CN109334803A - Electric power tower climbing inspection robot - Google Patents
Electric power tower climbing inspection robot Download PDFInfo
- Publication number
- CN109334803A CN109334803A CN201811257977.6A CN201811257977A CN109334803A CN 109334803 A CN109334803 A CN 109334803A CN 201811257977 A CN201811257977 A CN 201811257977A CN 109334803 A CN109334803 A CN 109334803A
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- Prior art keywords
- connecting rod
- motor
- electric power
- hinged
- power tower
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
本发明公开了一种电力铁塔攀爬巡检机器人，包括身板、以及分别铰接于身板对称两侧的一对攀爬足部，攀爬足部包括安装杆及连接杆组，连接杆组的一端铰接在身板上，安装杆的一端铰接在连接杆组的另一端，安装杆的另一端装设有吸盘式电磁铁，连接杆组两端的转动轴相互垂直，身板上装设有用于驱动连接杆组转动的第一电机，连接杆组上装设有用于驱动安装杆转动的第二电机，身板上装设有巡检机构。该电力铁塔攀爬巡检机器人具有能够在电力铁塔上攀爬行走及实时监测、且攀爬速度快及越障能力强等优点。
The invention discloses an electric power tower climbing inspection robot, comprising a body and a pair of climbing feet hinged on symmetrical two sides of the body respectively. The climbing feet include a mounting rod and a connecting rod group, one end of the connecting rod group is Hinged on the body plate, one end of the installation rod is hinged to the other end of the connecting rod group, the other end of the installation rod is equipped with a suction cup electromagnet, the rotating shafts at both ends of the connecting rod group are perpendicular to each other, and the body plate is equipped with a drive for the connecting rod group. The rotating first motor, the connecting rod group is equipped with a second motor for driving the rotation of the installation rod, and the inspection mechanism is installed on the body. The electric power tower climbing inspection robot has the advantages of being able to climb and crawl on the electric power tower and monitoring in real time, and has the advantages of fast climbing speed and strong obstacle crossing ability.
Description
Technical field
The present invention relates to robotic technology fields more particularly to electric power tower to climb crusing robot.
Background technique
Currently, the application range of robot constantly expands, played inside the fields such as military affairs, manufacture, aerospace more
Carry out more important role.To power grid electrical stability, more stringent requirements are proposed for the fast development of modern industry and information industry,
And important component of the electric power tower as transmission line of electricity, it is related to the safety and stability fortune of transmission line of electricity or even entire power grid
Row, it is therefore desirable to periodically electric power tower be detected and be safeguarded.Such service work labor intensity, risk are high.If energy
It enough replaces manually carrying out these high altitude operation using robot, it will substantially reduce risk, improve operating efficiency.This requires machines
Device people has the ability that inspection can be climbed on electric power tower.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the deficiencies in the prior art, and providing one kind can climb on electric power tower
It creeps away and real-time monitoring and climbing speed is fast and obstacle climbing ability is strong electric power tower climbing crusing robot.
In order to solve the above technical problems, the invention adopts the following technical scheme:
A kind of electric power tower climbs crusing robot, including body and is hingedly connected to a pair of the symmetrical two sides of the body
Foot is climbed, the climbing foot includes mounting rod and connecting rod group, and one end of the connecting rod group is hinged on the body,
One end of the mounting rod is hinged on the other end of the connecting rod group, and the other end of the mounting rod is installed with sucked type electromagnetism
The rotation axis of iron, connecting rod group both ends is mutually perpendicular to, and is installed on the body for driving the connecting rod group to rotate
First motor, the second motor for driving the mounting rod rotation is installed in the connecting rod group, is filled on the body
Equipped with inspection mechanism.
As a further improvement of the above technical scheme:
The symmetrical two sides of body are respectively equipped with the first hinged seat, and two first hinged seats are symmetrical arranged, each described to climb
The connecting rod group for climbing foot is articulated with first hinged seat, and the first motor is installed on first hinged seat.
One end that the connecting rod group is connected to the mounting rod is equipped with the second hinged seat, and the mounting rod is articulated with described
Second hinged seat, second motor are installed on second hinged seat.
The connecting rod group includes first connecting rod and the second connecting rod, and one end of the first connecting rod is hinged on described
On first hinged seat, one end of second connecting rod is hinged on the other end of the first connecting rod, and the mounting rod is hinged
The for driving second connecting rod rotation is installed on the other end of second connecting rod, the first connecting rod
Three motors.
The inspection mechanism includes camera, the 4th motor for driving camera rotation and can be perpendicular to
The elevating mechanism of the body lifting, the elevating mechanism are installed on the body, and the 4th motor is installed in the liter
The one end of descending mechanism far from the body, the camera are installed on the 4th motor.
The elevating mechanism includes support platform, scissors lift device, lifting drive and pedestal, and the lifting is driven
Dynamic device is packed on the pedestal, and the side that scissors lift device one end moves synchronously is articulated with the pedestal,
The other side is movably installed on the lifting drive, the side that the scissors lift device other end moves synchronously
It is hinged in the support platform, the other side is slidably installed in the support platform, and the 4th motor is installed in support platform
On, the pedestal is installed on the body.
The scissors lift device includes a pair of symmetrically arranged X-type lifting arm, each activity on an X-type lifting arm
Connecting column is respectively connected between the flexible connection claimed corresponding thereto on junction and another X-type lifting arm.
The lifting drive include screw rod, the driving motor for driving the screw rod rotation and with the silk
The nut that bar is threadedly coupled, the screw both end are connected with bearing block, and the bearing block is packed on the pedestal, described
Nut is installed in the scissors lift device and moves on the connecting column of side, and the driving motor is installed on the pedestal.
The pedestal is equipped with support, and the driving motor is mounted on the support, and one end of the screw rod is connected to
The driving motor.
Base station is installed in the support platform, the 4th motor is installed on the base station.
Compared with the prior art, the advantages of the present invention are as follows:
Electric power tower climbing crusing robot of the present invention includes body and a pair of of the climbing for being hingedly connected to the symmetrical two sides of body
Foot, climbing foot includes mounting rod and connecting rod group, and one end of connecting rod group is hinged on body, and one end of mounting rod is hinged
In the other end of connecting rod group, the other end of mounting rod is installed with sucked type electromagnet, and the rotation axis at connecting rod group both ends is mutual
Vertically, it is installed with the first motor for the rotation of drive connection bar group on body, is installed in connecting rod group for driving installation
Second motor of bar rotation, is installed with inspection mechanism on body.The climbing foot of the robot uses connecting rod group and mounting rod
Hinged in series mode, walking can be independently climbed on electric power tower, having can be mobile with omnidirection, and climbing speed is fast, more
The advantages that barrier ability is strong, wide adaptation range can replace the artificial high altitude operation for carrying out danger, reduce risk, improve work effect
Rate and economic benefit.During climbing walking on electric power tower, electric power tower is carried out by its inspection mechanism real-time
Inspection simultaneously feeds back unusual condition.
Detailed description of the invention
Fig. 1 is the first view stereo structural schematic diagram of electric power tower climbing crusing robot of the present invention.
Fig. 2 is the second view stereo structural schematic diagram of electric power tower climbing crusing robot of the present invention.
Fig. 3 is the structural schematic diagram that foot is climbed in electric power tower climbing crusing robot of the present invention.
Fig. 4 is the structural schematic diagram of inspection mechanism in electric power tower climbing crusing robot of the present invention.
Fig. 5 is the structural schematic diagram of electric power tower climbing crusing robot upright state of the present invention.
Fig. 6 is the structural schematic diagram of electric power tower climbing crusing robot climbing state of the present invention.
Each label indicates in figure:
1, body；11, the first hinged seat；2, foot is climbed；21, mounting rod；22, connecting rod group；221, first connecting rod；222,
Second connecting rod；223, the second hinged seat；23, sucked type electromagnet；24, first motor；25, the second motor；26, third electricity
Machine；3, inspection mechanism；31, camera；32, the 4th motor；33, elevating mechanism；331, support platform；332, scissors lift fills
It sets；333, lifting drive；3331, screw rod；3332, driving motor；3333, nut；3334, bearing block；334, pedestal；
3341, support；335, connecting column；34, base station.
Specific embodiment
The present invention is described in further details below with reference to Figure of description and specific embodiment.
Fig. 1 to Fig. 6 shows the electric power tower climbing crusing robot of the present embodiment, including body 1 and is respectively articulated with
A pair of of climbing foot 2 in the symmetrical two sides of body 1, climbing foot 2 include mounting rod 21 and connecting rod group 22, connecting rod group 22
One end is hinged on body 1, and one end of mounting rod 21 is hinged on the other end of connecting rod group 22, the other end installing of mounting rod 21
There is sucked type electromagnet 23, the rotation axis at 22 both ends of connecting rod group is mutually perpendicular to, is installed on body 1 for drive connection bar group
The first motors 24 of 22 rotations, are installed with the second motor 25 for driving mounting rod 21 to rotate in connecting rod group 22, on body 1
It is installed with inspection mechanism 3.In the structure, electric power tower climbing crusing robot includes body 1, a pair of of climbing foot 2 and patrols
Mechanism 3 is examined, a pair of climbing foot 2 is hingedly connected to symmetrical two sides on body 1, and inspection mechanism 3 is arranged on body 1, climbing foot
Portion 2 includes mounting rod 21 and connecting rod group 22, and connecting rod group 22 is a connecting rod or at least two connecting rods concatenate to be formed, climbing
When, the climbing foot 2 of 1 side of body makes the sucked type electromagnet 23 suction be attached to electric power by powering off its sucked type electromagnet 23
On steel tower；The climbing foot 2 of 1 other side of body drives its connecting rod group 22 by starting its first motor 24, with its connecting rod
The hinged place of group 22 and body 1 is that shaft turns an angle to electric power tower top, then starts the second motor 25, the second electricity
Machine 25 drives mounting rod 21, and mounting rod 21 is turned an angle using the hinged place of itself and connecting rod group 22 as shaft, until installation
Sucked type electromagnet 23 on bar 21 contacts electric power tower, and powering off the sucked type electromagnet 23 makes its suction be affixed on electric power tower, presses
Foot 2 is climbed alternately to climbing above electric power tower in this principle, 1 two sides of body.Electric power tower climbing crusing robot has
Walking ability is climbed, and can climb and walk towards any direction on electric power tower, and have extremely strong obstacle climbing ability,
Main climbing mode of the robot when carrying out straight line climbing on electric power tower is: two climbing foots 2 of robot first
In sustained height, subsequent two climbings, 2 alternating movement of foot makes robot climb (as shown in Figure 6) with staggered form gait, at this
When robot encounters barrier, robot can easily be cleared the jumps by its flexible climbing foot 2；The machine
For people when climbing walking on this space steel truss structure of electric power tower, which has a variety of neatly climbing walking sides
Formula more can easily deal with vertical in the steel truss structure of space or the angle steel face of a variety of spatial relationships such as parallel
Walk problem is climbed, and has obstacle climbing ability well；The robot passes through it during climbing walking on electric power tower
Inspection mechanism 3 carries out real-time inspection to electric power tower and feeds back unusual condition.
In the present embodiment, the symmetrical two sides of body 1 are respectively equipped with the first hinged seat 11, and two the first hinged seats 11 are symmetrically set
It sets, the connecting rod group 22 of each climbing foot 2 is articulated with one first hinged seat 11, and first motor 24 is installed in the first hinged seat 11
On.In the structure, two climbing foots 2 are mounted on body 1 by symmetrically arranged two the first hinged seats 11, make electric power tower
It climbs crusing robot body 1 in climbing walking process and keeps balance and stability.
In the present embodiment, one end that connecting rod group 22 is connected to mounting rod 21 is equipped with the second hinged seat 223, and mounting rod 21 is cut with scissors
It is connected to the second hinged seat 223, the second motor 25 is installed on the second hinged seat 223.In the structure, mounting rod 21 is articulated with installation
Second hinged seat 223 of bar 21, the second motor 25 are installed on the second hinged seat 223 and are placed in the second hinged seat 223, make it
Compact-sized, space is big, and flexibility is high.
In the present embodiment, connecting rod group 22 includes first connecting rod 221 and the second connecting rod 222, first connecting rod 221
One end is hinged on the first hinged seat 11, and one end of the second connecting rod 222 is hinged on the other end of first connecting rod 221, installation
Bar 21 is hinged on the other end of the second connecting rod 222, is installed on first connecting rod 221 for driving 222 turns of the second connecting rod
Dynamic third motor 26.In the structure, connecting rod group 22 includes first connecting rod 221 and the second connecting rod 222, first connecting rod
221 in being equipped with third hinged seat far from the other end on the first hinged seat 11, and one end of the second connecting rod 222 is hinged on the first company
The third hinged seat of extension bar 221, third motor 26 are installed on third hinged seat and are placed in third hinged seat, the second connecting rod
222 two articulated shafts connect with first connecting rod 221 be connected to mounting rod 21 articulated shaft it is vertical, climbing foot 2 pass through
The mode of 21 hinged in series of first connecting rod 221, the second connecting rod 222 and mounting rod, so that electric power tower climbs inspection machine
People's forms of motion diversification, flexibility greatly increase, and can cross or avoid easily the obstacle encountered during climbing.
In the present embodiment, inspection mechanism 3 include camera 31, for drive camera 31 rotate the 4th motor 32, with
And the elevating mechanism 33 that can be gone up and down perpendicular to body 1, elevating mechanism 33 are installed on body 1, the 4th motor 32 is installed in lifting
The one end of mechanism 33 far from body 1, camera 31 are installed on the 4th motor 32.In the structure, camera 31 passes through shaft coupling
It is installed in the output shaft of the 4th motor 32, camera 31 may be located remotely from electric power tower or close electric power tower by elevating mechanism 33
Mobile, camera 31 can do 360 degree of rotary motion by the 4th motor 32, so that 31 routing inspection view range of camera increases
Greatly.
In the present embodiment, elevating mechanism 33 includes support platform 331, scissors lift device 332, lifting drive
333 and pedestal 334, lifting drive 333 be packed on pedestal 334,332 one end of scissors lift device move synchronously one
Side is articulated with pedestal 334, and the other side is movably installed on lifting drive 333, and scissors lift device 332 is another
The side moved synchronously is held to be hinged in support platform 331, the other side is slidably installed in support platform 331, the 4th motor 32 dress
It is located in support platform 331, pedestal 334 is installed on body 1.In the structure, sliding slot, scissors are offered in support platform 331
The sliding sideslip that formula lifting device 332 is connected to 331 end of support platform is placed on sliding slot, is cut by the driving of lifting drive 333
The stretching, extension of blade lifting device 332 is shunk, to realize the elevating movement of elevating mechanism 33, scissors lift device 332 has
There is many advantages, such as stability is high, noise is small, stroke is big and installation space is small, camera 31 is mounted on by scissors lift device
In the support platform 331 of 332 supports, so that 31 stability of camera is high, routing inspection view range is bigger, can be reliably to electric power
Steel tower carries out inspection.
In the present embodiment, scissors lift device 332 includes a pair of symmetrically arranged X-type lifting arm, on an X-type lifting arm
Connecting column 335 is respectively connected between the flexible connection claimed corresponding thereto on each active connection place and another X-type lifting arm.The knot
In structure, symmetrically arranged X-type lifting arm connects into an entirety by connecting column 335, forms it into synchronous extension or contraction, adds
Strong stability of the scissors lift device 332 in lifting process, and 332 bearing capacity of scissors lift device is increased again,
The lifting effect of scissors lift device 332 is nor affected on simultaneously.
In the present embodiment, lifting drive 333 includes screw rod 3331, the driving motor for driving 3331 rotation of screw rod
3332 and the nut 3333 that is threadedly coupled with screw rod 3331,3331 both ends of screw rod are connected with bearing block 3334, bearing block
3334 are packed on pedestal 334, and nut 3333 is installed in scissors lift device 332 and moves on the connecting column 335 of side, driving
Motor 3332 is installed on pedestal 334.In the structure, lifting drive 333 includes screw rod 3331, driving motor 3332 and spiral shell
Mother 3333, for driving 3331 rotation of screw rod, nut 3333 is threadedly coupled driving motor 3332 with screw rod 3331, and nut 3333 fills
Scissors lift device 332 is located on the connecting column 335 that 1 one end of body moves side, screw rod 3331 is perpendicular to the connection
Column 335, driving motor 3332 drive screw rod 3331 to rotate, and driving screw rod 3331 pushes nut 3333 mobile, and nut 3333 drives
332 elevating movement of scissors lift device, the lifting drive 333 of scissors lift device 332 with this configuration, which drives, to be risen
Drop, heave amplitude is fine-tuning whole, and goes up and down steady.
In the present embodiment, pedestal 334 is equipped with support 3341, and driving motor 3332 is mounted on support 3341, screw rod
3331 one end is connected to driving motor 3332.In the structure, camera 31 is raised by support 3341, further increases camera shooting
First 31 inspection range.
In the present embodiment, base station 34 is installed in support platform 331, the 4th motor 32 is installed on base station 34.The structure
In, the 4th motor 32 is mounted in support platform 331 by base station 34, and the 4th motor 32 is facilitated to install.
Although the present invention is disclosed as above with preferred embodiment, however, it is not intended to limit the invention.It is any to be familiar with ability
The technical staff in domain, without deviating from the scope of the technical scheme of the present invention, all using the technology contents pair of the disclosure above
Technical solution of the present invention makes many possible changes and modifications or equivalent example modified to equivalent change.Therefore, all
Without departing from the content of technical solution of the present invention, according to the present invention technical spirit any simple modification made to the above embodiment,
Equivalent variations and modification, all shall fall within the protection scope of the technical scheme of the invention.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811257977.6A CN109334803A (en) | 2018-10-26 | 2018-10-26 | Electric power tower climbing inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811257977.6A CN109334803A (en) | 2018-10-26 | 2018-10-26 | Electric power tower climbing inspection robot |
Publications (1)
| Publication Number | Publication Date |
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| CN109334803A true CN109334803A (en) | 2019-02-15 |
Family
ID=65312051
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811257977.6A Pending CN109334803A (en) | 2018-10-26 | 2018-10-26 | Electric power tower climbing inspection robot |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110665139A (en) * | 2019-09-05 | 2020-01-10 | 全球能源互联网研究院有限公司 | A kind of installation robot and installation method of tower anti-fall equipment |
| CN110723230A (en) * | 2019-10-23 | 2020-01-24 | 长沙理工大学 | Multi-section adsorption type inspection robot and application method thereof |
| CN110758586A (en) * | 2019-11-18 | 2020-02-07 | 施越 | A flip-up wall crawling device |
| CN110860544A (en) * | 2019-11-22 | 2020-03-06 | 深圳怪虫机器人有限公司 | Bridge type continuity of operation's photovoltaic cleaning machines people is crossed to biped |
| CN110864214A (en) * | 2019-12-17 | 2020-03-06 | 内蒙古工业大学 | Wind turbine blade crack image acquisition device |
| CN111017061A (en) * | 2019-12-19 | 2020-04-17 | 全球能源互联网研究院有限公司 | Transmission tower climbing robot, system and method |
| CN111232078A (en) * | 2020-02-13 | 2020-06-05 | 山东科技大学 | Adsorption type obstacle-crossing pole-climbing bionic robot |
| CN111591933A (en) * | 2020-06-12 | 2020-08-28 | 国网湖南省电力有限公司 | Robot and method for climbing tower along transmission line anti-fall track |
| CN114790965A (en) * | 2022-05-16 | 2022-07-26 | 中广核全椒风力发电有限公司 | Construction equipment and construction method for wind power tower |
| CN116006820A (en) * | 2022-12-13 | 2023-04-25 | 苏州热工研究院有限公司 | A magnetic crawler for steam generator video inspection |
| CN118597291A (en) * | 2024-08-07 | 2024-09-06 | 湖南科技大学 | A robot for detecting the axial force of prestressed bolts of onshore wind turbine towers |
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| CN110665139A (en) * | 2019-09-05 | 2020-01-10 | 全球能源互联网研究院有限公司 | A kind of installation robot and installation method of tower anti-fall equipment |
| CN110665139B (en) * | 2019-09-05 | 2021-11-09 | 全球能源互联网研究院有限公司 | Robot and method for installing anti-falling equipment on tower |
| CN110723230A (en) * | 2019-10-23 | 2020-01-24 | 长沙理工大学 | Multi-section adsorption type inspection robot and application method thereof |
| CN110758586A (en) * | 2019-11-18 | 2020-02-07 | 施越 | A flip-up wall crawling device |
| CN110860544A (en) * | 2019-11-22 | 2020-03-06 | 深圳怪虫机器人有限公司 | Bridge type continuity of operation's photovoltaic cleaning machines people is crossed to biped |
| CN110864214A (en) * | 2019-12-17 | 2020-03-06 | 内蒙古工业大学 | Wind turbine blade crack image acquisition device |
| CN111017061B (en) * | 2019-12-19 | 2020-12-18 | 国网智能科技股份有限公司 | A transmission pole tower climbing robot, system and method |
| CN111017061A (en) * | 2019-12-19 | 2020-04-17 | 全球能源互联网研究院有限公司 | Transmission tower climbing robot, system and method |
| CN111232078A (en) * | 2020-02-13 | 2020-06-05 | 山东科技大学 | Adsorption type obstacle-crossing pole-climbing bionic robot |
| CN111232078B (en) * | 2020-02-13 | 2021-06-22 | 山东科技大学 | An adsorption-type bionic robot that can climb over obstacles |
| CN111591933A (en) * | 2020-06-12 | 2020-08-28 | 国网湖南省电力有限公司 | Robot and method for climbing tower along transmission line anti-fall track |
| CN111591933B (en) * | 2020-06-12 | 2023-09-22 | 国网湖南省电力有限公司 | Tower climbing robot and method for transmission line along anti-fall track |
| CN114790965A (en) * | 2022-05-16 | 2022-07-26 | 中广核全椒风力发电有限公司 | Construction equipment and construction method for wind power tower |
| CN114790965B (en) * | 2022-05-16 | 2025-07-04 | 中广核全椒风力发电有限公司 | Wind power tower construction equipment and construction method |
| CN116006820A (en) * | 2022-12-13 | 2023-04-25 | 苏州热工研究院有限公司 | A magnetic crawler for steam generator video inspection |
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Application publication date: 20190215 |
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