CN-117360645-B - Tower climbing inspection robot

CN117360645BCN 117360645 BCN117360645 BCN 117360645BCN-117360645-B

Abstract

The application relates to the technical field of electric power overhaul equipment, and provides a tower climbing inspection robot which is arranged in a channel surrounded by a ladder stand and an anti-drop frame and comprises a travelling device, a poking device and a detection device. The walking device is used for walking along the ladder; the first end of the shifting device is rotationally connected with the traveling device, and the second end of the shifting device is connected with the detection device; the application discloses a device for detecting the movement of a walking device, which comprises a shifting device, a detection device, a transverse plate, a shifting device, a transverse plate, a detection device and a walking device, wherein the shifting device is provided with a first posture and a second posture, the shifting device is positioned in the first posture, the detection device is positioned outside a channel, the shifting device is positioned in the second posture, the shifting device and the detection device are positioned in the channel, the shifting device is detachably connected with the transverse plate of the anti-drop frame, the shifting device is switched from the first posture to the second posture under the condition that the shifting device is connected with the transverse plate, and the shifting device is switched from the second posture to the first posture under the condition that the shifting device is separated from the transverse plate.

Inventors

WANG YI
QU FENGRUI
WANG XIJUN
SUN QIZHEN
LI MENGYANG
LI ZHIBIN

Assignees

广东电网有限责任公司广州供电局

Dates

Publication Date: 20260508
Application Date: 20231025

Claims (10)

1. The tower climbing inspection robot is characterized by being arranged in a channel defined by a ladder stand and an anti-drop frame, and comprises a travelling device, a poking device and a detection device; The first end of the stirring device is rotationally connected with the walking device, and the second end of the stirring device is connected with the detection device; The toggle device is in a first posture and a second posture, the toggle device is in the first posture, the detection device is positioned outside the channel, the toggle device is in the second posture, and the toggle device and the detection device are positioned inside the channel; The stirring device is used for being detachably connected with the transverse plate of the drop-proof frame, the stirring device is switched from the first posture to the second posture under the condition that the stirring device is connected with the transverse plate, and the stirring device is switched from the second posture to the first posture under the condition that the stirring device is separated from the transverse plate.
2. The inspection robot for boarding a tower of claim 1, wherein, The tower climbing inspection robot further comprises a damping device; the damping device comprises a first elastic piece and an abutting part, wherein the running device is connected with the abutting part through the first elastic piece, and the first elastic piece has an initial state and a compression state under the condition that the tower climbing inspection robot is positioned in the channel; in the initial state, the abutment member is capable of extending out of the channel; In the compressed state, the abutting part abuts against one side, facing the ladder, of the strip-shaped reinforcing plate of the falling prevention frame, and the traveling device abuts against one side, facing the falling prevention frame, of the ladder.
3. The inspection robot for boarding a tower of claim 2, wherein, The tower climbing inspection robot further comprises an adjusting device; The adjusting device is connected with the walking device, and the damping device is movably arranged on the adjusting device.
4. The inspection robot for boarding a tower of claim 2, wherein, The abutting part comprises a bracket and a roller; the stirring device is rotatably arranged on the support, the support is connected with the first elastic piece, the roller is rotatably arranged on the support, and the roller is used for abutting against one side of the strip-shaped reinforcing plate, which faces the ladder, and can roll along the extending direction of the strip-shaped reinforcing plate.
5. The inspection robot for boarding a tower of claim 1, wherein, The tower climbing inspection robot further comprises a resetting device; One end of the reset device is connected with the walking device, the other end of the reset device is connected with the shifting device, and the shifting device can rotate from the second posture to the first posture in response to the acting force of the reset device under the condition that the shifting device is separated from the transverse plate.
6. The inspection robot for boarding a tower of claim 5, wherein, The resetting device comprises a second elastic piece; The second elastic piece is in a reset state and a stretching state, and is in the stretching state under the condition that the stirring device is connected with the transverse plate, and is in the reset state under the condition that the stirring device is separated from the transverse plate.
7. The inspection robot for boarding a tower of claim 6, wherein, The tower climbing inspection robot further comprises a marking device; The marking device is arranged on the walking device, the marking device is in communication connection with the detection device, and the marking device is used for marking on the transverse plate.
8. The inspection robot in the tower of claim 7, The marking device comprises a tension detection mechanism and a marking mechanism; The tension detection mechanism is in communication connection with the marking mechanism and is used for detecting a tension value born by the second elastic piece, and the marking mechanism is used for marking on the transverse plate under the condition that the tension value reaches a preset value.
9. The inspection robot for boarding a tower of any one of claim 1 to 8, The walking device comprises a frame, a track structure and a driving piece; The crawler belt structure is rotatably arranged on the frame, the driving piece is used for driving the crawler belt structure to rotate relative to the frame, and the crawler belt structure is used for being in contact connection with the ladder stand.
10. The inspection robot for boarding a tower of any one of claim 1 to 8, The tower climbing inspection robot further comprises a light supplementing device; The light supplementing device is arranged on the walking device.

Description

Tower climbing inspection robot Technical Field The application relates to the technical field of electric power overhaul equipment, in particular to a tower climbing inspection robot. Background The electric power iron tower is main supporting equipment for long-distance electric power transportation, is used for bearing a power transmission line, bearing the weight and the tension of the power transmission line, and dispersing the weight and the tension on a foundation and the ground so as to ensure the stable operation of the power transmission line, is generally formed by constructing and assembling angle steel, and is required to be inspected and overhauled regularly based on the consideration of the metal materials of the electric power iron tower, the field environment and other factors. In the related art, the inspection mode of the electric power iron tower comprises a ground-falling inspection mode, a climbing tower inspection mode and a helicopter aerial inspection mode, wherein the ground-falling inspection mode is that an inspector inspects foundation bolts, foundations, grounding and the like of the electric power iron tower, the climbing tower inspection mode is that an inspector climbs up the electric power iron tower to inspect the appearance, the structure, wires, the corrosion condition and the like of the electric power iron tower, the helicopter aerial inspection mode is that the helicopter aerial inspection mode utilizes the helicopter to carry out aerial inspection on the electric power iron tower, and for the climbing tower inspection mode, a safety crawling ladder is installed on a tower body of the electric power iron tower and is integrally covered with a metal anti-falling frame so as to ensure the safety of the inspection personnel in the climbing tower process. However, the above-mentioned climbing tower inspection mode has certain potential safety hazard, and metal anti-drop frame can cause shielding to the sight of inspection personnel. Disclosure of Invention Based on the above, it is necessary to provide a robot for climbing a tower to inspect the sight of a patrol inspector, aiming at the problems that the current inspection mode of climbing a tower has a large operation risk and the sight of the patrol inspector is blocked by the metal anti-drop frame on the safety ladder. The tower climbing inspection robot is arranged in a channel defined by a ladder stand and an anti-drop frame and comprises a traveling device, a shifting device and a detection device, wherein the traveling device is used for traveling along the ladder stand, a first end of the shifting device is rotatably connected with the traveling device, a second end of the shifting device is connected with the detection device, the shifting device is provided with a first posture and a second posture, the shifting device is located outside the channel, the shifting device and the detection device are located in the channel when the shifting device is located in the second posture, the shifting device is used for being detachably connected with a transverse plate of the anti-drop frame, the shifting device is switched from the first posture to the second posture when the shifting device is connected with the transverse plate, and the shifting device is switched from the second posture to the first posture when the shifting device is separated from the transverse plate. In one embodiment, the boarding inspection robot further comprises a damping device, the damping device comprises a first elastic piece and an abutting part, the running device is connected with the abutting part through the first elastic piece, the first elastic piece is in an initial state and a compression state when the boarding inspection robot is located in the channel, the abutting part can extend out of the channel in the initial state, the abutting part abuts against one side, facing the ladder, of the strip-shaped reinforcing plate of the anti-falling frame, and the running device abuts against one side, facing the anti-falling frame, of the ladder. In one embodiment, the tower climbing inspection robot further comprises an adjusting device, the adjusting device is connected with the walking device, and the damping device is movably arranged on the adjusting device. In one embodiment, the abutting part comprises a bracket and a roller, the poking device is rotatably arranged on the bracket, the bracket is connected with the first elastic piece, the roller is rotatably arranged on the bracket, and the roller is used for abutting against one side of the strip-shaped reinforcing plate, which faces the ladder, and can roll along the extending direction of the strip-shaped reinforcing plate. In one embodiment, the tower climbing inspection robot further comprises a reset device, one end of the reset device is connected with the walking device, the other end of the reset device is connected with the shifting device, and the shifting device can r