CN103661658A - Inspection robot mechanism for series compensation device - Google Patents
Inspection robot mechanism for series compensation device Download PDFInfo
- Publication number
- CN103661658A CN103661658A CN201210330981.7A CN201210330981A CN103661658A CN 103661658 A CN103661658 A CN 103661658A CN 201210330981 A CN201210330981 A CN 201210330981A CN 103661658 A CN103661658 A CN 103661658A
- Authority
- CN
- China
- Prior art keywords
- frame
- finishing bevel
- bevel gear
- inspection robot
- gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The invention relates to a mobile robot mechanism, in particular to an inspection robot mechanism for a series compensation device. The inspection robot mechanism for the series compensation device is designed on the basis of the differential type principle, and comprises a car body, a first rack, driving mechanisms, rotating reset mechanisms and walking wheels. Each driving mechanism comprises a motor and a differential mechanism, and each rotating reset mechanism comprises a spring, a groove and a cam. The first rack is hinged to the car body. The motors are installed on the first rack. The walking wheels located on the two sides of the car body are driven by the differential mechanisms to achieve rectilinear motion or corner turning motion. The grooves are formed in the first rack. One end of each spring is connected with the corresponding cam which is always located inside the corresponding groove, and the other end of each spring is connected with the car body. According to the inspection robot mechanism for the series compensation device, the front end and the rear end of the car body are provided with the driving mechanisms and the rotating reset mechanisms respectively, the driving mechanisms drive the walking wheels through the differential mechanisms to achieve the rectilinear motion or the corner turning motion, and meanwhile the inspection robot mechanism has the reset function and has better motion characteristics.
Description
Technical field
The present invention relates to mobile robot mechanism, specifically a kind of string based on differential type principle design is mended device inspection robot mechanism.
Background technology
The series compensation platform that 500kV controlled series compensation device is maximum as maximum, the specified Lifting Coefficients of the highest, the controlled capacity of whole world controlled series compensation degree, valve rated voltage is the highest, in order to investigate in time hidden danger, raising equipment in-use performance, needs regularly string to be mended to device and patrols and examines.Current patrol and examine general employing manual type, by patrolling and examining, workman adopts range estimation on ground or the periphery along platform rail checks item by item by equipment such as glasss; Manual inspection mode exists patrols and examines that visual angle is limited, to patrol and examine operation labor intensity large, and is difficult to guarantee to patrol and examine the problems such as quality; Therefore need development string to mend device crusing robot and replace manually go here and there the operation of patrolling and examining of mending device, improve the safe operation of patrolling and examining efficiency, guaranteeing string benefit device.At present, the robot of patrolling and examining for ultra-high voltage environment mainly comprises Jun Sawada, Kazuyuki Kusumoto, et a1.A Mobi le Robot for Inspection of Power Transmissi 0n Lines[AI.IEEE transactions of Power De1ivery, 1991.6 (1) .309～315, POULIOT, N, MONTAMBAULT, S.LineScout Technology:From inspection to robotic maintenance on live transmission power lines[C] Robotics and Automation, 2009.ICRA ' 09.IEEE International Conference on, pp.1034-1040, 12-17May 2009, WU Gongping, ZHENG Tuo, XIAO Hua, et al.Navigation, location and non-collision obstacles overcoming for high-voltage power transmission-line inspection robot[C] //Mechatronics and Automation, 2009.ICMA2009.International Conference, pp.2014-2020,9-12Aug.2009. but above-mentioned these robots are patrolled and examined mainly for extra high voltage network, not can be used for the robot system that 500kV controlled series compensation device is patrolled and examined.
Summary of the invention
In order to realize patrolling and examining of 500kV controlled series compensation device, the object of the present invention is to provide a kind of string to mend device inspection robot mechanism.
The object of the invention is to be achieved through the following technical solutions:
The present invention includes car body, the first frame, driver train, spinning reduction mechanism and road wheel, wherein driver train comprises motor and diff, spinning reduction mechanism comprises spring, groove and cam, described the first frame and car body are hinged, motor is arranged in the first frame, by diff, drives the road wheel that is positioned at car body both sides to realize straight-line motion or turning motion; Described groove is arranged in the first frame, and one end of spring is connected with the cam that is positioned at all the time groove, and the other end of spring is connected with car body.
Wherein: described diff is bevel differential, comprise the first finishing bevel gear cuter, the second finishing bevel gear cuter, third hand tap gear and the second frame, the gear wheel shaft of first and third finishing bevel gear cuter is rotatably installed in respectively in the first frame, and gear wheel shaft one end of first and third finishing bevel gear cuter is respectively equipped with first and third finishing bevel gear cuter, the other end is connected with respectively road wheel; The gear wheel shaft of described the second frame and first and third finishing bevel gear cuter is rotationally connected respectively, and the gear wheel shaft of the second finishing bevel gear cuter is rotatably installed in the second frame, and the second finishing bevel gear cuter is meshed with first and third finishing bevel gear cuter respectively; Described the second frame is connected with the output shaft of motor by driving device; Described driving device comprises the first gear and the second gear, and wherein the first gear is arranged on the output shaft of motor, and the second gear is rotatably installed on the gear wheel shaft of described the first finishing bevel gear cuter and is meshed with the first gear, and described the second frame and the second gear are affixed; The centerline collineation of described first and third finishing bevel gear cuter gear wheel shaft; Described the first finishing bevel gear cuter is identical with the number of teeth of third hand tap gear; The external peripheral surface of described road wheel is provided with race; Described driver train is two, i.e. the first driver train and the second driver train are arranged on respectively the rear and front end of car body by the first frame separately, and each driver train all drives two road wheels that are positioned at car body both sides; The support portion material of described road wheel inside is aluminum alloy, and the outside contact part material contacting with track is polyurethane.
Advantage of the present invention and good effect are:
1. the present invention is all provided with driver train and spinning reduction mechanism in car body rear and front end, and driver train is realized straight-line motion or turning motion by diff ground-engaging wheel, has reset function concurrently simultaneously, has good motion characteristics.
2. track is adaptable; The present invention can independently adapt to straight line and turning walking states, and adaptable track curvature scope is wide.
3. stability and resistance to abrasion are good; Road wheel of the present invention has adopted aluminium base and structure polyurethane combined wheels, has guaranteed the stability of car body walking, has improved the resistance to abrasion of road wheel.
4. security protection is good; Road wheel of the present invention adopts wheel groove design, and in the process of walking, road wheel is limited on track and walks inspection robot mechanism, can play the effect of safety guard-safeguard.
5. applied range; The present invention is applicable to the operation of patrolling and examining of controlled series compensation device particular surroundings, also can be used as the robot mechanism that under ultra-high voltage environment, ground installation is patrolled and examined.
Accompanying drawing explanation
Fig. 1 is integral structure schematic diagram of the present invention;
Fig. 2 is structure principle chart of the present invention;
Fig. 3 is the internal view of road wheel of the present invention;
Wherein: 1 is the first driver train, 2 is the second driver train, 3 is the first spinning reduction mechanism, 4 is the second spinning reduction mechanism, 5 is the first row travelling wheel, 6 is the second road wheel, 7 is the third line travelling wheel, 8 is fourth line travelling wheel, 9 is car body, 10 is track, 11 is motor, 12 is the first gear, 13 is the first frame, 14 is the second gear, 15 is the first finishing bevel gear cuter, 16 is the second finishing bevel gear cuter, 17 is third hand tap gear, 18 is left half axle, 19 is right axle shaft, 20 is the second frame, 21 is spring, 22 is groove, 23 is cam, 24 is support portion, 25 is contact part.
The specific embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Figure 1 and Figure 2, the present invention includes car body 9, the first frame 13, driver train, spinning reduction mechanism and road wheel, wherein the below of car body 9 rear and front ends is hinged with respectively the first frame 13, driver train and spinning reduction mechanism are two, i.e. the first driver train 1, the second driver train 2, the first spinning reduction mechanism 3 and the second spinning reduction mechanism 4; Road wheel has two groups, totally four, i.e. the first row travelling wheel 5, the second road wheel 6, the third line travelling wheel 7 and fourth line travelling wheel 8.
The first driver train 1 comprises motor 11 and diff, the first spinning reduction mechanism comprises spring 21, groove 22 and cam 23, motor 11 is fixed in the first frame 13, with the first frame 13 interlocks, and motor 11 drives the first row travelling wheel 5 and the second road wheel 6 that are positioned at car body 9 both sides to realize straight-line motion or turning motion by diff; Described groove 22 is fixed in the first frame 13, with the first frame 13 interlocks, and one end of spring 21 is connected with the cam 23 that is positioned at all the time groove 22, and the other end of spring 21 is connected with car body 9.The diff of the present embodiment is bevel differential, comprise the first finishing bevel gear cuter 15, the second finishing bevel gear cuter 16, third hand tap gear 17 and the second frame 20, wherein the gear wheel shaft of first and third finishing bevel gear cuter 15,17 is rotatably installed in respectively in the first frame 13, and the centerline collineation of first and third finishing bevel gear cuter 15,17 gear wheel shafts, the first finishing bevel gear cuter 15 is identical with the number of teeth of third hand tap gear 17; The gear wheel shaft of the first finishing bevel gear cuter 15 (being right axle shaft 19) one end connects the first finishing bevel gear cuter 15, and gear wheel shaft (being left half axle 18) one end that the other end connects the second road wheel 6, the third hand tap gears 17 connects third hand tap gear 17, and the other end connects the first row travelling wheel 5; Described the second frame 20 is rotationally connected with right axle shaft 19 with left half axle 18 respectively and the second frame 20 is connected with the output shaft of motor 11 by driving device, the gear wheel shaft of the second finishing bevel gear cuter 16 is rotatably installed in the second frame 20, and the second finishing bevel gear cuter 16 is meshed with first and third finishing bevel gear cuter 15,17 respectively.
Driving device comprises the first gear 12 and the second gear 14, and wherein the first gear 12 is arranged on the output shaft of motor 11, and the second gear 14 is rotatably installed on right axle shaft 19 and with the first gear 12 and is meshed, and the second frame 20 and the second gear 14 are affixed.
The second driver train 2 is identical with the mechanism configuration of the first driver train 1, and the second spinning reduction mechanism 4 is identical with the mechanism configuration of the first spinning reduction mechanism 3, therefore repeat no more.
Principle of work of the present invention is:
The present invention is based on differential type principle design, can realize straight line moving and the turning function of inspection robot mechanism on track 10.
Each driver train all drives two road wheels to rotate by a motor 11.Motor 11 in the first driver train 1 is by engaged transmission, driving second frame 20 of the first gear 12 and the second gear 14, the second frame 20 motions drive the second finishing bevel gear cuter 16 to rotate around horizontal axis (line of centers of left and right half) direction, the second finishing bevel gear cuter 16 drives first and third finishing bevel gear cuter 15,17 synchronously to rotate in the same way, and then drives the first row travelling wheel 5 and the second road wheel 6 to move on track 10 by left half axle 18 and right axle shaft 19.The second driver train 2 is identical with the mechanism configuration of the first driver train 1, by the first row travelling wheel 5, the second road wheel 6, the third line travelling wheel 7 and fourth line travelling wheel 8 associated movements, realizes the straight-line motion of inspection robot mechanism on track 10.
When inspection robot mechanism runs to the turning at track 10, because the first row travelling wheel 5 is different with the speed of travel of the second road wheel 6, the first row travelling wheel 5 drives third hand tap gear 17 to rotate by left half axle 18, the second road wheel 6 drives the first finishing bevel gear cuter 15 to rotate by right axle shaft 19, third hand tap gear 17 and the first finishing bevel gear cuter 15 rotate with different speed, therefore the second finishing bevel gear cuter 16, also around the centerline direction rotation perpendicular to left and right half when the centerline direction of left and right half rotates, is realized the differential motion of the first row travelling wheel 5 and the second road wheel 6.The second driver train 2 is identical with the mechanism configuration of the first driver train 1, when the first row travelling wheel 5, the second road wheel 6 and the third line travelling wheel 7, fourth line travelling wheel 8 are during in different turn radius, due to respectively, by different driving mechanism controls, therefore realize the turning motion of inspection robot mechanism.
When the first row travelling wheel 5 of inspection robot mechanism and the line of centers of the left and right half of the second road wheel 6 are when parallel with car body 9, the lowermost end of cam 23 in groove 22, spring 21 is in the state of not being stretched or compressed; When inspection robot mechanism is during in turn condition, the line of centers of left and right half and car body 9 have certain angle, and cam 23, by the lowermost end of groove 22 along cell wall upward sliding, makes spring 21 in compressive state so.When inspection robot mechanism is got back to straight line moving state by turn condition, because the compression of spring 21 makes cam 23, come back to the lowermost end of groove 22, so the line of centers of the first row travelling wheel 5 and the left and right half of the second road wheel 6 is parallel with car body 9 again.The second spinning reduction mechanism 4 is identical with the mechanism configuration of the first spinning reduction mechanism 3, can drive separately that to realize the line of centers of the third line travelling wheel 7 and the left and right half of fourth line travelling wheel 8 parallel with car body 9; Therefore, when inspection robot mechanism travels to linear state by turn condition, state when every group of road wheel of inspection robot mechanism can be got back to straight line moving automatically.
Claims (8)
1. a string is mended device inspection robot mechanism, it is characterized in that: comprise car body (9), the first frame (13), driver train, spinning reduction mechanism and road wheel, wherein driver train comprises motor (11) and diff, spinning reduction mechanism comprises spring (21), groove (22) and cam (23), described the first frame (13) is hinged with car body (9), it is upper that motor (11) is arranged on the first frame (13), by diff, drives the road wheel that is positioned at car body (9) both sides to realize straight-line motion or turning motion; It is upper that described groove (22) is arranged on the first frame (13), and one end of spring (21) is connected with the cam (23) that is positioned at all the time groove (22), and the other end of spring (21) is connected with car body (9).
2. by string claimed in claim 1, mend device inspection robot mechanism, it is characterized in that: described diff is bevel differential, comprise the first finishing bevel gear cuter (15), the second finishing bevel gear cuter (16), third hand tap gear (17) and the second frame (20), wherein the gear wheel shaft of first and third finishing bevel gear cuter (15,17) is rotatably installed in respectively in the first frame (13), and gear wheel shaft one end of first and third finishing bevel gear cuter (15,17) is respectively equipped with first and third finishing bevel gear cuter (15,17), and the other end is connected with respectively road wheel; Described the second frame (20) is rotationally connected respectively with the gear wheel shaft of first and third finishing bevel gear cuter (15,17), it is upper that the gear wheel shaft of the second finishing bevel gear cuter (16) is rotatably installed in the second frame (20), and the second finishing bevel gear cuter (16) is meshed with first and third finishing bevel gear cuter (15,17) respectively; Described the second frame (20) is connected with the output shaft of motor (11) by driving device.
3. by string claimed in claim 2, mend device inspection robot mechanism, it is characterized in that: described driving device comprises the first gear (12) and the second gear (14), wherein the first gear (12) is arranged on the output shaft of motor (11), the second gear (14) is rotatably installed on the gear wheel shaft of described the first finishing bevel gear cuter (15) and is meshed with the first gear (12), and described the second frame (20) is affixed with the second gear (14).
4. by string claimed in claim 2, mend device inspection robot mechanism, it is characterized in that: the centerline collineation of described first and third finishing bevel gear cuter (15,17) gear wheel shaft.
5. by string claimed in claim 2, mend device inspection robot mechanism, it is characterized in that: described the first finishing bevel gear cuter (15) is identical with the number of teeth of third hand tap gear (17).
6. by the string described in claim 1 or 2, mend device inspection robot mechanism, it is characterized in that: the external peripheral surface of described road wheel is provided with race.
7. by string claimed in claim 1, mend device inspection robot mechanism, it is characterized in that: described driver train is two, i.e. the first driver train (1) and the second driver train (2), by the first frame (13) separately, be arranged on respectively the rear and front end of car body (9), each driver train all drives two road wheels that are positioned at car body (9) both sides.
8. by string claimed in claim 1, mend device inspection robot mechanism, it is characterized in that: support portion (24) material of described road wheel inside is aluminum alloy, outside contact part (25) material contacting with track (10) is polyurethane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210330981.7A CN103661658B (en) | 2012-09-10 | 2012-09-10 | A kind of string mends device inspection robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210330981.7A CN103661658B (en) | 2012-09-10 | 2012-09-10 | A kind of string mends device inspection robot mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103661658A true CN103661658A (en) | 2014-03-26 |
| CN103661658B CN103661658B (en) | 2015-12-30 |
Family
ID=50300717
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210330981.7A Active CN103661658B (en) | 2012-09-10 | 2012-09-10 | A kind of string mends device inspection robot mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103661658B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114088735A (en) * | 2021-12-16 | 2022-02-25 | 深圳供电局有限公司 | Multi-section type guide rail robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101307823A (en) * | 2008-07-10 | 2008-11-19 | 哈尔滨工业大学 | Separating speed differential gear for detection vehicle |
| CN102211627A (en) * | 2011-04-27 | 2011-10-12 | 浙江大学 | Four-leg robot mechanism based on bionic design |
| CN202268648U (en) * | 2011-10-27 | 2012-06-06 | 温县供电有限责任公司 | Inspection robot for high-voltage line |
| CN202782681U (en) * | 2012-09-10 | 2013-03-13 | 中国科学院沈阳自动化研究所 | Series compensation device inspection robot mechanism |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1462628A1 (en) * | 1987-07-14 | 1991-03-30 | Предприятие П/Я Г-4562 | Transport robot |
-
2012
- 2012-09-10 CN CN201210330981.7A patent/CN103661658B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101307823A (en) * | 2008-07-10 | 2008-11-19 | 哈尔滨工业大学 | Separating speed differential gear for detection vehicle |
| CN102211627A (en) * | 2011-04-27 | 2011-10-12 | 浙江大学 | Four-leg robot mechanism based on bionic design |
| CN202268648U (en) * | 2011-10-27 | 2012-06-06 | 温县供电有限责任公司 | Inspection robot for high-voltage line |
| CN202782681U (en) * | 2012-09-10 | 2013-03-13 | 中国科学院沈阳自动化研究所 | Series compensation device inspection robot mechanism |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114088735A (en) * | 2021-12-16 | 2022-02-25 | 深圳供电局有限公司 | Multi-section type guide rail robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103661658B (en) | 2015-12-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106786136B (en) | Planet gear type Bian Bao moving mechanisms | |
| CN105966495B (en) | Orthogonal two-way truck and its control method | |
| CN103661651B (en) | A kind of have the small-sized search and rescue robot cutting off obstacle function | |
| CN209757322U (en) | Chassis of automatic guided vehicle and automatic guided vehicle | |
| CN101752818A (en) | Driving mechanism for automatically deicing robot along overhead high voltage transmission line | |
| CN103862456A (en) | Walking clamping combined structure for inspection robot | |
| CN103659815A (en) | Routing inspection robot mechanism applicable to narrow routing inspection working space | |
| CN108639149B (en) | Full steering mechanism of pipe rack inspection trolley | |
| CN102758549A (en) | Carrying mechanism of tyred flow intelligent parking robot | |
| CN202668554U (en) | Driving mechanism assembly for stretching and swinging of arm of robot | |
| CN202763841U (en) | Inspection robot mechanism suitable for narrow inspection working space | |
| CN205415599U (en) | Robot device with clamping function | |
| CN110843957A (en) | Agricultural robot platform with lifting hand and working method thereof | |
| CN202782681U (en) | Series compensation device inspection robot mechanism | |
| CN204472889U (en) | A kind of original place rotates and cross running car wheel structure | |
| CN103661658A (en) | Inspection robot mechanism for series compensation device | |
| CN205419692U (en) | Operation device with turn to function | |
| CN114770553B (en) | Intelligent inspection robot for cable tunnel | |
| CN107719513A (en) | A kind of cross-country vehicle chassis component and robot assembly | |
| CN216185450U (en) | Four-wheel-drive four-rotation steering system for chassis | |
| CN201381666Y (en) | Vehicle carrier | |
| CN110509738A (en) | Six degree of freedom series connection branch leg based on ground surface blockage | |
| CN103895724A (en) | Travelling and clamping mechanism of differential double-clamping-jaw inspection robot | |
| CN206600034U (en) | Adaptive fixed U-shaped moves car system | |
| CN106114474B (en) | A kind of anti-automobile immersion robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | 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 |