Robot combination for operation and maintenance of power transmission tower

Abstract

The utility model discloses a kind of robot combinations for transmission tower operation and maintenance, including the main material climbing of parent robot and the auxiliary material walking and work order execution of child robot, the parent robot includes two climbing modules of up and down, two the climbing module is connected into an organic whole by joint motor A, wherein the climbing module on upper portion has a piggyback beam;The child robot has auxiliary material gripper and work order execution module, the auxiliary material gripper is adapted to piggyback beam, the child robot can be fixed on the piggyback beam by auxiliary material gripper clamping. Independent child-parent robot cooperation is adopted, adapt to the use of different states in the operation process, that is, adapt to the climbing of main height, and moving and operation and maintenance execution on auxiliary material, effectively improve the stability and security of transmission tower operation and maintenance robot movement process.

Description

Technical Field

[0001] This utility model belongs to the field of robot control technology, specifically relating to a robot assembly for the operation and maintenance of power transmission towers. Background Technology

[0002] With the rapid development of power systems, transmission towers, exposed to the natural environment for extended periods, face complex and variable climatic and geographical conditions. Consequently, they inevitably suffer erosion and damage from various natural factors, making tower maintenance increasingly urgent. For a long time, tower maintenance and repair have relied on manual labor. However, these infrastructures are primarily located in vast, open environments, crisscrossing mountains, waterways, plains, and hilly areas, with complex and varied geographical conditions significantly increasing the difficulty of operation and maintenance. This method is not only inefficient but also poses high safety risks, especially at high altitudes, in complex terrain, and under harsh weather conditions, where the difficulty and danger of manual climbing are further increased.

[0003] In recent years, the deep application of robotics technology in several key fields has laid a solid technical foundation for the research and development of power transmission tower climbing robots. As a special type of robot, climbing robots can move autonomously on vertical or inclined surfaces and complete specific tasks. Unlike ground-based mobile robots, climbing robots need to achieve stable attachment and movement on unstructured surfaces, such as rough concrete, smooth glass, or flexible vegetation. They face more severe dynamic challenges, and their core technologies include mechanical structure design, motion control, perception and navigation, and energy management.

[0004] However, research on robots for the operation and maintenance of transmission towers still faces many challenges. First, the diverse structures of transmission towers, the uncertainty of contact forces, the unpredictable surface characteristics caused by angle steel deformation, and dynamic load disturbances significantly limit the performance of traditional rigid control methods, necessitating robots with strong adaptability and stability. Second, transmission towers are typically located outdoors in complex and variable environmental conditions, requiring robots to operate normally in harsh weather. Furthermore, most existing robots employ an integrated design, which actually increases the difficulty of their movements, making it difficult to adapt to movement on various parts of the main and auxiliary materials of the tower, increasing the risk of falls, and consequently reducing operational reliability and safety. Utility Model Content

[0005] In view of this, the present invention provides a robot assembly for the operation and maintenance of power transmission towers to solve the problem of poor stability and safety of power transmission tower operation and maintenance robots during movement in the prior art.

[0006] The technical solution is as follows: A robot assembly for the operation and maintenance of transmission towers, the key of which is that it includes a mother robot for climbing main materials and a sub-robot for walking auxiliary materials and executing work orders. The mother robot includes two climbing modules, upper and lower, which are connected as one unit by a joint motor A. The upper climbing module has a back beam. The sub-robot has an auxiliary material gripper and a work order execution module. The auxiliary material gripper is adapted to the back beam, and the sub-robot can be clamped and fixed on the back beam by the auxiliary material gripper.

[0007] The above solution addresses the unique main and auxiliary material construction structure of transmission towers by employing adapted mother and daughter robots working collaboratively. The mother robot is primarily used for rapid lifting and lowering on the main materials, carrying the daughter robot to the approximate target area. The daughter robot then moves on the auxiliary materials to reach a more precise area. Finally, the work order execution module completes the predetermined maintenance tasks. With each robot performing its specific function, the structural complexity can be greatly reduced, while simultaneously improving operational reliability and safety.

[0008] Preferably, the climbing module includes a linear slide, the linear slide having a slider, and the slider having a main material gripper; The articulated motor A has an upper connecting plate and a lower connecting plate. When the articulated motor A operates, it drives the upper and lower connecting plates to rotate relative to each other in a vertical plane. The upper linear slide is fixedly connected to the upper connecting plate, and the lower linear slide is fixedly connected to the lower connecting plate. Using a linear slide in conjunction with the articulated motor allows for better avoidance of key material nodes, i.e., better crossing of nodes, thus improving lifting reliability.

[0009] Preferably, the upper connecting plate and the lower connecting plate are connected to the corresponding linear slide via a transition plate, and the back beam is fixed to the upper transition plate.

[0010] Preferably, the sub-robot has seven joints, including joint motors B, C, D, E, F, G, and B. The two adapters of joint motor H are respectively connected to robotic arm link A and robotic arm link B, and the distal ends of robotic arm link A and robotic arm link B are respectively connected to the adapters of joint motor C and joint motor F. The joint motors E and H are end joints, each connected to an actuator link. The ends of both actuator links are connected to the auxiliary material grippers, and at least one actuator link is equipped with a work order execution module. The seven-joint robot structure, combined with two relatively long robotic arm links, better meets the needs of walking, inspection, and maintenance of angle steel on the tower at multiple angles, offering greater adaptability.

[0011] Preferably, the auxiliary material gripper has an electromagnetic locking structure. This design improves the stability and reliability of the sub-robot's operation, helps to firmly grip the auxiliary material angle steel, and prevents it from falling.

[0012] Preferably, both the main material gripper and the auxiliary material gripper have anti-slip strips on their gripping surfaces. This design further improves gripping stability.

[0013] Preferably, the work order execution module includes a visual recognition unit and an action completion unit. Adopting this solution can better complete maintenance tasks and improve maintenance quality.

[0014] Compared with the prior art, the beneficial effects of this utility model are: The robot combination for power transmission tower maintenance provided by this utility model is designed with independent mother-daughter robot cooperation in terms of structure, which can be adapted to different states during operation, namely, climbing the main height, moving on auxiliary materials and performing maintenance, effectively improving the stability and safety of power transmission tower maintenance robot during movement. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the mother robot's structure. Figure 2 for Figure 1 Axonometric drawing; Figure 3 This is a schematic diagram of the sub-robot structure; Figure 4 for Figure 3 Axonometric drawing; Figure 5 for Figure 3 Side view. Detailed Implementation

[0016] The present invention will now be described in further detail with reference to the accompanying drawings.

[0017] refer to Figures 1 to 5 The robot assembly shown in this application for the operation and maintenance of transmission towers mainly includes a mother robot 100 for climbing main materials and a sub-robot 200 for walking and executing work orders for auxiliary materials (main materials refer to the four corner main materials of the tower, namely the crossarms and diagonal arms on the tower body; both main materials and auxiliary materials are angle steel structures, but the size of the main materials and auxiliary materials usually differs greatly) and executing work orders. The mother robot 100 includes two climbing modules 300, which are connected as one unit by a joint motor A400. The upper climbing module 300 has a back beam 110. The sub-robot 200 has an auxiliary material gripper 500 and a work order execution module. The auxiliary material gripper 500 is adapted to the back beam 110, and the sub-robot 200 can be clamped and fixed on the back beam 110 by the auxiliary material gripper 500.

[0018] The climbing module 300 includes a linear slide 310, which has a slider 311 and a main material gripper 320 on the slider 311, as shown in the figure. In this embodiment, the linear slide 310 is model FSL80, and the working motors of the upper and lower linear slides 310 are set close to the joint motor A200 to ensure that the overall center of gravity is close to the middle of the structure, which is conducive to improving the overall stability.

[0019] The articulated motor A400 has an upper connecting plate 410 and a lower connecting plate 420. When the articulated motor A400 is working, it can drive the upper connecting plate 410 and the lower connecting plate 420 to rotate relative to each other in the vertical plane. The upper linear slide 310 is fixedly connected to the upper connecting plate 410, and the lower linear slide 310 is fixedly connected to the lower connecting plate 420. By rotating, the linear slide 310 can be deflected to adapt to the deflection of the main material and avoid interference with the main material during movement.

[0020] The upper connecting plate 410 and the lower connecting plate 420 are connected to the corresponding linear slide 310 via an adapter plate 330. The adapter plate 330 is L-shaped, and the back beam 110 is fixed on the upper adapter plate 330. It should be noted that the back beam 110 and the adapter plate 330 are connected by bolts in a detachable manner, which facilitates the replacement of back beams 110 of different sizes to ensure that their size is basically consistent with the auxiliary materials, which is convenient for the sub-robot to grip.

[0021] The robot 200 in this application has seven motion joints, including joint motors B210, C220, D230, E240, F250, G260, and H270, as shown in the figure. Joint motor B210 is an intermediate joint, and its two adapters are respectively connected to robotic arm link A211 and robotic arm link B212. Joint motors C220, D230, and E240 are driven by robotic arm link A211, while joint motors F250, G260, and H270 are driven by robotic arm link B212.

[0022] The distal ends of robotic arm links A211 and B212 are connected to adapters for joint motors C220 and F250, respectively. The driving surfaces of joint motors C220 and F250 are parallel to the driving surface of joint motor B210, the driving surfaces of joint motors C220 and D230 are perpendicular, the driving surfaces of joint motors D230 and E240 are perpendicular, the driving surfaces of joint motors F250 and G260 are perpendicular, and the driving surfaces of joint motors G260 and H270 are perpendicular. In this application, the joint motors are preferably of model CRA-RI60-70.

[0023] Joint motors E240 and H270 are end joints, both connected to actuator links 280. The ends of both actuator links 280 are connected to auxiliary material grippers 500, and at least one of the actuator links 280 is equipped with a work order execution module.

[0024] The main material gripper 320 and the auxiliary material gripper 500 in this application have similar general structures, mainly including a gripping plate 520 and a screw motor 530 mounted on the gripping plate, as shown in the figure. The gripping plate is L-shaped at a right angle. The screw motor is mounted on the back side of the gripping plate, and a sliding plate 531 is provided on its screw. There is an optical shaft 560 between the screw motor 530 and the gripping plate. The optical shaft 560 and the sliding plate 531 are in sliding engagement. The side edge of the gripping plate has at least two opposing end claws 540. The end claws are rotatably mounted on the gripping plate and connected to the sliding plate through a joint shaft connecting rod 550. The two ends of the joint shaft connecting rod are rotatably connected to the end claws and the sliding plate, respectively. In this way, when the screw motor works and drives the sliding plate to move linearly, the end claws can be rotated through the joint shaft connecting rod, so that the two opposing end claws can close or open.

[0025] The auxiliary material gripper 500 has an electromagnetic lock structure, and the end of the actuator connecting rod 280 is connected to an electromagnet adapter 510. The inner side of the gripper plate of the auxiliary material gripper 500 has an electromagnet connected to the electromagnet adapter 510.

[0026] In addition, the clamping surfaces (i.e. the inner side of the gripping plate) of the main material gripper 320 and the auxiliary material gripper 500 are provided with anti-slip strips 521, which are generally anti-slip rubber strips.

[0027] The robot in this application is mainly used for the operation and maintenance of iron towers, specifically for surface anti-corrosion operations. The work order execution module includes a vision recognition unit and an action completion unit (not shown in the figure). The action completion unit is mainly a laser rust removal device, and an anti-corrosion paint spraying device can also be added as needed. Its working principle is similar to the patent with publication number "CN114012510B" entitled "Fully Automated Production Line for Thermal Spray Aluminum Anti-corrosion Treatment Based on Robot and Vision Recognition". The difference is that this application miniaturizes it and mounts it on a sub-robot. In specific implementation, it is directly installed on one or two auxiliary material grippers 500, which can better approach the position of the auxiliary material and follow its movement, thereby realizing the surface anti-corrosion treatment of the main material or auxiliary material.

[0028] In practice, the power supply and control center of the mother robot 100 and the daughter robot can be placed independently on the ground and connected to the joint motors or other actuators of the corresponding robot through wire coils, which can appropriately extend their battery life. Of course, they can also be directly installed on the corresponding robot and carried by themselves, which is relatively more convenient.

[0029] Finally, it should be noted that the above description is merely a preferred embodiment of the present utility model. Those skilled in the art, under the guidance of the present utility model, can make various similar representations without departing from the spirit and claims of the present utility model, and such modifications all fall within the protection scope of the present utility model.

Claims

1. A robot assembly for the operation and maintenance of transmission towers, characterized in that: It includes a mother robot (100) for climbing main materials and a sub-robot (200) for walking on auxiliary materials and executing work orders. The mother robot (100) includes two climbing modules (300) at the top and bottom, which are connected together by a joint motor A (400). The upper climbing module (300) has a back beam (110). The sub-robot (200) has an auxiliary material gripper (500) and a work order execution module. The auxiliary material gripper (500) is adapted to the back beam (110). The sub-robot (200) can be clamped and fixed on the back beam (110) by the auxiliary material gripper (500).

2. The robot assembly for transmission tower operation and maintenance according to claim 1, characterized in that: The climbing module (300) includes a linear slide (310), the linear slide (310) having a slider (311), and the slider (311) having a main material gripper (320). The joint motor A (400) has an upper connecting plate (410) and a lower connecting plate (420). When the joint motor A (400) is working, it can drive the upper connecting plate (410) and the lower connecting plate (420) to rotate relative to each other on the vertical plane. The upper linear slide (310) is fixedly connected to the upper connecting plate (410), and the lower linear slide (310) is fixedly connected to the lower connecting plate (420).

3. The robot assembly for transmission tower operation and maintenance according to claim 2, characterized in that: The upper connecting plate (410) and the lower connecting plate (420) are connected to the corresponding linear slide (310) through a transition plate (330), and the back beam (110) is fixed on the upper transition plate (330).

4. The robot assembly for transmission tower operation and maintenance according to claim 1, characterized in that: The sub-robot (200) has seven joints, including joint motors B (210), C (220), D (230), E (240), F (250), G (260), and H (270). The two adapters of joint motor B (210) are respectively connected to robotic arm link A (211) and robotic arm link B (212). The far ends of robotic arm link A (211) and robotic arm link B (212) are respectively connected to the adapters of joint motor C (220) and joint motor F (250). The joint motors E (240) and H (270) are end joints, both connected to actuator links (280). The ends of the two actuator links (280) are connected to the auxiliary material grippers (500), and at least one of the actuator links (280) is equipped with a work order execution module.

5. The robot assembly for transmission tower operation and maintenance according to claim 1 or 4, characterized in that: The auxiliary material gripper (500) has an electromagnetic lock structure.

6. The robot assembly for transmission tower operation and maintenance according to claim 2 or 3, characterized in that: The clamping surfaces of the main material clamp (320) and the auxiliary material clamp (500) are all provided with anti-slip strips.

7. The robot assembly for transmission tower operation and maintenance according to any one of claims 1 to 4, characterized in that: The work order execution module includes a visual recognition unit and an action completion unit.

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