CN101572395B - Line hanging driving mechanism of deicing robot - Google Patents
Line hanging driving mechanism of deicing robot Download PDFInfo
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- CN101572395B CN101572395B CN2009100435816A CN200910043581A CN101572395B CN 101572395 B CN101572395 B CN 101572395B CN 2009100435816 A CN2009100435816 A CN 2009100435816A CN 200910043581 A CN200910043581 A CN 200910043581A CN 101572395 B CN101572395 B CN 101572395B
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- driven gear
- gear
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- driving
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Abstract
The invention provides a line hanging driving mechanism of a deicing robot. The mechanism is an important structure for the deicing robot stably to move on a line. The mechanism comprises a driving gear, driven gears, tension pulleys, bridge gears, an electric pushing rod and the like. A main driving motor drives the driving gear, the driving gear drives one driven gear under the driving gear, andthe driven gear drives two bridge gears to drive other two driven gears so as to achieve the driving force of the robot. The electric pushing rod on the lower side moves upwards to push a bracket fix ing four tension pulleys so as to make a transmission line clamped between the driven gears and the tension pulleys. The mechanism has the advantages of compact structure and high efficiency, and can achieve the walking of the robot by one driving motor. The line hanging electric pushing rod provides convenience for the robot of an operator to hang lines and take off the lines.
Description
Technical field
The invention belongs to overhead line deicing robot research and engineering field, be specifically related to a kind of line hanging driving mechanism of deicing robot.
Background technology
Powerline ice-covering and accumulated snow regular meeting cause tripping operation, the broken string of circuit, the accidents such as bar, insulator arc-over and communication disruption of falling.Security incident all once caused because of powerline ice-covering in Russia, Canada, the U.S., Japan, Britain, Finland, Iceland and China, bring enormous economic loss for many countries, so the ice and snow disaster become the common issue with that the many national grids in the whole world face.China is one of the most serious country of powerline ice-covering, and the probability that circuit ice trouble accident takes place is very high.Over nearest 30 years, large tracts of land ice damage accident happens occasionally throughout the country, and it is exactly the main cause that causes these accidents that circuit freezes in a large number, and the method that adopts artificial deicing inefficiency not only, and power worker's life security has been caused great threat.Therefore, the novel alternative artificial deicing of de-icing method of research just becomes very urgent.Because deicing robot is more abominable than the movement environment of inspection robot, the hanging wire of general inspection robot and motion can not guarantee the normal operation of robot on the power transmission line that freezes, therefore need a kind of line hanging driving mechanism that can stable operation on the deicing circuit of design.
Summary of the invention
The objective of the invention is to propose a kind of line hanging driving mechanism of deicing robot, this mechanism structure is simple, can stable being suspended on the overhead wire, and can on overhead wire, walk easily, and hanging wire and roll off the production line simple to operation.
Technical solution of the present invention is as follows:
A kind of line hanging driving mechanism of deicing robot, it is characterized in that, comprise body, drive motors, driving gear, first driven gear, second driven gear, the 3rd driven gear, first carrier gear, second carrier gear, electric pushrod, regulating wheel and tension pulley lever; Described drive motors, first driven gear, second driven gear, the 3rd driven gear, first carrier gear, second carrier gear, electric pushrod and tension pulley lever are installed on the described body; Described first driven gear, second driven gear, the 3rd driven gear are arranged on the below of described driving gear along same horizontal direction; Described drive motors drives described driving gear, and described driving gear drives described first driven gear; Described first carrier gear, second carrier gear are arranged on the below of described first driven gear, second driven gear, the 3rd driven gear, and described first driven gear drives second driven gear and the 3rd driven gear respectively by described first carrier gear and second carrier gear; Described regulating wheel is a plurality of and is installed on the tension pulley lever, described tensioning bracing frame is connected with described electric pushrod, a plurality of described regulating wheels are arranged on described first driven gear, second driven gear, the 3rd driven gear below, the outer ring of described first driven gear, second driven gear, the 3rd driven gear is equipped with a circle gathering sill, and a plurality of described regulating wheels upwards push up overhead wire to described gathering sill.
Described driving gear, first driven gear, second driven gear, the 3rd driven gear, first carrier gear and second carrier gear all adopt the rubber material, the motion that has guaranteed robot is non-slip, and there is perforation the centre, has alleviated the weight of deicing robot.
This mechanism also comprises 2 baffle plates that are used to protect robot interior mechanism, but is respectively the lower baffle plate of overhead gage and folding, and lower baffle plate is connected with described electric pushrod.
Advantage of the present invention and effect:
In the operation of reality, power transmission line is stuck between driven gear and the regulating wheel sheave, realized hanging wire and the antiskid function of deicing robot on power transmission line, under the situation that circuit relatively skids, can be stuck in the degree of tightness between driven gear and the regulating wheel by the regulating and controlling power transmission line that moves up and down of following electric pushrod.Drive part has adopted driving gear to drive a following driven gear, and driven gear drives two carrier gears, has realized that carrier gear drives the motion of two other driven gear, has reduced the drive motors number of deicing robot, compact conformation, the efficient height.The last lower baffle plate of outside can reduce drive motors and each gear to be damaged during with deicing under rugged environment.
Characteristics of the present invention are simple in structure, practical, and it is convenient to install, dismantle, change, and particularly anti-slip is effective.This mechanism structure compactness, the efficient height uses a drive motors just can realize the walking of robot, and the robot hanging wire that the electric pushrod of hanging wire can handled easily person and the work of rolling off the production line.
Description of drawings
Fig. 1 is a hanging wire Drive Structure schematic diagram of the present invention (front view);
Fig. 2 is a hanging wire Drive Structure schematic diagram of the present invention (rearview);
The structural representation that Fig. 3 matches with other mechanisms for baffle plate of the present invention.
Label declaration:
1, driving gear 2, first driven gear
3, bakelite fixed pulley 4, through wires hole (cabling that is used for the robot interior circuit)
5, industrial cover plate (about each) 6, first carrier gear
7, power transmission line 8, drive motors
9, regulating wheel 10, electric pushrod
11, regulating wheel support 12, overhead gage
13, lower baffle plate 14, body
15, second driven gear 16, the 3rd driven gear
17, second carrier gear
Embodiment
The present invention is further illustrated below in conjunction with the drawings and specific embodiments.
Shown in Fig. 1,2 and 3, a kind of line hanging driving mechanism of deicing robot comprises body 14, drive motors 8, driving gear 1, first driven gear 2, second driven gear 15, the 3rd driven gear 16, first carrier gear 6, second carrier gear 17, electric pushrod 10, regulating wheel 9 and tension pulley lever 11; Described drive motors 8, first driven gear 2, second driven gear 15, the 3rd driven gear 16, first carrier gear 6, second carrier gear 17, electric pushrod 10 and tension pulley lever 11 are installed on the described body 14; Described first driven gear 2, second driven gear 15, the 3rd driven gear 16 are arranged on the below of described driving gear 1 along same horizontal direction; Described drive motors 8 drives described driving gear 1, and described driving gear 1 drives described first driven gear 2; Described first carrier gear 6, second carrier gear 17 are arranged on the below of described first driven gear 2, second driven gear 15, the 3rd driven gear 16, and described first driven gear 2 drives second driven gear 15 and the 3rd driven gear 16 respectively by described first carrier gear 6 and second carrier gear 17; Described regulating wheel 9 is a plurality of and is installed on the tension pulley lever 11, described tensioning bracing frame 11 is connected (being driven by electric pushrod) with described electric pushrod 10, a plurality of described regulating wheels 9 are arranged on described first driven gear 2, second driven gear 15, the 3rd driven gear 16 belows, the outer ring of described first driven gear 2, second driven gear 15, the 3rd driven gear 16 is equipped with a circle gathering sill, and a plurality of described regulating wheels 9 upwards push up overhead wire 7 to described gathering sill.
Described driving gear 1, first driven gear 2, second driven gear 15, the 3rd driven gear 16, first carrier gear 6 and second carrier gear 17 all adopt the rubber material, the motion that has guaranteed robot is non-slip, and there is perforation the centre, has alleviated the weight of deicing robot.
But this mechanism also comprises 2 baffle plates (being lower baffle plate 13) that are used to protect the folding of robot interior mechanism, and described baffle plate is connected with described electric pushrod 10.
The invention provides a kind of new line hanging driving mechanism that is used for deicing robot, this mechanism possesses power transmission line is stepped up and loosens structure.This device has been realized hanging wire and has been driven combining of two kinds of functions, is driven by driving gear, and the driven gear that drives under it rotates, and driven gear drives carrier gear again, thus two driven gears about having realized driving.As shown in Figure 2, under the promotion of electric pushrod, the regulating wheel supporting band regulating wheel and is moved upward, thereby power transmission line is stuck between driven gear and the regulating wheel, thereby has realized the hanging wire of deicing robot and driven function.When deicing robot rolled off the production line, under the promotion of electric pushrod, the regulating wheel supporting band regulating wheel and is moved downward, and had realized the lax of deicing robot and power transmission line, thereby had made things convenient for the roll off the production line work of operating personnel to deicing robot.Shown in Figure 3, be when on transmission line, moving at deicing robot, electric pushrod moves upward, and drives lower baffle plate upwards, and lower baffle plate closes up in the realization, has avoided the influence of outer bound pair robot driving device.
Claims (3)
1. the line hanging driving mechanism of a deicing robot, it is characterized in that, comprise body, drive motors, driving gear, first driven gear, second driven gear, the 3rd driven gear, first carrier gear, second carrier gear, electric pushrod, regulating wheel and tension pulley lever; Described drive motors, first driven gear, second driven gear, the 3rd driven gear, first carrier gear, second carrier gear, electric pushrod and tension pulley lever are installed on the described body; Described first driven gear, second driven gear, the 3rd driven gear are arranged on the below of described driving gear along same horizontal direction; Described drive motors drives described driving gear, and described driving gear drives described first driven gear; Described first carrier gear, second carrier gear are arranged on the below of described first driven gear, second driven gear, the 3rd driven gear, and described first driven gear drives second driven gear and the 3rd driven gear respectively by described first carrier gear and second carrier gear; Described regulating wheel is a plurality of and is installed on the tension pulley lever that described tensioning bracing frame is connected with described electric pushrod; A plurality of described regulating wheels are arranged on described first driven gear, second driven gear, the 3rd driven gear below, the outer ring of described first driven gear, second driven gear, the 3rd driven gear is equipped with a circle gathering sill, and a plurality of described regulating wheels upwards push up overhead wire to described gathering sill.
2. the line hanging driving mechanism of deicing robot according to claim 1 is characterized in that, described driving gear, first driven gear, second driven gear, the 3rd driven gear, first carrier gear and second carrier gear all adopt the rubber material.
3. the line hanging driving mechanism of deicing robot according to claim 1 is characterized in that, also comprises 2 baffle plates that are used to protect robot interior mechanism, but is respectively the lower baffle plate of overhead gage and folding, and lower baffle plate is connected with described electric pushrod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100435816A CN101572395B (en) | 2009-06-03 | 2009-06-03 | Line hanging driving mechanism of deicing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100435816A CN101572395B (en) | 2009-06-03 | 2009-06-03 | Line hanging driving mechanism of deicing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101572395A CN101572395A (en) | 2009-11-04 |
| CN101572395B true CN101572395B (en) | 2011-03-23 |
Family
ID=41231665
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009100435816A Expired - Fee Related CN101572395B (en) | 2009-06-03 | 2009-06-03 | Line hanging driving mechanism of deicing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101572395B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101777743B (en) * | 2010-03-30 | 2011-11-30 | 湖南大学 | Intelligent robot for removing ice in high-voltage transmission line |
| FI124261B (en) | 2012-09-20 | 2014-05-30 | Global Boiler Works Oy | A method and apparatus for removing material from a transmission line |
| WO2018041231A1 (en) * | 2016-08-31 | 2018-03-08 | 北京术锐技术有限公司 | Flexible surgical instrument and driving unit thereof |
-
2009
- 2009-06-03 CN CN2009100435816A patent/CN101572395B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN101572395A (en) | 2009-11-04 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110323 Termination date: 20210603 |