CN111017061A - Transmission tower climbing robot, system and method - Google Patents
Transmission tower climbing robot, system and method Download PDFInfo
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- CN111017061A CN111017061A CN201911319439.XA CN201911319439A CN111017061A CN 111017061 A CN111017061 A CN 111017061A CN 201911319439 A CN201911319439 A CN 201911319439A CN 111017061 A CN111017061 A CN 111017061A
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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
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Abstract
The utility model provides a climbing robot, a climbing system and a climbing method for a transmission tower, which comprises a frame body, wherein two sides of the frame body are respectively and symmetrically provided with a mechanical arm, and the end part of the mechanical arm and the lower end of the frame body are respectively provided with a paw; mechanical arm includes two at least rotatable coupling's big arm and forearm, big arm rotatable coupling framework, forearm rotatable coupling the hand claw, the hand claw includes two hand claw portions of angularly adjustable, and every hand claw portion is provided with the electro-magnet, and through the circular telegram condition that changes the electro-magnet, changes the magnetic adsorption power of hand claw, through the magnetic adsorption power of control hand claw, rotation between cooperation mechanical arm and the framework, rotation between big arm and the forearm, rotation between forearm and the hand claw to and the change of hand claw portion angle, realize climbing robot's position appearance and motion control arrive appointed target point.
Description
Technical Field
The disclosure belongs to the technical field of power transmission tower inspection robots, and particularly relates to a climbing robot, system and method for a power transmission tower.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The application of electricity brings great convenience to the life of people, high-voltage transmission towers are spread all over the places, the inspection of high-voltage wires and the inspection of the high-voltage transmission towers at the present stage are both manual, and are difficult and dangerous, and the development of the robot with the function of climbing the high-voltage transmission towers has very important significance for electric power inspection work. The design of high voltage transmission tower robots faces the following problems: firstly, high-voltage transmission tower body adsorbable face is narrow, secondly high-voltage transmission tower body has crossbeam and bolt protrusion etc. and the third is that target point is changeable, needs climb high-voltage transmission tower robot and have the function that turns to, and the fourth is that climb high-voltage transmission tower robot and need have load capacity, can carry detection instrument or other robots and arrive target point, knows according to the inventor, and present climbing robot can not satisfy above-mentioned requirement simultaneously.
Disclosure of Invention
The disclosure provides a transmission tower climbing robot, a transmission tower climbing system and a transmission tower climbing method for solving the problems, can meet the requirement of automatically climbing a high-voltage transmission tower body, is flexible in steering, and is suitable for inspection tasks with changeable target points.
According to some embodiments, the following technical scheme is adopted in the disclosure:
the first purpose of the disclosure is to provide a transmission tower climbing robot, which comprises a frame body, wherein two sides of the frame body are respectively and symmetrically provided with a mechanical arm, and the end part of the mechanical arm and the lower end of the frame body are respectively provided with a paw;
the mechanical arm comprises at least two large arms and small arms which are rotatably connected, the large arms are rotatably connected with the frame body, the small arms are rotatably connected with the claws, the claws comprise two claw parts with adjustable angles, each claw part is provided with an electromagnet, and the large arms are provided with first driving parts so as to drive the large arms to move relative to the frame body; the small arm is provided with a second driving part to drive the small arm to move relative to the large arm; the paw is provided with a third driving part to drive the angle change of the paw; through the work of controlling each driver part, change the gesture of framework both sides robotic arm, combine the on-off control of electro-magnet, realize automatic climbing.
The power-on condition of the electromagnet is changed, the magnetic adsorption force of the paw is controlled, rotation between the mechanical arm and the frame body, rotation between the large arm and the small arm, rotation between the small arm and the paw and angle change of the paw part are matched, and therefore pose and motion control of the climbing robot is achieved, and the climbing robot reaches an appointed target point.
The technical scheme aims at the characteristic that the upper tower body of the transmission tower has a metal surface and angle steel, an effective adsorption point/surface is formed by utilizing the limited space of the transmission tower body, the main body (frame body) and the paws are ensured to be provided with the paws capable of generating adsorption, the adsorption stability of the whole robot can be ensured only by one paw and the frame body ensuring adsorption when a target point is changed or the transmission tower body has a cross beam and a bolt which are protruded, and the other mechanism can be operated by utilizing rotation fit to change the position and the pose of the robot, so that the robot can be ensured to flexibly rotate and cross obstacles; meanwhile, the frame body has a certain bearing space, and can carry maintenance tools and the like.
As a further embodiment, the extending direction of the mechanical arm is taken as an axis Y, the normal direction of the climbing surface is taken as an axis X, the axis Z is perpendicular to the axis Y and the axis X, the mechanical arm is connected with the frame body through an axis Z rotating pair, the paw is connected with the mechanical arm through an axis Z rotating pair, and the large arm is connected with the small arm through an axis X rotating pair.
Through the ingenious setting of revolute pair direction, guaranteed that the rotation between each mechanism is mutually supported, form effectual climbing face along transmission tower's extending direction.
As an alternative embodiment, the frame body comprises an upper base plate and a lower base plate, the end parts of the upper base plate and the lower base plate are respectively connected through a support beam, the outer sides of the support beams are respectively provided with a rotating shaft, the rotating shafts are parallel to the support beams, the end parts of the rotating shafts are respectively connected onto the upper base plate and the lower base plate through bearings, and the lower end of the lower base plate is provided with a paw.
As an alternative embodiment, the large arm comprises a rotary joint connecting block and an elbow joint, one side of the rotary joint connecting block is provided with a shoulder joint, the shoulder joint is connected to the frame body through a Z-axis rotary pair, the other side of the rotary joint connecting block is provided with a large arm main connecting rod and an auxiliary connecting rod, the other ends of the large arm main connecting rod and the auxiliary connecting rod are connected to the elbow joint, the shoulder joint, the elbow joint, the large arm main connecting rod and the auxiliary connecting rod form a parallelogram structure, a push rod is fixed to a rotary shaft in the shoulder joint, the upper end of the push rod is rotatably connected to the large arm main connecting rod through a push rod support, the large arm main connecting rod, the push rod support and the rotary joint connecting block form a.
As an alternative embodiment, the small arm comprises a wrist joint, a small arm auxiliary connecting rod and a small arm main connecting rod, the small arm auxiliary connecting rod and the small arm main connecting rod are connected with the wrist joint and an elbow joint of the large arm, and the wrist joint, the elbow joint, the small arm auxiliary connecting rod and the small arm main connecting rod form a parallelogram structure; be provided with the forearm push rod on the forearm owner connecting rod, the one end of forearm push rod is passed through the support and is fixed on the forearm owner connecting rod, the other end pass through the fixed block set up in on the elbow joint.
As an alternative embodiment, the wrist joint comprises a wrist joint fixing bottom plate, the wrist joint fixing bottom plate is connected with a paw connecting plate through a rotating shaft, the upper end of the rotating shaft is connected with a fixing support through a bearing, and a second driving part for driving the rotating shaft to rotate is arranged on the fixing support.
As an optional implementation scheme, the grippers are of the same structure and comprise fixed base plates, the fixed base plates are connected with gripper connecting plates, screw rods and screw rod slide rails are arranged on the fixed base plates, slide blocks are movably connected onto the screw rod slide rails, fixed blocks are arranged on the slide blocks, electromagnets are arranged at the lower ends of the fixed blocks, two oppositely-arranged edge side plates are arranged on one side of each fixed block, the edge side plates are connected through rotating shafts, a certain angle is formed between the lower ends of the two edge side plates, the angle is variable along with the rotation of the edge side plates, and the rotation of the edge side plates is driven through a third driving part.
As an alternative embodiment, each of the driving members is a motor.
A second object of the present disclosure is to provide a transmission tower climbing robot system, which includes a plurality of the above robots and a control center, a controller is disposed in the frame, the controller is configured to control the pose and the motion of the corresponding robot, and the control center is in communication with the controller.
The third objective of the present disclosure is to provide a working method of a robot, wherein each gripper of the robot is attached to a metal surface of a tower body of a high voltage power transmission tower, when the robot is required to change a target point or change a pose, a gripper electromagnet of a corresponding mechanical arm is energized, the electromagnet loses magnetism, the corresponding mechanical arm is controlled to perform lifting, turning, rotating and/or dropping actions, the corresponding gripper is extended forward and lowered to be attached to the surface of the tower body of the high voltage power transmission tower, the pose of the gripper is adjusted, the position of the electromagnet is opposite to the angle steel surface of the tower body of the high voltage power transmission tower, and the electromagnet recovers magnetism to tightly absorb the surface of the tower body of the high voltage power transmission tower, so as to complete crossing forward and turning motions.
In an alternative embodiment, when the angle steel is too wide, too narrow or deviated, the angle between the claw parts is adjusted, the distance between the claw part electromagnets is adjusted, the claw electromagnets are enabled to be attached to the surface of the angle steel of the high-voltage power transmission tower body, and then the electromagnets are recovered to be powered off.
Compared with the prior art, the beneficial effect of this disclosure is:
the climbing robot system for the transmission tower comprises at least two large arms and two small arms which are rotatably connected, wherein the large arms are rotatably connected with a frame body, and the small arms are rotatably connected with the paws; the hand claw comprises two hand claw parts with adjustable angles, each hand claw part is provided with an electromagnet, the power-on condition of each electromagnet is changed, the design scheme of the magnetic adsorption force of the hand claw is changed, the adaptability problems of climbing, obstacle crossing and steering of the complex pole tower environment are overcome, and the climbing operation of the robot along the main materials and the cross arms of the overhead line pole tower is realized.
The robot can solve the problems that the high-voltage transmission tower body is narrow in adsorbable surface, a cross beam and a bolt of the high-voltage transmission tower body protrude and the like, flexibly avoids obstacles by continuously adjusting the pose of the robot, and adsorbs at adsorbable points;
when the detected target points are variable, the high-voltage transmission tower climbing robot has a steering function, flexibly reaches a specified area, has load capacity, and can carry a detection tool or other robots to reach the target points.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.
Fig. 1 is a schematic overall structure diagram of the present embodiment.
Fig. 2 is a schematic diagram of the frame structure of the present embodiment.
FIG. 3 is a schematic view of the arm structure of the present embodiment.
Fig. 4 is a schematic structural view of the forearm and elbow joint of the present embodiment.
Fig. 5 is a schematic structural diagram of the robot wrist of the embodiment.
Fig. 6 is a schematic view of the structure of the gripper of this embodiment.
Fig. 7 is a schematic view of the electromagnet fixing block of the present embodiment.
The specific implementation mode is as follows:
the present disclosure is further described with reference to the following drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present disclosure, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only relational terms determined for convenience in describing structural relationships of the parts or elements of the present disclosure, and do not refer to any parts or elements of the present disclosure, and are not to be construed as limiting the present disclosure.
In the present disclosure, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present disclosure can be determined on a case-by-case basis by persons skilled in the relevant art or technicians, and are not to be construed as limitations of the present disclosure.
As shown in fig. 1, the robot capable of climbing the high-voltage transmission tower structurally comprises a frame body 1, an arm 2, an arm 4, a paw I3, a paw II5 and a paw III 6. The frame body 1 is positioned in the middle of the robot, two arms are distributed on two sides of the frame body, and the tail ends of the arms and the lower part of the frame body are respectively provided with a paw. The frame body 1 comprises a control cabin and an extended longitudinal axis structure, the arm comprises a big arm, a small arm, a shoulder joint, an elbow joint and a wrist, the big arm and the small arm are connected through a trapezoidal structure block, and each small arm comprises a parallelogram structure and a quadrilateral structure. The paw consists of a moving structure and an adsorption structure. The extending direction of the robot arm is used as an axis Y, the normal direction of the climbing surface is used as an axis Z, the axis X is perpendicular to the axis Y and the axis Z, the arm is connected with the frame body through an axis Z rotating pair, and the paw is connected with the arm through an axis Z rotating pair.
As shown in figure 2, the frame body 1 comprises a control cabin and an extended longitudinal shaft structure, the control cabin is formed by an upper base plate 1-1 and a lower base plate 1-2 which are supported and connected through two I-beams 1-3, the middle part is in a mouth shape, two side lugs respectively extend out of the two sides of the upper base plate and the lower base plate, holes are formed in the side lugs, the holes on the upper and lower side lugs are the same in size and coaxial, the extending longitudinal shaft structure comprises a shaft 1-4, a bearing 1-5 and a rotating support plate 1-6 which are connected with the upper and lower round holes on the two sides of the control cabin, a bending section is arranged at the extending end of the rotating support plate, round holes 1-6-2 are formed in the bending sections and used for connecting arms, the arms can rotate by taking shafts 1-4 of the outward extending longitudinal shaft structure as rotating shafts, the lower bottom plate 1-2 of the control bin is provided with positioning holes and bolt holes 1-2-1 and used for connecting paws III6, and the whole frame body 1 is of a symmetrical structure by taking an XZ plane in the middle.
As shown in figure 3, the arm 2 comprises a shoulder joint, a big arm, an elbow joint, a small arm and a wrist, the shoulder joint comprises a rotary joint connecting block 2-1 and a stepping motor rotating shaft 2-2, a bolt hole is arranged on the back surface of the rotary joint connecting block 2-1, the rotary joint connecting block 2-1 is fixed on a rotary supporting plate 1-6 through a bolt, two side surfaces of the rotary joint connecting block 2-1 are respectively provided with 3 unthreaded holes, and the stepping motor rotating shaft 2-2 is inserted into the upper holes on the two sides.
The big arm comprises a big arm main connecting rod 2-3, a big arm auxiliary connecting rod 2-4, a stepping motor I2-6, a push rod 2-7, a push rod bracket 2-8, a big arm and a shoulder joint, the elbow joint forms a parallelogram structure and a quadrilateral structure together, the lower end of a large arm main connecting rod 2-3 is fixed on a central hole of a rotary joint connecting block 2-1, the upper end of the large arm main connecting rod 2-3 is fixed on an upper hole of the oblique side of a trapezoidal fixed block 2-5 of the elbow joint, the lower end of a large arm auxiliary connecting rod 2-4 is fixed on a lower hole of the rotary joint connecting block 2-1, the upper end of a large arm auxiliary connecting rod 2-4 is fixed on a lower hole of the oblique side of the trapezoidal fixed block 2-5 of the elbow joint, and the large arm main connecting rod 2-3, the large arm auxiliary connecting rod 2-4, the trapezoidal fixed block 2-5 and the rotary joint connecting block 2-1 form the parallelogram structure; the lower end of the push rod 2-7 is fixed by a rotating shaft 2-2 in the shoulder joint, the upper end of the push rod 2-7 is fixed on the large arm main connecting rod 2-3 through a push rod support 2-8, and a quadrilateral structure is formed by the large arm main connecting rod 2-3, the push rod 2-7, the push rod support 2-8 and the rotary joint connecting block 2-1.
The elbow joint comprises 2-5 parts of a trapezoid fixing block and 2-9 parts of a small arm push rod fixing block, two holes are formed in each of two side edges of the trapezoid fixing block 2-5 and are respectively connected with 2-3 parts of a large arm main connecting rod, 2-4 parts of a large arm auxiliary connecting rod, 2-10 parts of a small arm main connecting rod and 2-11 parts of a small arm auxiliary connecting rod, and the small arm push rod fixing block 2-9 is fixed on the trapezoid fixing block 2-5.
The forearm comprises a forearm main connecting rod 2-10, a forearm auxiliary connecting rod 2-11, a stepping motor II2-12, a forearm push rod 2-13 and a forearm push rod support 2-14, the forearm, the shoulder wrist and the elbow joint form a parallelogram structure and a quadrilateral structure together, the upper end of the forearm main connecting rod 2-10 is fixed on an upper hole of the inclined edge of a trapezoidal fixed block 2-5 of the elbow joint, the lower end of the forearm main connecting rod 2-10 is fixed on a round hole at the side surface of a wrist joint fixed base plate 2-15 of the wrist, the upper end of the forearm auxiliary connecting rod 2-11 is fixed on a lower hole of the inclined edge of the trapezoidal fixed block 2-5 of the elbow joint, the lower end of the forearm auxiliary connecting rod 2-11 is fixed on a round hole at the side surface of a wrist joint fixed base plate 2-15 of the wrist, and the forearm main connecting rod 2-10 and the forearm auxiliary, 2-5 parts of a trapezoidal fixed block and 2-15 parts of a wrist joint fixed bottom plate form a parallelogram structure; as shown in figure 4, the upper ends of the small arm push rods 2-13 are fixed by small arm push rod fixing blocks 2-9, the lower ends of the small arm push rods 2-13 are fixed on small arm main connecting rods 2-11 through small arm push rod supports 2-14, and a quadrilateral structure is formed by the small arm main connecting rods 2-10, the small arm push rods 2-13, the small arm push rod supports 2-14, the trapezoid fixing blocks 2-5 and the small arm push rod fixing blocks 2-9.
As shown in figure 5, the wrist comprises a wrist joint fixing bottom plate 2-15, a rotating motor 2-16, a wrist joint motor support 2-17, a motor connecting rod 2-18, a rotating bearing 2-19 and a paw connecting plate 2-20, the wrist joint fixing bottom plate 2-15 is fixed through a small arm main connecting rod 2-10 and a small arm auxiliary connecting rod 2-11, the wrist joint motor support 2-17 is fixed on the wrist joint fixing bottom plate 2-15, the rotating motor 2-16 is fixedly supported by the wrist joint motor support 2-17, a motor shaft is fixedly connected with the motor connecting rod 2-18, and the motor connecting rod 2-18 penetrates through the rotating bearing 2-19, the wrist joint fixing bottom plate 2-15 and the paw connecting plate 2-20 to be fixedly connected.
As shown in figure 6, the paw I3 comprises a paw fixing bottom plate 3-1, a deep groove ball bearing 3-2, a bearing fixing piece 3-3, a screw rod slide rail 3-4, a slide block 3-5, a screw rod 3-6, a screw rod nut 3-7, an electromagnet fixing block 3-8, an electromagnet 3-9, a screw rod motor 3-10, a motor roller 3-11, a screw rod roller 3-12, a marginal side plate 3-13 and a marginal side plate rotating shaft 3-14, for the paw I3 at the tail end of an arm 2, the paw fixing bottom plate 3-1 is in a shape of a Chinese character 'ji', and is fixedly connected with a paw connecting plate 2-20 of an arm wrist joint through bolts, the bearing fixing piece 3-3 is fixed with the end of the paw fixing plate 3-1 through bolts, the deep groove ball bearing 3-2 is fixed in the bearing fixing piece 3-3 through, the lead screw motor 3-10 is positioned above the paw fixing bottom plate 3-1, the tail end of a motor shaft is connected with a motor roller 3-11, a lead screw sliding rail 3-4 is fixed on the upper side of the edge of the paw fixing bottom plate 3-1, the lead screw 3-6 has two different thread rotating directions with the middle as a boundary, two sections of threads are respectively provided with a lead screw nut 3-7, the lead screw 3-6 is positioned on the concave side of the paw fixing bottom plate 3-1, two ends of the lead screw are respectively fixed in the deep groove ball bearing 3-2 and are connected with the lead screw roller 3-12, and the lead screw roller 3-12 is connected with the motor roller 3-11 above the paw fixing bottom plate through a belt.
As shown in fig. 7, two electromagnet fixing blocks 3-8 are respectively arranged on each paw, bolt holes 3-8-3 are arranged on the upper end surfaces of the electromagnet fixing blocks 3-8, lead screw nuts 3-7 are fixedly connected with the electromagnet fixing blocks 3-8 through bolts, holes 3-8-1 are arranged at the upper ends of the electromagnet fixing blocks 3-8 and are fixedly connected with corresponding slide blocks 3-5 through bolts, the electromagnets 3-9 have magnetism when no current passes through and lose magnetism when power is on, the electromagnets 3-9 are fixed on the electromagnet fixing blocks 3-8 through bolts, the bolt holes are 3-8-4, the edge side plates 3-13 are fixed on the outer side surfaces of the electromagnet fixing blocks 3-8, and the edge side plates can rotate around edge side plate rotating shafts 3-14 at the circle centers. The claw III6 positioned below the frame body 1 fixes the claw fixing bottom plate 3-1 to the lower bottom plate 1-2 of the frame body through bolts.
The robot for climbing the high-voltage power transmission tower can climb the high-voltage power transmission tower through the motor cooperative control and can carry detection tools to work to a specified position.
When the robot for climbing the high-voltage power transmission tower works, the lower end faces of electromagnets 3-9 of a robot paw I3, a paw II5 and a paw III6 are attached to the metal surface of a high-voltage power transmission tower body, the electromagnet 3-9 of the paw I3 is electrified, the electromagnet 3-9 loses magnetism, the electromagnet 3-9 of the paw II5 is electrified, the electromagnet 3-9 loses magnetism, a stepping motor I2-6 in an arm 2 rotates, a push rod 2-7 extends, the arm 2 is lifted, a stepping motor I2-6 in the arm 4 rotates, the push rod 2-7 extends, the arm 4 is lifted, if steering is needed, a motor on a frame body is adjusted to rotate shafts 1-4, if steering is needed, the operation is omitted, then a stepping motor II2-12 in the arm 2 rotates, a small arm push rod 2-13 extends, a small arm of the arm 2 is lifted and extends forwards, step motor I2-6 rotates, push rod 2-7 extends, big arm rotates anticlockwise, gripper extends forwards and descends to be attached to the surface of the high-voltage power transmission tower body, step motor II2-12 in arm 4 rotates simultaneously, small arm push rod 2-13 shortens, step motor I2-6 rotates, push rod 2-7 shortens, gripper contracts and descends to be attached to the surface of the high-voltage power transmission tower body, and gripper motor 3-10 of gripper I3 and gripper II5 is adjusted at the moment, so that the position of an electromagnet is opposite to the angle steel surface of the high-voltage power transmission tower body.
If the movement is turned or the movement is deviated in angle, rotating motors 2-16 on arms 2 and 4 can be adjusted to enable claws I3 and II5 to integrally rotate to adapt to the change, if the angle steel is too wide, edge side plates 3-13 rotate around edge side plate rotating shafts 3-14 to enable electromagnets to be attached to the surface of the angle steel of the high-voltage transmission tower body, when the angle steel of the high-voltage transmission tower body at the attachment position is too narrow or the angle deviation causes that the electromagnets 3-9 cannot be directly opposite to the surface of the angle steel of the high-voltage transmission tower body, the proper position can be determined by attaching the side edges of the angle steel of the high-voltage transmission tower body on the inner sides of the edge side plates 3-13 in a guiding mode, and then proper electromagnet spacing is selected by adjusting motors 3-10 of claws I3 to enable the electromagnets 3-9 of the claws I3 to be better.
The electromagnet of the gripper I3 is powered off, the electromagnet recovers magnetism and tightly absorbs the surface of the high-voltage power transmission tower body, the electromagnet 3-9 of the gripper III6 is powered on, the electromagnet loses magnetism, the stepping motor II2-12 of the arm 2 rotates, the small arm push rod 2-13 shortens, the stepping motor I2-6 rotates at the moment, the small arm push rod 2-7 shortens and then extends, the stepping motor I2-6 in the arm 4 rotates at the same time, the push rod 2-7 extends, the frame body and the gripper III6 are lifted to a certain height and move forwards, the stepping motor I2-6 of the arm 2 rotates, the push rod 2-7 further shortens, the stepping motor II2-12 rotates, the push rod 2-13 further shortens, the stepping motor I2-6 of the arm 4 rotates, the push rod 2-7 extends, the stepping motor II2-12 rotates, the small arm push rod 2-13 further extends, at this point the frame and gripper III6 move forward and descend to engage the surface of the body angle of the hv tower, at which point one step of ride forward and turn motion is completed.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.
Claims (10)
1. The utility model provides a transmission tower climbing robot, characterized by: the manipulator comprises a frame body, wherein two sides of the frame body are respectively and symmetrically provided with a mechanical arm, and the end part of the mechanical arm and the lower end of the frame body are respectively provided with a paw;
the mechanical arm comprises at least two large arms and small arms which are connected in a rotating mode, the large arms are connected with the frame in a rotating mode, and the small arms are connected with the paws in a rotating mode; the hand claw comprises two claw parts with adjustable angles, and each claw part is provided with an electromagnet;
the large arm is provided with a first driving part to drive the large arm to move relative to the frame body; the small arm is provided with a second driving part to drive the small arm to move relative to the large arm, and the paw is provided with a third driving part to drive the angle change of the paw; through the work of controlling each driver part, change the gesture of framework both sides robotic arm, combine the on-off control of electro-magnet, realize automatic climbing.
2. The transmission tower climbing robot as claimed in claim 1, wherein: the stretching direction of the mechanical arm is used as an axis Y, the normal direction of the climbing surface is used as an axis X, the axis Z is perpendicular to the axis Y and the axis X, the mechanical arm is connected with the frame body through an axis Z rotating pair, the paw is connected with the mechanical arm through an axis Z rotating pair, and the large arm is connected with the small arm through an axis X rotating pair.
3. The transmission tower climbing robot as claimed in claim 1, wherein: the frame body comprises an upper base plate and a lower base plate, the end parts of the upper base plate and the lower base plate are respectively connected through a supporting beam, a rotating shaft is respectively arranged on the outer side of each supporting beam and is parallel to the supporting beam, the end part of each rotating shaft is respectively connected onto the upper base plate and the lower base plate through a bearing, and a paw is arranged at the lower end of the lower base plate.
4. The transmission tower climbing robot as claimed in claim 1, wherein: the big arm comprises a rotary joint connecting block and an elbow joint, a shoulder joint is arranged on one side of the rotary joint connecting block and is connected to the frame body through a Z-axis rotary pair, a big arm main connecting rod and an auxiliary connecting rod are arranged on the other side of the big arm main connecting rod and the other end of the auxiliary connecting rod are connected to the elbow joint, the shoulder joint, the elbow joint, the big arm main connecting rod and the auxiliary connecting rod form a parallelogram structure, a push rod is fixed to a rotating shaft in the shoulder joint, the upper end of the push rod is rotatably arranged on the big arm main connecting rod through a push rod support, the big arm main connecting rod, the push rod support and the rotary joint connecting block form a quadrilateral structure, and the push rod is driven by.
5. The transmission tower climbing robot as claimed in claim 1, wherein: the small arm comprises a wrist joint, a small arm auxiliary connecting rod and a small arm main connecting rod, the small arm auxiliary connecting rod and the small arm main connecting rod are connected with an elbow joint of the wrist joint and the large arm, and the wrist joint, the elbow joint, the small arm auxiliary connecting rod and the small arm main connecting rod form a parallelogram structure; be provided with the forearm push rod on the forearm owner connecting rod, the one end of forearm push rod is passed through the support and is fixed on the forearm owner connecting rod, the other end pass through the fixed block set up in on the elbow joint.
6. The transmission tower climbing robot as claimed in claim 5, wherein: the wrist joint comprises a wrist joint fixing bottom plate, the wrist joint fixing bottom plate is connected with a paw connecting plate through a rotating shaft, the upper end of the rotating shaft is connected with a fixing support through a bearing, and a second driving part for driving the rotating shaft to rotate is arranged on the fixing support.
7. The transmission tower climbing robot as claimed in claim 1, wherein: the gripper structure is the same, all includes PMKD, PMKD connects the gripper connecting plate, PMKD is last to be provided with lead screw and lead screw slide rail, swing joint has the slider on the lead screw slide rail, be provided with the fixed block on the slider, the lower extreme of fixed block is provided with the electro-magnet, one side of fixed block is provided with two relative marginal curb plates that set up, connect through the pivot between the marginal curb plate, be certain angle between the lower extreme of two marginal curb plates, and along with the rotation of marginal curb plate, the angle is variable, just the rotation of marginal curb plate is through the drive of third driver part.
8. The utility model provides a transmission tower climbing robot system which characterized by: comprising a number of robots according to any of claims 1-7 and a control center, a controller being arranged in the frame, the controller being configured to control the pose and movement of the respective robot, the control center being in communication with the controller.
9. A method of operating a robot as claimed in any of claims 1 to 7, wherein: each paw of the robot is attached to the metal surface of the high-voltage power transmission tower body, when the robot is required to change a target point or change the pose, the paw electromagnet of the corresponding mechanical arm is electrified, the electromagnet loses magnetism, the corresponding mechanical arm is controlled to perform the actions of lifting, steering, rotating and/or falling, the corresponding paw is extended forwards and descends to be attached to the surface of the high-voltage power transmission tower body, the pose of the paw is adjusted, the position of the electromagnet is opposite to the angle steel surface of the high-voltage power transmission tower body, the electromagnet restores magnetism and tightly absorbs the surface of the high-voltage power transmission tower body, and crossing forward and steering motion is completed.
10. The method of operation of claim 9, wherein: if the angle steel is too wide, too narrow or deviated, the angle between the claw parts is adjusted, the distance between the electromagnets of the claw parts is adjusted, so that the claw electromagnets are attached to the surface of the angle steel of the high-voltage power transmission tower body, and the electromagnet is recovered to be powered off.
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| CN201911319439.XA CN111017061B (en) | 2019-12-19 | 2019-12-19 | Transmission tower climbing robot, system and method |
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| CN112026950A (en) * | 2020-09-10 | 2020-12-04 | 广东工业大学 | Wheel-leg composite climbing robot |
| CN112025719A (en) * | 2020-07-29 | 2020-12-04 | 山东科技大学 | Climbing robot for high-voltage power transmission tower |
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| CN108382479A (en) * | 2018-04-02 | 2018-08-10 | 西南交通大学 | A kind of anti-fall climbing robot |
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| CN101480972A (en) * | 2009-01-20 | 2009-07-15 | 山东理工大学 | Multifunctional pole-climbing robot |
| CN108382479A (en) * | 2018-04-02 | 2018-08-10 | 西南交通大学 | A kind of anti-fall climbing robot |
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| WO2022021461A1 (en) * | 2020-07-29 | 2022-02-03 | 山东科技大学 | Climbing robot for high voltage transmission tower |
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| CN111017061B (en) | 2020-12-18 |
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