A kind of anti-falling device for power tower inspection robot

Abstract

The utility model relates to power transmission line inspection technical field especially is a kind of anti-falling device for electric power tower inspection robot, including mounting, brake arm, transmission part and centrifugal linkage mechanism;The mounting is fixedly installed in the bottom of electric power tower inspection robot, the brake arm and the transmission part are respectively swingably installed in the mounting, the brake arm has initial position and brake position, the transmission part is close to the transmission end setting of brake arm, the centrifugal linkage mechanism is synchronously driven with electric power tower inspection robot arrangement;When the rotational speed of the centrifugal linkage mechanism is less than preset value, the brake arm keeps initial position;When the rotational speed of the centrifugal linkage mechanism is greater than or equal to preset value, the brake end of brake arm and track friction brake, solve the problem that current anti-falling device is easily influenced by electricity and signal transmission, and braking response speed is limited.

Description

Technical Field

[0001] This utility model relates to the field of power transmission line inspection technology, and in particular to a fall prevention device for a power tower 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, it is necessary to regularly inspect and maintain the transmission lines and towers to ensure the safe and reliable operation of the transmission lines. At present, the method of conducting transmission line inspections and going up and down transmission line towers in China is to use robots to inspect the towers.

[0003] Using robots to inspect towers involves working at heights, which carries the risk of malfunctions leading to falls, causing property damage and endangering personal safety. Currently, to prevent falls from high-altitude inspection robots, electrical methods are used to monitor speed and distance. However, these electrical fall prevention methods fail if the circuitry malfunctions or communication problems occur, making them prone to failure. Furthermore, they require motor braking, which has limited braking response speed. Utility Model Content

[0004] To address the aforementioned shortcomings, the purpose of this invention is to propose a fall protection device for power tower inspection robots, thereby solving the problem that current fall protection devices are easily affected by electrical and signal transmission issues, resulting in limited braking response speed.

[0005] To achieve this objective, the present invention adopts the following technical solution: A fall protection device for a power tower inspection robot includes a mounting component, a brake arm, a transmission component, and a centrifugal linkage mechanism. The mounting component is fixedly installed on the bottom of the power tower inspection robot. The brake arm and the transmission component are respectively swayably mounted on the mounting component. One end of the brake arm is the braking end, and the other end of the brake arm is the transmission end. The brake arm has an initial position and a braking position. The transmission component is located near the transmission end of the brake arm. The centrifugal linkage mechanism is rotatably mounted on the mounting component, and the centrifugal linkage mechanism is synchronously driven with the power tower inspection robot. When the rotational speed of the centrifugal linkage mechanism is less than a preset value, the centrifugal linkage mechanism is in a retracted state, and the brake arm remains in its initial position; when the rotational speed of the centrifugal linkage mechanism is greater than or equal to the preset value, the centrifugal linkage mechanism switches to a braking state and drives the brake arm to swing from its initial position to its braking position through the transmission component, so that the braking end of the brake arm rubs against the track for braking.

[0006] Preferably, the centrifugal linkage mechanism includes a rotating shaft, a centrifugal turntable, a first elastic element, and a linkage rod; The centrifugal turntable is fixedly connected to the rotating shaft, and the rotating shaft is rotatably mounted on the mounting component; One end of the linkage rod is hinged to the centrifugal turntable, and the other end of the linkage rod is a swing end. The linkage rod has a first position and a second position. The first elastic element is disposed between the centrifugal turntable and the linkage rod. The first elastic element applies an elastic force to the linkage rod in the direction close to the rotation axis to hold the linkage rod in the first position. When the rotational speed of the centrifugal disc is less than a preset value, the linkage rod stays close to the rotation axis and follows the rotation of the centrifugal disc. The linkage rod is in the first position. When the rotational speed of the centrifugal disc is greater than or equal to the preset value, the linkage rod swings outward away from the rotation axis and compresses the first elastic element. The linkage rod is in the second position. The swinging end of the linkage rod drives the swinging of the transmission element to drive the brake arm to swing to the braking position.

[0007] Furthermore, the centrifugal linkage mechanism also includes several limiting members installed on the centrifugal turntable. The limiting members abut against the swing end of the linkage rod, and the limiting members and the first elastic member together constrain the linkage rod to the first position.

[0008] Preferably, the centrifugal turntable is provided with a plurality of fixed posts and a plurality of mounting posts, the first elastic element is a torsion spring, the torsion spring passes through the mounting post, the torsion spring is located between the fixed post and the linkage rod, one protruding end of the torsion spring abuts against the corresponding fixed post, and the other protruding end of the torsion spring is connected to the linkage rod.

[0009] Preferably, the centrifugal linkage mechanism further includes a cover plate, which is used to cover the first elastic element and the linkage rod.

[0010] Preferably, the brake arm is hinged to the mounting member, and a limiting part is provided between the brake arm and the brake end at the hinge point. The limiting part is connected to the mounting member through a second elastic member, which is used to reset the brake arm so that the brake arm maintains its initial position.

[0011] Preferably, the power tower inspection robot includes walking wheels, and the walking wheels are connected to the centrifugal linkage mechanism via a synchronous belt mechanism.

[0012] Furthermore, the synchronous belt mechanism includes a driving pulley, a driven pulley, and a synchronous belt; The drive pulley is connected to the traveling wheel in a driving connection, and the drive pulley and the traveling wheel rotate coaxially. The driven pulley is connected to the centrifugal turntable via the rotating shaft; The synchronous belt is sleeved on the outer periphery of the driving pulley and the driven pulley, and the inner side of the synchronous belt meshes with the teeth of the driving pulley and the driven pulley in a one-to-one correspondence.

[0013] Preferably, the braking end of the brake arm is provided with a friction plate, which is used to abut against the track and form friction braking.

[0014] Preferably, the braking end of the brake arm is provided with a bending angle α, which is 100-130°.

[0015] The technical solution provided by this utility model can include the following beneficial effects: This solution uses a centrifugal linkage mechanism synchronized with the power tower inspection robot, enabling the centrifugal linkage mechanism to quickly respond to changes in the robot's movement speed. When the power tower inspection robot falls, the rotation speed of the centrifugal linkage mechanism is greater than or equal to a preset value, and the centrifugal linkage mechanism changes from a retracted state to a braking state, causing the brake arm to swing from its initial position to the braking position. This, in turn, causes the braking end of the brake arm to abut against and press against the rail, achieving rapid braking of the entire power tower inspection robot in a purely mechanical manner. Attached Figure Description

[0016] Figure 1 This is a schematic diagram illustrating the operation of one embodiment of the present invention.

[0017] Figure 2 This is a first structural schematic diagram of an embodiment of the present invention.

[0018] Figure 3 This is a second structural schematic diagram of one embodiment of the present invention.

[0019] Figure 4 This is a schematic diagram of the centrifugal linkage mechanism according to one embodiment of the present invention.

[0020] Figure 5 This is a third structural schematic diagram of an embodiment of the present invention.

[0021] Figure 6 This is a fourth structural schematic diagram of an embodiment of the present invention.

[0022] The components include: climbing mechanism 1, traveling wheel 11, centrifugal linkage mechanism 2, rotating shaft 21, centrifugal turntable 22, first elastic element 23, linkage rod 24, swing end 241, limiting element 25, fixed column 26, mounting column 27, cover plate 28, mounting component 3, brake arm 4, brake end 41, friction plate 411, transmission end 42, limiting part 43, second elastic element 44, transmission component 5, synchronous belt mechanism 6, driving pulley 61, driven pulley 62, synchronous belt 63, track 7, and side pressure wheel assembly 8. Detailed Implementation

[0023] 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.

[0024] 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.

[0025] 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.

[0026] It should be noted that this embodiment exemplifies the horizontal arrangement of the power tower inspection robot and the fall protection device. In actual operation, the track 7 is typically installed vertically from bottom to top along the height of the power tower; the power tower inspection robot is usually mounted vertically on the track 7 and climbs along the track 7.

[0027] A fall protection device for a power tower inspection robot includes a mounting component 3, a brake arm 4, a transmission component 5, and a centrifugal linkage mechanism 2. The mounting component 3 is fixedly installed on the bottom of the power tower inspection robot. The brake arm 4 and the transmission component 5 are respectively swayably installed on the mounting component 3. One end of the brake arm 4 is the brake end 41, and the other end of the brake arm 4 is the transmission end 42. The brake arm 4 has an initial position and a braking position. The transmission component 5 is arranged close to the transmission end 42 of the brake arm 4. The centrifugal linkage mechanism 2 is rotatably installed on the mounting component 3, and the centrifugal linkage mechanism 2 is synchronously driven with the power tower inspection robot. When the rotational speed of the centrifugal linkage mechanism 2 is less than a preset value, the centrifugal linkage mechanism 2 is in a retracted state, and the brake arm 4 remains in its initial position; when the rotational speed of the centrifugal linkage mechanism 2 is greater than or equal to the preset value, the centrifugal linkage mechanism 2 switches to a braking state and drives the brake arm 4 to swing from its initial position to a braking position through the transmission component 5, so that the braking end 41 of the brake arm 4 rubs against the track 7 for braking.

[0028] like Figures 1 to 3 As shown, currently, to prevent inspection robots operating at heights from falling, speed and distance are monitored electrically. When a rapid descent is detected, the robot is braked by reverse-drive of the motor. However, electrical methods are easily affected by circuits or communication, prone to malfunctions, and require motor braking, which limits the reaction speed. To solve the problems existing in the prior art, this utility model proposes a fall protection device for power tower inspection robots, including a mounting component 3, a braking arm 4, a transmission component 5, and a centrifugal linkage mechanism 2. A climbing mechanism 1 is installed at the bottom of the power tower inspection robot. When the power tower inspection robot falls, its falling speed will be greater than the normal falling speed under normal operating conditions. Therefore, based on the normal falling speed and the weight of the power tower inspection robot itself, twice the normal falling speed is taken as the speed limit for the power tower inspection robot to fall. After determining the speed limit for falling, the rotational speed of the centrifugal linkage mechanism 2 when the speed limit for falling is reached is obtained through the synchronous transmission relationship between the centrifugal linkage mechanism 2 and the climbing mechanism 1, and this is determined as the preset value for braking. When the power tower inspection robot is operating normally, if the rotational speed of the centrifugal linkage mechanism 2 is less than the preset value, such as... Figure 2 As shown, the centrifugal linkage mechanism 2 is in the retracted state, and the brake arm 4 remains in its initial position. At this time, the brake arm 4 is away from the track 7, and the power tower inspection robot can move normally on the track 7. When the power tower inspection robot falls, the rotation of the centrifugal linkage mechanism 2 is greater than or equal to a preset value. The centrifugal linkage mechanism 2 switches to the braking state and drives the brake arm 4 to swing from the initial position to the braking position through the transmission component 5, so that the braking end 41 of the brake arm 4 abuts against the track 7. Figure 3 , Figure 5 As shown, friction is generated between the braking end 41 of the braking arm 4 and the surface of the track 7. The braking end 41 of the braking arm 4 presses against the track 7, thereby stopping the power tower inspection robot from moving. The entire anti-fall device does not require electrical control or signal transmission. It brakes the falling power tower inspection robot in a purely mechanical way, which is safe and reliable. It does not require a motor for braking, reducing the wear and tear on the motor inside the inspection robot. Moreover, the braking response is faster, solving the problem that current anti-fall devices are easily affected by electrical and signal transmission, resulting in limited braking response speed.

[0029] Preferably, the inspection robot further includes a side pressure wheel assembly 8, which ensures that the inspection robot does not deviate from the track 7 during the fall.

[0030] Preferably, the centrifugal linkage mechanism 2 includes a rotating shaft 21, a centrifugal turntable 22, a first elastic element 23, and a linkage rod 24; The centrifugal turntable 22 is fixedly connected to the rotating shaft 21, and the rotating shaft 21 is rotatably mounted on the mounting component 3; One end of the linkage rod 24 is hinged to the centrifugal turntable 22, and the other end of the linkage rod 24 is a swing end 241. The linkage rod 24 has a first position and a second position. The first elastic element 23 is disposed between the centrifugal turntable 22 and the linkage rod 24. The first elastic element 23 applies an elastic force to the linkage rod 24 in the direction close to the rotation axis 21, which is used to hold the linkage rod 24 in the first position. When the rotational speed of the centrifugal turntable 22 is less than a preset value, the linkage rod 24 remains close to the rotation axis 21 and follows the rotation of the centrifugal turntable 22. The linkage rod 24 is in the first position. When the rotational speed of the centrifugal turntable 22 is greater than or equal to the preset value, the linkage rod 24 swings outward away from the rotation axis 21 and compresses the first elastic element 23. The linkage rod 24 is in the second position. The swing end 241 of the linkage rod 24 drives the swing of the transmission element 5 to drive the brake arm 4 to swing to the braking position. The number of the first elastic element 23 and the linkage rod 24 is at least two, and the first elastic element 23 and the linkage rod 24 are arranged at intervals on the centrifugal turntable 22 in a one-to-one correspondence.

[0031] Specifically, such as Figure 4As shown, the centrifugal linkage mechanism 2 includes a rotating shaft 21, a centrifugal turntable 22, a first elastic element 23, and a linkage rod 24. When the rotational speed of the centrifugal turntable 22 is less than a preset value, the centrifugal force on the linkage rod 24 is less than the elastic force provided by the first elastic element 23. The linkage rod 24 remains close to the rotating shaft 21 and follows the rotation of the centrifugal turntable 22. The linkage rod 24 is in a first position (e.g., Figure 4 As shown), at this time, the centrifugal linkage mechanism 2 is in the retracted state, the linkage rod 24 is not in contact with the transmission component 5, and the brake arm 4 maintains its initial position; during the ascent of the power tower inspection robot, the centrifugal turntable 22 rotates clockwise. When the clockwise rotation speed of the centrifugal turntable 22 is greater than or equal to a preset value, the linkage rod 24, under the action of centrifugal force, still follows the centrifugal turntable 22 in the direction close to the rotation axis 21. The linkage rod 24 is in the first position, the centrifugal linkage mechanism 2 is in the retracted state, and the brake arm 4 maintains its initial position; during the descent of the power tower inspection robot, the centrifugal turntable 22 rotates counterclockwise. When the centrifugal turntable 24 rotates counterclockwise, the centrifugal turntable 24 rotates counterclockwise. When the counterclockwise rotation speed of 22 is greater than the preset value, the centrifugal force on the linkage rod 24 is greater than the elastic force that the first elastic element 23 can provide. The linkage rod 24 swings away from the rotation axis 21, the first elastic element 23 is compressed, and the linkage rod 24 is in the second position. At this time, the swing end 241 of the linkage rod 24 extends outward from the centrifugal turntable 22, contacts the transmission element 5, and drives the transmission element 5 to swing, causing the brake arm 4 to swing from the initial position to the braking position, so that the brake end 41 of the brake arm 4 presses down against the track 7, forming frictional resistance, thereby stopping the entire power tower inspection robot from falling.

[0032] Those skilled in the art will understand that after the fall arrestor friction brakes the power tower inspection robot to stop, the power tower inspection robot continues to rise along the track 7, causing the centrifugal turntable 22 to rotate clockwise. Under the action of the first elastic element 23, the linkage rod 24 moves closer to the rotation shaft 21 and retracts inward. The linkage rod 24 returns to the first position, the centrifugal linkage mechanism 2 returns to the retracted state, and the brake arm 4 returns to the initial position.

[0033] Furthermore, the number of the first elastic element 23 and the linkage rod 24 is at least two. If there is only a single linkage rod 24, the force on the centrifugal linkage mechanism 2 will be biased to one side, the structure will be unstable, and it will not be conducive to the smooth movement of the power tower inspection robot.

[0034] Preferably, the number of the first elastic element 23 and the linkage rod 24 is two or three, and the linkage rod 24 and the first elastic element 23 are distributed at equal angular intervals in the circumference. Compared with a single linkage rod 24 and the first elastic element 23, the force is more balanced and the structure is more stable. Furthermore, two or three first elastic elements 23 and the linkage rod 24 can meet the requirement of rapid contact between the linkage rod 24 and the transmission member 5, resulting in a shorter action time for the fall arrest device and further improving the braking response speed of the fall arrest device.

[0035] It is worth noting that, given the angular velocity of the centrifugal linkage mechanism 2, the spring constant of the required first elastic element 23 can be derived using the centrifugal force formula and the modified formula of Hooke's law, and the first elastic element 23 can be selected accordingly.

[0036] Furthermore, the centrifugal linkage mechanism 2 also includes a plurality of limiting members 25 installed on the centrifugal turntable 22. The limiting members 25 abut against the swing end 241 of the linkage rod 24, and the limiting members 25 and the first elastic member 23 together constrain the linkage rod 24 to be in the first position.

[0037] Specifically, one end of the linkage rod 24 is hinged to the centrifugal turntable 22, and the other end of the linkage rod 24 is a swing end 241. Under normal operation, the linkage rod 24 is in the first position, and the linkage rod 24 is close to the rotation shaft 21. The limiting member 25 is located between the rotation shaft 21 and the linkage rod 24, which can constrain the linkage rod 24 to the first position and separate several linkage rods 24 to avoid mutual interference between several linkage rods 24.

[0038] Preferably, the centrifugal turntable 22 is provided with a plurality of fixed posts 26 and a plurality of mounting posts 27, the first elastic element 23 is a torsion spring, the torsion spring passes through the mounting post 27, the torsion spring is located between the fixed post 26 and the linkage rod 24, one protruding end of the torsion spring abuts against the corresponding fixed post 26, and the other protruding end of the torsion spring is connected to the linkage rod 24.

[0039] Specifically, such as Figure 5As shown, when the inspection robot falls, because the centrifugal linkage mechanism 2 and the climbing mechanism 1 of the power tower inspection robot are synchronously driven, the centrifugal linkage mechanism 2 operates under the drive of the climbing mechanism 1. When the rotation speed of the centrifugal linkage mechanism 2 is greater than or equal to a preset value, the linkage rod 24 swings outward away from the rotation axis 21 and compresses the first elastic element 23. The torsion spring is located between the fixed column 26 and the linkage rod 24. At this time, the centrifugal force on the linkage rod 24 is greater than the elastic force provided by the first elastic element 23, thereby achieving the purpose of the swing end 241 of the linkage rod 24 driving the transmission component 5 to swing when the centrifugal turntable 22 is greater than the preset value. This causes the brake arm 4 to swing to the braking position, pressing the track 7 and braking the power tower inspection robot. The setting of the fixed column 26 and the mounting column 27 ensures that the first elastic element 23 can keep the linkage rod 24 in the first position, ensuring that the brake arm 4 does not affect the normal movement of the power tower inspection robot during normal operation.

[0040] Preferably, the centrifugal linkage mechanism 2 further includes a cover plate 28, which is used to cover the first elastic element 23 and the linkage rod 24.

[0041] Specifically, since the inspection robot needs to operate outdoors, the cover plate 28 can reduce the impact of the external environment on the swing of the linkage rod 24, ensuring that the centrifugal linkage mechanism 2 can operate normally and improving its service life. Specifically, the cover plate 28 passes through the rotating shaft 21 and is fixed to the centrifugal turntable 22.

[0042] Preferably, the brake arm 4 is hinged to the mounting member 3, and the brake arm 4 is provided with a limiting part 43 between the hinge and the brake end 41. The limiting part 43 is connected to the mounting member 3 through a second elastic member 44. The second elastic member 44 is used to reset the brake arm 4 so that the brake arm 4 maintains its initial position.

[0043] Specifically, such as Figure 6 As shown, when the inspection robot is operating normally, the brake arm 4 is in its initial position. To avoid affecting normal operation, the brake arm 4 needs to remain in this initial position. At this time, the second elastic element 44 is in a released state, thereby pulling the brake end 41 of the brake arm 4 away from the track 7, meeting the normal movement requirements of the power tower inspection robot and ensuring it is not affected by the brake arm 4. However, when the centrifugal linkage mechanism 2 is in a braking state, such as... Figure 3 As shown, the transmission component 5, driven by the linkage rod 24, drives the brake arm 4 to swing. At this time, the second elastic component 44 is in an energy storage state, which can also meet the requirement of stopping the power tower inspection robot.

[0044] Preferably, the second elastic element 44 can be a cylindrical helical tension spring.

[0045] Preferably, the power tower inspection robot includes walking wheels 11, which are connected to the centrifugal linkage mechanism 2 via a synchronous belt mechanism 6.

[0046] Specifically, such as Figure 1 As shown, the walking wheel 11 is connected to the centrifugal linkage mechanism 2 via a synchronous belt mechanism 6. The rotational speed of the walking wheel 11 reflects the movement speed of the power tower inspection robot on the track 7. When a fall occurs, the rotational speed of the walking wheel 11 is too fast, which can be transmitted to the centrifugal linkage mechanism 2 via the synchronous belt mechanism 6. Specifically, the rotational speed of the centrifugal turntable 22 is the same as the rotational speed of the walking wheel 11. At this time, the centrifugal force on the linkage rod 24 is large, so it swings outward away from the rotation axis 21 until the swing end 241 of the linkage rod 24 abuts against the transmission component 5. The synchronous belt mechanism 6 can accurately transmit the power of the walking wheel 11 to the centrifugal turntable 22, ensuring that the brake arm 4 can react quickly and brake the falling power tower inspection robot.

[0047] Furthermore, the synchronous belt mechanism 6 includes a driving pulley 61, a driven pulley 62, and a synchronous belt 63; The drive pulley 61 is connected to the traveling wheel 11 in a transmission connection, and the drive pulley 61 and the traveling wheel 11 rotate coaxially. The driven pulley 62 is connected to the centrifugal turntable 22 via the rotating shaft 21; The synchronous belt 63 is sleeved on the outer periphery of the driving pulley 61 and the driven pulley 62, and the inner side of the synchronous belt 63 meshes with the teeth of the driving pulley 61 and the driven pulley 62 in a one-to-one correspondence.

[0048] like Figure 5 As shown, the driving pulley 61 rotates coaxially with the walking wheel 11, and the driven pulley 62 rotates coaxially with the centrifugal turntable 22. During the movement of the power tower inspection robot, the rotation of the walking wheel 11 drives the driving pulley 61 to rotate, and the rotation of the driving pulley 61 drives the synchronous belt 63 to rotate. The inner toothed structure of the synchronous belt 63 meshes with the driving pulley 61 and the driven pulley 62, driving the driven pulley 62 to rotate, which in turn causes the centrifugal turntable 22 to rotate. This achieves precise transmission of the rotation of the walking wheel 11 to the centrifugal turntable 22, enabling the linkage rod 24 to quickly respond to the moving speed of the power tower inspection robot.

[0049] Preferably, the brake end 41 of the brake arm 4 is provided with a friction plate 411, which is used to abut against the track 7 and form friction braking.

[0050] Specifically, such as Figure 5 As shown, the friction plate 411 can resist the wear during the braking process of the inspection robot. When the braking end 41 abuts against the track 7, the friction plate 411 can absorb part of the impact load, avoid the braking end 41 from directly bearing rigid friction or impact, and extend the overall life of the anti-fall device.

[0051] Preferably, the friction plate 411 is made of rubber, which is wear-resistant and has a certain degree of elasticity. Preferably, the friction plate 411 is detachably installed on the braking end 41, specifically by means of bolts and nuts for easy replacement.

[0052] Furthermore, the brake end 41 of the brake arm 4 is provided with a bending angle α, which is 100-130°.

[0053] Specifically, the distance between the bottom of the inspection robot and the surface of track 7 is small, such as Figure 4 As shown, the bending angle α of the brake arm 4 is 100-130°, which is relatively gentle. While meeting the installation space requirements, under this angle limitation, when the brake arm 4 is in the initial position, the distance between the brake end 41 of the brake arm 4 and the track 7 is moderate, preventing braking delay caused by excessive stroke. That is, it avoids the brake arm 4 needing to swing a large amplitude to fit the track 7, thus improving the braking response speed.

[0054] Furthermore, this bending angle can reduce stress concentration and effectively prevent cracking at the bend of the brake arm 4.

[0055] Preferably, the mounting component 3 consists of two symmetrically arranged mounting plates, and the centrifugal linkage mechanism 2, transmission component 5, and brake arm 4 are located between the two mounting plates to reduce the impact of the external environment on the fall arrest device and ensure that the fall arrest device can operate normally.

[0056] 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 fall protection device for a power tower inspection robot, characterized in that: It includes mounting components (3), brake arm (4), transmission components (5) and centrifugal linkage mechanism (2); The mounting component (3) is fixedly installed on the bottom of the power tower inspection robot. The brake arm (4) and the transmission component (5) are respectively swayably installed on the mounting component (3). One end of the brake arm (4) is the brake end (41), and the other end of the brake arm (4) is the transmission end (42). The brake arm (4) has an initial position and a braking position. The transmission component (5) is set close to the transmission end (42) of the brake arm (4). The centrifugal linkage mechanism (2) is rotatably installed on the mounting component (3), and the centrifugal linkage mechanism (2) is synchronously driven with the power tower inspection robot. When the rotational speed of the centrifugal linkage mechanism (2) is less than the preset value, the centrifugal linkage mechanism (2) is in a retracted state and the brake arm (4) remains in the initial position; when the rotational speed of the centrifugal linkage mechanism (2) is greater than or equal to the preset value, the centrifugal linkage mechanism (2) switches to the braking state and drives the brake arm (4) to swing from the initial position to the braking position through the transmission component (5), so that the braking end (41) of the brake arm (4) rubs against the track (7) for braking.

2. The fall protection device for a power tower inspection robot according to claim 1, characterized in that: The centrifugal linkage mechanism (2) includes a rotating shaft (21), a centrifugal turntable (22), a first elastic element (23), and a linkage rod (24). The centrifugal turntable (22) is fixedly connected to the rotating shaft (21), and the rotating shaft (21) is rotatably mounted on the mounting component (3). One end of the linkage rod (24) is hinged to the centrifugal turntable (22), and the other end of the linkage rod (24) is a swing end (241). The linkage rod (24) has a first position and a second position. The first elastic element (23) is disposed between the centrifugal turntable (22) and the linkage rod (24). The first elastic element (23) applies an elastic force to the linkage rod (24) in the direction close to the rotation axis (21) to keep the linkage rod (24) in the first position. When the rotational speed of the centrifugal turntable (22) is less than the preset value, the linkage rod (24) stays close to the rotation axis (21) and follows the rotation of the centrifugal turntable (22). The linkage rod (24) is in the first position. When the rotational speed of the centrifugal turntable (22) is greater than or equal to the preset value, the linkage rod (24) swings outward away from the rotation axis (21) and compresses the first elastic element (23). The linkage rod (24) is in the second position. The swing end (241) of the linkage rod (24) drives the swing of the transmission element (5) to drive the brake arm (4) to swing to the braking position.

3. A fall protection device for a power tower inspection robot according to claim 2, characterized in that: The centrifugal linkage mechanism (2) further includes several limiting members (25) installed on the centrifugal turntable (22). The limiting members (25) abut against the swing end (241) of the linkage rod (24). The limiting members (25) and the first elastic member (23) together constrain the linkage rod (24) to be in the first position.

4. A fall protection device for a power tower inspection robot according to claim 2, characterized in that: The centrifugal turntable (22) is provided with a plurality of fixed posts (26) and a plurality of mounting posts (27). The first elastic element (23) is a torsion spring, which passes through the mounting post (27). The torsion spring is located between the fixed post (26) and the linkage rod (24). One protruding end of the torsion spring abuts against the corresponding fixed post (26), and the other protruding end of the torsion spring is connected to the linkage rod (24).

5. A fall protection device for a power tower inspection robot according to claim 2, characterized in that: The centrifugal linkage mechanism (2) further includes a cover plate (28) for covering the first elastic element (23) and the linkage rod (24).

6. A fall protection device for a power tower inspection robot according to claim 1, characterized in that: The brake arm (4) is hinged to the mounting member (3). The brake arm (4) has a limiting part (43) between the hinge and the brake end (41). The limiting part (43) is connected to the mounting member (3) through a second elastic member (44). The second elastic member (44) is used to reset the brake arm (4) so ​​that the brake arm (4) maintains its initial position.

7. A fall protection device for a power tower inspection robot according to claim 2, characterized in that: The power tower inspection robot includes a walking wheel (11), which is connected to the centrifugal linkage mechanism (2) via a synchronous belt mechanism (6).

8. A fall protection device for a power tower inspection robot according to claim 7, characterized in that: The synchronous belt mechanism (6) includes a driving pulley (61), a driven pulley (62), and a synchronous belt (63). The drive pulley (61) is connected to the walking wheel (11) for transmission, and the drive pulley (61) and the walking wheel (11) rotate coaxially. The driven pulley (62) is connected to the centrifugal turntable (22) via the rotating shaft (21); The synchronous belt (63) is sleeved on the outer periphery of the driving pulley (61) and the driven pulley (62), and the inner side of the synchronous belt (63) meshes with the teeth of the driving pulley (61) and the driven pulley (62) in a one-to-one correspondence.

9. A fall protection device for a power tower inspection robot according to claim 1, characterized in that: The brake end (41) of the brake arm (4) is provided with a friction plate (411), which is used to abut against the track (7) and form friction braking.

10. A fall protection device for a power tower inspection robot according to claim 1, characterized in that: The brake end (41) of the brake arm (4) is provided with a bending angle α, which is 100-130°.

Images