drive assembly 2 includes a drive motor 21 and a worm gear transmission assembly 22. The magnetic wheel set includes a magnetic drive wheel 23 and a magnetic driven wheel 33 arranged along the front and rear of the main body 1. The drive motor 21 is connected to the magnetic drive wheel 23 through the worm gear transmission assembly 22. The magnetic drive wheel 23 drives the main body 1 to move along the iron tower track 4.

[0026] Existing magnetically attached inspection robots have a certain weight. To prevent the robot from falling off, the magnetic force is increased to ensure it is firmly attached to the track. However, because of the strong magnetic force, the motor driving force required for the robot's movement is also increased, necessitating multiple motors to provide significant torque. This results in high energy consumption and a relatively complex structure. The use of multiple motors also makes the overall weight of the robot heavy. To address the problems existing in the prior art, this utility model proposes a tower track climbing inspection robot, such as... Figure 1 and Figure 2As shown, the inspection robot includes a magnetically attracted driving wheel 23 and a magnetically attracted driven wheel 33. Both the magnetically attracted driving wheel 23 and the magnetically attracted driven wheel 33 are magnetically attracted to the tower track 4, ensuring that the inspection robot moves in close contact with the tower track 4. Furthermore, the drive assembly 2 includes a drive motor 21 and a worm gear transmission assembly 22. Specifically, the drive assembly 2 consists of a single drive motor 21 and a worm gear transmission assembly. Only one drive motor 21 is used, and it is connected to the magnetically attracted driving wheel 23 via the worm gear transmission assembly 22. The drive motor 21 only needs to drive the magnetically attracted driving wheel 23 to rotate. This allows the inspection robot to move, and the magnetic driven wheel 33 is rotatably mounted on the bottom of the main body 1. The movement of the inspection robot then drives the magnetic driven wheel 33 to rotate. Compared with the existing method of using synchronous gears to connect the front and rear wheels for synchronous drive, the inspection robot is driven by only one drive motor 21, and the drive motor 21 only needs to drive the magnetic drive wheel 23 to rotate, which can effectively reduce energy consumption. In addition, by using the main body 1 itself to drive the magnetic driven wheel 33 to rotate, other structures such as synchronous gears are reduced, the weight of the inspection robot itself is reduced, and the energy consumption of the motor is further reduced. When the drive motor 21 stops, the worm gear transmission assembly 22 will self-lock without external force. Specifically, the worm 221 cannot be driven by the worm wheel 222, which can effectively prevent the inspection robot from falling, providing the first layer of protection. This reduces the magnetic attraction force requirement of the magnetic drive wheel 23, as the magnetic attraction force of the magnetic wheel used does not need to meet the pure adsorption static condition, thereby reducing the energy consumption required for the drive motor 21 to drive the magnetic drive wheel 23. This solves the problems of heavy weight and high energy consumption of existing magnetic adsorption inspection robots.

[0027] Preferably, the worm gear transmission assembly 22 includes a worm 221, a worm wheel 222, a first bevel gear 223, and a second bevel gear 224; The worm 221 is connected to the output end of the drive motor 21 for transmission. The worm wheel 222 meshes with the worm 221 for transmission. The worm wheel 222 is coaxially fixedly connected to the first bevel gear 223. The first bevel gear 223 meshes with the second bevel gear 224 for transmission. The second bevel gear 224 is fixedly connected to the end of the drive shaft 231 of the magnetic drive wheel 23.

[0028] Specifically, such as Figure 2 and Figure 3As shown, the drive motor 21 drives the worm gear 221 to rotate, and the rotation of the worm gear 221 drives the worm wheel 222 to rotate. The first bevel gear 223, which is coaxially fixedly connected to the worm wheel 222, rotates. The first bevel gear 223 drives the second bevel gear 224 to rotate, which in turn drives the drive shaft 231 of the magnetic drive wheel 23 to rotate, thus enabling the magnetic drive wheel 23 to rotate. This achieves the drive motor 21 driving the magnetic drive wheel 23 to rotate. The meshing transmission between the worm wheel 222 and the worm gear 221 has a one-way transmission self-locking characteristic. When the drive motor 21 stops operating, the worm wheel 222 directly locks the magnetic drive wheel 23. At this time, the magnetic drive wheel 23 only needs to maintain the magnetic attraction force against the iron tower track 4, without the need for high magnetic attraction force to offset the weight of the inspection robot itself, reducing the energy consumption of the inspection robot, and also reducing the design cost of the magnetic drive wheel 23.

[0029] Furthermore, the entire process is a rigid meshing transmission, ensuring that the rotational speed of the magnetic drive wheel 23 is precisely matched to the requirements, thereby improving the inspection motion accuracy of the inspection robot.

[0030] Preferably, the worm wheel 222 and the worm 221 are located inside the main body 1, the drive motor 21 and the worm 221 are arranged in the middle of the main body 1 in the front-back direction, and the worm wheel 222 is horizontally arranged on one side of the worm 221.

[0031] Specifically, the drive motor 21 and the worm gear 221 are arranged in the middle of the main body 1 along the front-back direction of the main body 1, which helps to improve the mass distribution of the worm gear transmission assembly 22. The worm gear 222 is horizontally set on one side of the worm gear 221, so that the center of gravity of the inspection robot is centered and lower, thus improving the walking stability.

[0032] Preferably, the first bevel gear 223 and the second bevel gear 224 are located below the main body 1. The first bevel gear 223 is connected to the worm gear 222 via a rotating shaft 225. The rotating shaft 225 passes through a connecting hole 111 at the bottom of the main body 1. A positioning seat 112 extends upward from the connecting hole 111. A bearing 113 is provided between the inner wall of the positioning seat 112 and the rotating shaft 225. The bearing 113 is located between the worm gear 222 and the first bevel gear 223.

[0033] Specifically, to ensure that the drive motor 21 can drive the magnetic drive wheel 23 to rotate, the worm gear transmission assembly 22 needs to connect the drive motor 21 inside the main body 1 with the magnetic drive wheel 23 outside the main body 1, such as... Figure 3As shown, the main body 1 is provided with a connecting hole 111 to ensure that the rotation of the worm gear 222 can be transmitted to the first bevel gear 223. A bearing 113 is provided between the inner wall of the positioning seat 112 and the rotating shaft 225. The bearing 113 provides a fulcrum for the middle part of the rotating shaft 225, effectively preventing the rotating shaft 225 from deforming due to the meshing force at both ends.

[0034] Preferably, the bearing 113 has a rubber sealing ring, which can effectively prevent dust, rainwater and other environmental factors from affecting the rotation of the rotating shaft 225.

[0035] In addition, the inspection robot needs to operate outdoors. To protect the internal parts of the inspection robot, the main body 1 is provided with a housing 11. The housing 11 has a certain enclosing structure to reduce the impact of the external environment on the inspection robot.

[0036] Preferably, the magnetic drive wheel 23 and the magnetic driven wheel 33 are centrally located along the main body 1, with the magnetic driven wheel 33 located directly in front of the magnetic drive wheel 23.

[0037] Specifically, such as Figure 1 As shown, the magnetic driven wheel 33 is located in front of the magnetic driving wheel 23. The drive motor 21, the magnetic driving wheel 23, and the magnetic driven wheel 33 form a rear-drive transmission. When climbing upwards, the magnetic driving wheel 23 located at the rear can obtain more normal support force and provide more upward driving force, while the magnetic driven wheel 33 only needs to perform guidance and auxiliary attraction, effectively preventing the magnetic wheel assembly from slipping and directional deviation caused by driving torque.

[0038] Preferably, the main body 1 has two mounting seats 114 fixedly connected inside, and the worm gear 221 is rotatably connected between the two mounting seats 114.

[0039] Specifically, during operation, the worm 221 will be subjected to a counterforce from the worm wheel 222, such as... Figure 2 As shown, the mounting base 114 can fix the worm 221, prevent the worm 221 from shifting, ensure that the worm 221 and the worm wheel 222 can mesh smoothly, and ensure the inspection accuracy of the inspection robot.

[0040] Preferably, the bottom of the main body 1 is provided with two inwardly recessed clearance areas 115, and the two clearance areas 115 are respectively located directly above the magnetic drive wheel 23 and the magnetic driven wheel 33.

[0041] like Figure 4As shown, the setting of the avoidance zone 115 can ensure that the magnetic drive wheel 23 and the magnetic driven wheel 33 can rotate without obstruction, effectively reducing the interference of the main body 1 on the rotation of the magnetic drive wheel 23 and the magnetic driven wheel 33, ensuring the normal operation of the magnetic drive wheel 23, ensuring the normal movement of the inspection robot with low energy consumption, and effectively reducing the overall height of the inspection robot to meet the operational requirements.

[0042] Preferably, the side pressure wheel assembly 31 is installed on the bottom of the main body 1, and the side pressure wheel assembly 31 is located on the outside of the magnetic suction wheel group.

[0043] Specifically, a side pressure wheel assembly 31 is also provided. When the inspection robot moves, the side pressure wheel assembly 31 ensures that the inspection robot can move along the iron tower track 4. The side pressure wheel assembly 31 plays a guiding role to ensure that the inspection robot does not leave the iron tower track 4 and meets the normal movement requirements. The side pressure wheel assembly 31 works in conjunction with the magnetic suction wheel group to improve the fit between the inspection robot and the iron tower track 4 from the two dimensions of adsorption and lateral support, thereby improving the stability of the inspection robot's operation.

[0044] Preferably, the cross-section of the tower track 4 is T-shaped; The side pressure wheel assembly 31 is connected to the bottom of the main body 1 via a connecting arm 32; The side pressure roller assembly 31 includes a side guide roller 311 and a bottom guide roller 312. Both the side guide roller 311 and the bottom guide roller 312 are rotatably connected to the connecting arm 32. The side guide roller 311 rolls against the side of the iron tower track 4, and the bottom guide roller 312 rolls against the bottom of the iron tower track 4.

[0045] Specifically, such as Figure 4 and Figure 5 As shown, the side guide wheel 311 and the bottom guide wheel 312 can ensure that the inspection robot always fits the tower track 4 and moves stably along the preset path, preventing the inspection robot from deviating left or right along the width direction of the tower track 4 and affecting the inspection accuracy.

[0046] Furthermore, the bottom guide wheel 312 is connected to the connecting arm 32 via an elastic element 313.

[0047] like Figure 4 and Figure 5As shown, the magnetic drive wheel 23 and the magnetic driven wheel 33 will be attracted to the tower track 4. They work together with the bottom guide wheel 312 to constrain the inspection robot to the tower track 4. The elastic element 313 allows the distance between the magnetic drive wheel 23, the magnetic driven wheel 33 and the bottom guide wheel 312 to change, adapting to the protrusions or depressions on the surface of the tower track 4.

[0048] The elastic element 313 can be a cylindrical helical spring.

[0049] Preferably, a battery is provided inside the main body 1, and the battery is electrically connected to the drive motor 21.

[0050] Specifically, when the inspection robot moves, the drive motor 21 drives the rotation of the magnetic drive wheel 23, and the battery supplies power to the drive motor 21 and the inspection robot to ensure stable movement of the inspection robot on the iron tower track 4. The control of the drive motor 21 is the conventional control connection and control logic in the prior art of inspection robots, and the relevant electrical connections and control methods will not be described in detail here.

[0051] The technical principles of this utility model have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of this utility model and should not be construed as limiting the scope of protection of this utility model in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of this utility model without any inventive effort, and these embodiments will all fall within the scope of protection of this utility model.

Claims

1. A tower track climbing and inspection robot, characterized in that: It includes a main body (1), a drive assembly (2), and a set of magnetic wheels; The drive assembly (2) is installed inside the main body (1), and the magnetic wheel assembly is installed at the bottom of the main body (1); The drive assembly (2) includes a drive motor (21) and a worm gear transmission assembly (22). The magnetic wheel set includes a magnetic drive wheel (23) and a magnetic driven wheel (33) arranged along the front and rear of the main body (1). The drive motor (21) is connected to the magnetic drive wheel (23) through the worm gear transmission assembly (22). The magnetic drive wheel (23) drives the main body (1) to move along the iron tower track (4).

2. The tower track climbing and inspection robot according to claim 1, characterized in that: The worm gear transmission assembly (22) includes a worm (221), a worm wheel (222), a first bevel gear (223), and a second bevel gear (224); The worm (221) is connected to the output end of the drive motor (21) for transmission. The worm wheel (222) meshes with the worm (221) for transmission. The worm wheel (222) is coaxially fixedly connected with the first bevel gear (223). The first bevel gear (223) meshes with the second bevel gear (224) for transmission. The second bevel gear (224) is fixedly connected to the end of the drive shaft (231) of the magnetic drive wheel (23).

3. The tower track climbing and inspection robot according to claim 2, characterized in that: The worm wheel (222) and worm (221) are located inside the main body (1). The drive motor (21) and the worm (221) are arranged in the middle of the main body (1) in the front-back direction. The worm wheel (222) is horizontally arranged on one side of the worm (221).

4. The tower track climbing and inspection robot according to claim 2, characterized in that: The first bevel gear (223) and the second bevel gear (224) are located below the main body (1). The first bevel gear (223) is connected to the worm gear (222) via a rotating shaft (225). The rotating shaft (225) passes through a connecting hole (111) at the bottom of the main body (1). A positioning seat (112) extends upward from the connecting hole (111). A bearing (113) is provided between the inner wall of the positioning seat (112) and the rotating shaft (225). The bearing (113) is located between the worm gear (222) and the first bevel gear (223).

5. The tower track climbing and inspection robot according to claim 1, characterized in that: The magnetic drive wheel (23) and the magnetic driven wheel (33) are centrally located along the main body (1), with the magnetic driven wheel (33) located directly in front of the magnetic drive wheel (23).

6. The tower track climbing and inspection robot according to claim 2, characterized in that: The main body (1) has two mounting seats (114) fixedly connected inside, and the worm gear (221) is rotatably connected between the two mounting seats (114).

7. The tower track climbing and inspection robot according to claim 1, characterized in that: The bottom of the main body (1) is provided with two inwardly recessed avoidance areas (115), which are located directly above the magnetic drive wheel (23) and the magnetic driven wheel (33), respectively.

8. A tower track climbing and inspection robot according to any one of claims 1 to 7, characterized in that: It also includes a side pressure wheel assembly (31), which is installed at the bottom of the main body (1) and is located outside the magnetic suction wheel group. The side pressure wheel assembly (31) is used to guide and limit the movement of the main body (1) along the tower track (4).

9. A tower track climbing and inspection robot according to claim 8, characterized in that: The cross-section of the iron tower track (4) is "T" shaped; The side pressure wheel assembly (31) is connected to the bottom of the main body (1) via a connecting arm (32); The side pressure roller assembly (31) includes a side guide roller (311) and a bottom guide roller (312). Both the side guide roller (311) and the bottom guide roller (312) are rotatably connected to the connecting arm (32). The side guide roller (311) rolls against the side of the iron tower track (4), and the bottom guide roller (312) rolls against the bottom of the iron tower track (4).

10. A tower track climbing and inspection robot according to claim 9, characterized in that: The bottom guide wheel (312) is connected to the connecting arm (32) via an elastic element (313).

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