Climbing robot for angle steel tower

Abstract

The invention belongs to the technical field of climbing robots for electric power operation, and particularly relates to a climbing robot for an angle steel tower. The robot comprises a main machineand clamping assemblies, the clamping assemblies comprise the upper clamping assembly and the lower clamping assembly, and at least one set of clamping assemblies can do reciprocating displacement motion parallel to the advancing path of the main machine relative to the main machine; each clamping assembly comprises a clamping jaw, an angle adjusting assembly and a lifting assembly, wherein the angle adjusting assembly is installed on the clamping jaw and can enable the main machine to generate pitching angle adjustment relative to the angle steel, and the lifting assembly can enable the clamping jaw to generate approaching and departing actions relative to the angle steel. The hinge axis of the angle adjusting assembly is horizontally arranged and is perpendicular to the length directionof the angle steel. The robot has high obstacle crossing capability and high climbing efficiency, and can synchronously guarantee the action stability and action reliability of climbing operation, sothat the manpower inspection cost can be greatly saved, the maintenance efficiency is improved, and the safe and reliable operation of a power transmission system is guaranteed.

Description

technical field [0001] The invention belongs to the technical field of climbing robots for electric power operations, and in particular relates to a climbing robot for an angle steel tower. Background technique [0002] The stability and safety of electric power is the basic guarantee for promoting the development of all walks of life. In my country, there are a large number of transmission angle steel towers, which are widely distributed, and have been exposed for a long time in the wild environment or even in the harsh environment of dust, strong wind and high humidity. In the traditional way, the maintenance personnel need to carry the maintenance equipment on their backs to climb the angle steel tower along the side of the spikes, and gradually attach safety ropes to prevent falling, resulting in long inspection cycles, high risk of climbing, and low work efficiency. Therefore, climbing robots suitable for angle steel towers emerged as the times require, and gradually de...

AI Technical Summary

Problems solved by technology

On the one hand, during the climbing process of the inchworm robot, its mechanical claws must reliably realize the active avoidance function relative to the above obstacles, so as to ensure the climbing efficiency; The main material of the angle steel is parallel, so as to ensure the stable clamping and stable climbing of the robot; but because the angle steel is not perpendicular to the ground, and the front and rear mechanical claws of the inchworm robot are mostly separated from the front and back and alternately clamp the angle steel, which makes the robot When the claws are loosened, under the action of the huge mass of the inchworm robot itself, the main body of the robot is often tilted at an angle, which makes the reliability of the next grasping action of the rear mechanical claws doubtful.

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