JPH0228154Y2 - - Google Patents

Description

[Detailed description of the invention] "Field of industrial application" This invention relates to the structure of an elevating device for raising and lowering steel towers, and is intended to mechanize the maintenance and inspection work of power transmission towers that was previously performed manually.

``Prior Art'' When performing inspection work, conventionally, the first worker to ascend the tower would attach a lifeline, and subsequent workers would climb up the tower while grasping the lifeline and perform inspection and maintenance work.

``The problem that the invention seeks to solve'' Because people work at heights by climbing up and down, there is great danger.

``Means for Solving the Problems'' A rod arm placed on the main body base that is extendable and tiltable, a gripper attached to the tip of the rod arm to grip the step bolt, and a gripper attached to the tip of the main body base to grip the step bolt. The step bolt is gripped by the gripper and the catch, and the step bolt is alternately gripped by the gripper and the catch while the rod arm repeatedly expands and contracts and tilts to move up and down the steel tower.

``Operation'' In order to raise and lower the steel tower by gripping the step bolts, the rod arm is extended, contracted and tilted, and the step bolts attached to the tower are gripped alternately with the gripper and catch, and moved up and down in an inchworm-like motion.
descend.

"Example" FIG. 1 shows the state of attachment to a steel tower 11. The rod arm 2 is connected to the telescopic motor 1 through an arbitrary mechanism.
When the gripper 3 attached to the tip of the rod arm 2 is removed from the first stage step bolt 4, the telescopic motor 1 stops. Note that at this time, the catch 9 is gripping the step bolt 4, so
The main body base 8 will not fall. Next, when the erecting motor 5 operates and the spur gear 12 rotates clockwise, the return spring 7 is stretched through the link 13, and the rod arm 2 is tilted away from the step bolt 4. This tilting state is maintained by an electromagnetic clutch 6 provided on the erecting motor 5. Thereafter, the telescopic motor 1 is operated again, and the rod arm 2 is extended to the position of the second step bolt 4' as shown in FIG. 3, and the rotation of the telescopic motor 1 is stopped. At this time, since the rod arm 2 is in an inclined state, the gripper 3 does not come into contact with the step bolt 4'.

The position of the step bolt 4' attached to the steel tower 11 is detected by an arbitrary sensor (not shown), the electromagnetic clutch 6 is released, and the return spring 7 returns the rod arm 2 to the position where it grips the step bolt 4' as shown in Fig. 4. do. Next, the telescopic motor 1 is reversed, the rod arm 2 is retracted, the gripper 3 grips the step bolt 4', and the telescopic motor 1 is stopped. At this time, the catch 9 is located slightly above the step bolt 4, so when the solenoid 10 operates, the catch 9 rotates counterclockwise. As a result,
When the telescopic motor 1 operates again, the rod arm 2 retracts and pulls up the main body base 8 without the catch 9 contacting the step bolt 4', and the catch 9 attached to the base grabs the step bolt 4' as shown in Fig. 1. The process ends in a state like this. However, the step bolt grips 4' instead of 4. Repeat this action to rise.

Next, the lowering operation of the tower climbing robot will be explained. In the stopped state as shown in Fig. 1 (however, the step bolt is gripped at 4' instead of 4),
The solenoid 10 operates, the catch 9 is released, the telescopic motor 1 rotates, the rod arm 2 is extended, the main body base 8 is lowered, and after a few seconds, the solenoid 1 is released.
0 is released, the catch 9 is returned to its original state by the holding spring 11, and the lower step bolt 4 can be gripped.

The rod arm 2 extends until the catch 9 grips the lower step bolt 4 as shown in FIG. 4, and the gripper 3 comes off the upper step bolt 4' and the telescopic motor 1 stops.

Next, when the erecting motor 5 rotates, the rod arm 2 tilts as shown in FIG. 3 in exactly the same way as in the above-mentioned raising operation. When the telescopic motor 1 is reversed in this state, the rod arm 2 is retracted, and when the gripper 3 comes in front of the step bolt 4, the telescopic motor 1 is stopped. Thereafter, the electromagnetic clutch 6 is released and the return spring 7 causes the rod arm 2 to stand up substantially vertically, returning the gripper 3 to a position where it can grip the step bolt 4. From the restored state, the telescopic motor 1 is driven again and the gripper 3 grips the lower step bolt 4, resulting in the state shown in FIG. 1, and one stroke is completed.

Repeating this action, the robot descends.

5a and 5b show an example of the gripper 3. FIG. 5a shows the gripper 3 gripping the step bolt 4, and FIG. 5b shows the gripper 3 detached from the step bolt 4. It indicates the condition. Two links 22 are rotatably attached to each side of a support 21 fixed at right angles to the rod arm 2 by pins 20, respectively.

A bow-shaped hook piece 23 is rotatably attached to the lower end of the link 22 by a pin 24.

The tips of the hook pieces 23 are connected by pins 25 to the hook pieces 23 attached to opposite sides of the supports.

FIG. 5a shows the state in which the hook piece 23 is pushed up by the step bolt 4.
When the step bolt 4 is separated from the step bolt 3, the state is as shown in FIG. 5b, and the stopper 26 prevents the link 22 from opening any further.

FIG. 6 shows an example of the catch 9 attached to the upper part of the main body base 8, and shows a state in which the catch 9 is hooked on the step bolt 4 and the main body base 8 is stationary. A retaining spring 27 is provided at the end of the catch 9 to keep the catch 9 in a retained state.

When the solenoid 10 operates in this state, the catch 9 rotates counterclockwise against the force of the retaining spring 27 and is disengaged from the step bolt 4.

Conversely, when the solenoid 10 is deenergized, the catch 9 rotates clockwise by the force of the holding spring 27 and catches the step bolt 4.

``Effects of the invention'' Since it uses step bolts to move up and down, there is no need to install special lifting equipment, and it can be applied to all steel towers.

This invention not only improves the safety of workers on steel towers, but also has a significant effect on improving work efficiency.

[Brief explanation of the drawing]

Figure 1 shows the rod arm installed on the steel tower, Figure 2 shows the rod arm standing up, Figure 3 shows the rod arm extended, Figure 4 shows the rod arm before it returns to its original position and is retracted. FIG. 6 shows an enlarged view of the gripper, and FIG. 6 shows an enlarged view of the catch portion. In the figure, 2 is a rod arm, 3 is a gripper, 4 is a step bolt, 8 is a main body base, 9 is a catch, and 11 is a steel tower.

Claims (1)

[Scope of utility model registration request] The rod arm is equipped with an extendable and tiltable rod arm placed on the main body base, a gripper attached to the tip of the rod arm to grasp the step bolt, and a catch attached to the tip of the main body base to grasp the step bolt, so that the rod arm can extend and contract. A steel tower climbing robot characterized in that it is configured to move up and down the steel tower by alternately gripping the step bolts with the gripper and the catch while repeating tilting movements.