US 12,091,111 B1
Biomimetic tower climbing robot and tower climbing method thereof
Jian Zhang, Hengyang (CN); Dehua Zou, Hengyang (CN); Dun Mao, Hengyang (CN); Zhipeng Jiang, Hengyang (CN); Zhiqiang He, Hengyang (CN); Zhengxiong Gong, Hengyang (CN); Qiping Duan, Hengyang (CN); Bangwei Luo, Hengyang (CN); Shuwen Xiao, Hengyang (CN); Yun Xiang, Hengyang (CN); Bocheng Li, Hengyang (CN); Jie He, Hengyang (CN); and Chonggen Mo, Hengyang (CN)
Assigned to STATE GRID HUNAN ELECTRIC POWER COMPANY, Changsha (CN); STATE GRID HUNAN EXTRA HIGH VOLTAGE TRANSMISSION COMPANY, Hengyang (CN); and STATE GRID CORPORATION OF CHINA, Beijing (CN)
Appl. No. 18/700,723
Filed by STATE GRID HUNAN ELECTRIC POWER COMPANY, Changsha (CN); STATE GRID HUNAN EXTRA HIGH VOLTAGE TRANSMISSION COMPANY, Hengyang (CN); and STATE GRID CORPORATION OF CHINA, Beijing (CN)
PCT Filed Aug. 9, 2022, PCT No. PCT/CN2022/111101
§ 371(c)(1), (2) Date Apr. 12, 2024,
PCT Pub. No. WO2023/087795, PCT Pub. Date May 25, 2023.
Claims priority of application No. 202111369986.6 (CN), filed on Nov. 18, 2021.
Int. Cl. B62D 57/024 (2006.01); B62D 57/028 (2006.01); B62D 57/036 (2006.01)
CPC B62D 57/024 (2013.01) [B62D 57/028 (2013.01); B62D 57/036 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A biomimetic tower climbing robot, characterized in that the biomimetic tower climbing robot mainly comprises a main control body module and clamping and moving mechanism modules,
an upper end and a lower end of the main control body module are connected to one clamping and moving mechanism module through an elastic universal joint respectively, two clamping and moving mechanism modules can alternately lock and unlock an anti-fall track of an iron tower, and the main control body module alternately pushes the clamping and moving mechanism module at its upper end upwards and pulls the clamping and moving mechanism module at its lower end upwards to achieve climbing of the robot along the anti-fall track;
the main control body module comprises a shell, a main motor, a driving gear, a driven gear, a rotating shaft, a telescopic screw, screw sockets, and clamping plate seats; an output shaft of the main motor passes through the driving gear, the driven gear meshes up and down with the driving gear, the driven gear is fixed to a middle part of the rotating shaft, and the rotating shaft is a hollow shaft; the telescopic screw comprises a large diameter screw and a small diameter screw that are sleeved, and outer walls of the large diameter screw and the small diameter screw are provided with an axial through groove respectively; the large diameter screw and the small diameter screw are connected to a screw socket respectively, and threads of the two screw sockets are in opposite turning directions; inner ends of the two screw sockets are connected to two ends of the rotating shaft respectively, outer ends of the two screw sockets are connected to the clamping plate seats respectively, and clamping plates inserted into the axial through grooves of the large diameter screw and the small diameter screw are arranged on the two clamping plate seats respectively; a shell sealed on four sides is arranged between the two clamping plate seats, and a power supply is fixed on the shell;
the clamping and moving mechanism module comprises a servo, a gear pair, a traction swing rod, a cam compaction block, a clamping and moving seat, a compaction wheel, and side positioning wheels; the servo is mounted on a side of the clamping and moving seat in a width direction, a driving gear of the gear pair is fixed to an output shaft of the servo, an axle of a driven gear of the gear pair passes vertically through a middle part of the clamping and moving seat in the width direction, and a passing segment is a flat axle segment; the cam compaction block and the traction swing rod are connected to the flat axle segment, the cam compaction block is embedded in a notch on the traction swing rod, and an outer wall of a hinged segment of the traction swing rod is in an arc shape provided with cylindrical teeth; the compaction wheel is mounted at an outer end of the middle part of the clamping and moving seat in the width direction, and the side positioning wheels are symmetrically connected to two sides of the clamping and moving seat in the width direction;
the driving gear of the gear pair meshes with a rack perpendicular to the axle of the driven gear, the rack is embedded on a servo mounting side of the clamping and moving seat, a positioning plate is arranged on an upper side of the rack, and a guide groove plate for moving of the positioning plate is fixed to a top surface, corresponding to a rack embedding groove, of the clamping and moving seat; and
a position sensor is fixed to two ends of a travel groove corresponding to the positioning plate on the clamping and moving seat respectively.