Iron tower climbing articulated robot

Abstract

The invention provides an electric iron tower climbing robot which mainly comprises a pair of mechanical arms, an electric cylinder, a pitching mechanism and a mechanical clamping device, wherein the mechanical clamping device can clamp steel angles of different specifications; the upper ends of the two mechanical arms are connected by an installing shaft; a motor stand and an ejector rod of the electric cylinder are respectively connected with the two arms through pin columns; the electric cylinder telescopically drives the two arms to rotate around the installing shaft at the upper ends; the lower ends of the mechanical arms are connected with a rotating shaft of the pitching mechanism; the pitching mechanism enables the mechanical arms to rotate around the rotating shaft to realize an obstacle detouring function; and a worm-gear case of the pitching mechanism is fixedly connected with wrist joints of mechanical hands, so that the mechanical arms can also rotate around the wrist joints of the mechanical hands to realize a turning function. The invention has compact structure; complex actions such as obstacle detouring, turning and the like can be completed by linkage of multiple joints; and the robot can climb different structure types of iron towers, has wide range of use and certain loading capacity, and can carry necessary overhaul equipment, substitute for workers to climb the electric iron tower and complete the corresponding overhaul task.

Description

technical field [0001] The invention relates to a robot device for automatically climbing a tower and performing inspection and maintenance, and belongs to the technical field of robots. technical background [0002] The high-voltage transmission line is the artery of the power system, and its safe operation is directly related to the stability and reliability of the power supply. It is necessary to regularly overhaul and maintain the transmission line tower and its accessories to ensure the safe and reliable operation of the transmission line. [0003] At present, the inspection and maintenance of domestic high-voltage transmission lines basically adopt the method of manually climbing the iron tower, and the maintenance personnel carry the inspection and maintenance equipment to complete various maintenance tasks, such as: insulator inspection, cleaning, iron tower maintenance, etc., which not only consumes a lot of physical strength of the maintenance personnel , affect w...

AI Technical Summary

Problems solved by technology

[0003] At present, the inspection and maintenance of domestic high-voltage transmission lines basically adopt the method of manually climbing the iron tower, and the maintenance personnel carry the inspection and maintenance equipment to complete various maintenance tasks, such as: insulator inspection, cleaning, iron tower maintenance, etc., which not only consumes a lot of physical strength of the maintenance personnel , affects work efficiency, and is extremely unsafe

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