CN104362547B - A kind of inspection robot and its folding wheel are grabbed - Google Patents
A kind of inspection robot and its folding wheel are grabbed Download PDFInfo
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- CN104362547B CN104362547B CN201410706080.2A CN201410706080A CN104362547B CN 104362547 B CN104362547 B CN 104362547B CN 201410706080 A CN201410706080 A CN 201410706080A CN 104362547 B CN104362547 B CN 104362547B
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- 238000007689 inspection Methods 0.000 title claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 230000009194 climbing Effects 0.000 claims description 14
- 230000033001 locomotion Effects 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims description 4
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 claims description 2
- 239000010931 gold Substances 0.000 claims description 2
- 229910052737 gold Inorganic materials 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007598 dipping method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011089 mechanical engineering Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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Abstract
The invention discloses a kind of folding wheel to grab, including two folding columns (12) that are vertical and be arrangeding in parallel, and positioned at two folding columns (12) inner sides and the folding wheel (1) that walking is rolled on wire (7) can be realized after merging respectively；It can drive two folding columns (12) relatively or move towards, be connected with realizing two folding wheels (1) merging or separated folding guider (13) and providing the folding driving mechanism (14) of power needed for the folding guider (13).The folding wheel, which is grabbed, also to be included below the wire (7) and can be brought into close contact with the wire (7) and roll the contact roller (2) of walking.The invention also discloses a kind of inspection robot grabbed including above-mentioned folding wheel.Above-mentioned inspection robot, it can be walked on ultra-high-tension power transmission line and cross the obstacle on circuit.
Description
Technical field
The present invention relates to mechanical engineering technical field, more particularly to a kind of folding wheel is grabbed.The invention further relates to one kind to have
The inspection robot that the folding wheel is grabbed.
Background technology
With the fast development of economic construction of China, market for the demand of inspection robot grabbed with folding wheel increasingly
Increase.
It is known that ultra-high-tension power transmission line is higher apart from ground, is often not suitable for operating personnel and is detected, therefore, I
Need to design a kind of equipment that can be walked on transmission line of electricity, this equipment is referred to as inspection robot by us.In addition, by
In generally requiring the line hardwares such as installation interval rod or stockbridge damper on ultra-high-tension power transmission line, therefore, inspection robot is possessing
While walking function, should also possess the ability of certain leaping over obstacles.
Therefore, how to realize that the ability that inspection robot possesses leaping over obstacles is that those skilled in the art need to solve at present
Technical problem.
The content of the invention
It is an object of the invention to provide a kind of folding wheel to grab, the folding wheel grab can solve inspection robot can not obstacle detouring
Problem.It is a further object of the present invention to provide a kind of inspection robot grabbed including above-mentioned folding wheel.
To achieve the above object, the present invention provides a kind of folding wheel and grabbed, including two foldings that are vertical and be arrangeding in parallel
Column, and positioned at two folding columns inner sides and the rolling walking on wire can be realized after merging respectively
Folding wheel；Two folding columns can be driven relative or moved towards, to realize that two folding wheels merge or separated
Folding guider be connected with providing the folding driving mechanism of power needed for the folding guider；The folding is oriented to dress
Put including output armshaft, connecting plate and fixed block；
The output shaft of folding driving mechanism is perpendicular to folding column and positioned at the centre position of two pieces of folding column bottoms；
Armshaft is exported described in the output axis connection, the hole exported among armshaft can match somebody with somebody with the folding driving mechanism output shaft
Close, and the output armshaft is symmetrical arranged for left and right ends；The left and right ends of the output armshaft have been respectively articulated with connecting plate；
The other end of the connecting plate is horizontal to be hinged on the fixed block, and the fixed block is fixed on the bottom of the folding column
Portion；Two pieces of folding columns are arranged through positioned at two pieces of folding column bottoms, above the output armshaft
Fixing axle.
Preferably, the folding wheel, which is grabbed, also includes below the wire and can be brought into close contact simultaneously with the wire
Roll the contact roller of walking.
Preferably, the contact roller is arranged on support frame, to adjust the height adjuster of support frame as described above height
It is connected with support frame as described above.
Preferably, the motor that the folding wheel can be controlled to rotate or stop is additionally provided with the folding column.
The present invention also provides a kind of inspection robot, there is folding wheel to grab, the folding wheel is grabbed as described in any of the above-described
Folding wheel grab.
Be preferably located at the top of the folding wheel, be additionally provided with the inside of the folding column it is described with that can accommodate
The climbing of the groove of wire is grabbed, and the latch segment for preventing the wire from grabbing upper landing from the climbing.
Relative to above-mentioned background technology, folding wheel provided by the present invention is grabbed, including two vertical and be arranged in parallel
Folding column, and positioned at two folding columns inner sides and the folding walked on wire can be realized after merging respectively
Wheel；Two folding columns can be driven relative or be moved together to realize that two folding wheels merge or separated folding is oriented to dress
Put, be connected with providing the folding driving mechanism of power needed for folding guider.The folding wheel set in this way is grabbed,
The folding wheel walked on wire can realize folding；When there is barrier on wire, folding wheel separates, to break the barriers；
After breaking the barriers, folding wheel merges, and can continue to walk on wire.So, grabbed using folding wheel just real
The ability of leaping over obstacles is showed
Brief description of the drawings
The structural representation that Fig. 1 is grabbed by the folding wheel that the embodiment of the present invention provides；
Fig. 2 is the structural representation of Fig. 1 another angle；
Fig. 3 is folding wheel, the structural representation of folding guider and folding driving mechanism in Fig. 1；
Fig. 4 is contact roller, the structural representation of support frame and height adjuster in Fig. 1；
Fig. 5 is Fig. 4 structural representation faced；
Fig. 6 is by the latch segment of inspection robot that the embodiment of the present invention provides, climbing is grabbed, folding wheel and folding column
Structural representation.
Embodiment
The core of the present invention is to provide a kind of folding wheel and grabbed, and the folding wheel, which is grabbed, can realize inspection robot obstacle detouring；This hair
Bright another core is to provide a kind of inspection robot grabbed including above-mentioned folding wheel.
In order that those skilled in the art more fully understand the present invention program, below in conjunction with the accompanying drawings and it is embodied
The present invention is described in further detail for mode.
It refer to Fig. 1 to Fig. 6, the structural representation that Fig. 1 is grabbed by the folding wheel that the embodiment of the present invention provides；Fig. 2 is Fig. 1
Another angle structural representation；Fig. 3 is folding wheel in Fig. 1, the structure of folding guider and folding driving mechanism
Schematic diagram；Fig. 4 is contact roller, the structural representation of support frame and height adjuster in Fig. 1；Fig. 5 is facing for Fig. 4
Structural representation；Fig. 6 is by the latch segment of inspection robot that the embodiment of the present invention provides, climbing is grabbed, folding wheel and folding
The structural representation of column.
Folding wheel provided by the present invention is grabbed, including two folding columns 12 that are vertical and be arrangeding in parallel, at each
The inner side of folding column 12 is provided with folding wheel 1；The two folding wheels 1 can roll walking on wire 7 after merging；This
Outside, folding guider 13 controls the relative of folding column 12 or moved towards, when folding column 12 relatively moves, two foldings
Wheel 1, which is realized, to be merged；When folding column 12 moves towards, two folding wheels 1, which are realized, to be separated；In addition, folding driving mechanism 14 provides
Power needed for folding guider 13, and folding driving mechanism 14 is connected with folding guider 13.
The purpose so set is, provides power using folding driving mechanism 14 so that folding guider 13 controls
Two pieces of folding columns 12 relative moves towards, so as to realize the merging of two folding wheels 1 positioned at the inner side of folding column 12
Or separate.
In the present embodiment, folding guider 13 includes output armshaft, connecting plate and fixed block.
Herein, the output shaft of folding driving mechanism 14 perpendicular to folding column 12 and is located at two pieces of folding columns 12
The centre position of bottom；The output axis connection output shaft arm of folding driving mechanism 14, the hole exported among armshaft can be with folding
The output shaft of drive device 14 coordinates, and exports armshaft and be symmetrical arranged for left and right ends.In the left and right ends point of output armshaft
Connecting plate is not hinged with it.The other end of connecting plate is horizontal to be hinged on fixed block, and fixed block is fixed on the bottom of folding column 12
Portion.In addition, it is arranged through the fixations of two pieces of folding columns 12 two pieces of bottoms of folding column 12, above output armshaft
Axle.
So, when folding driving mechanism 14 rotates, output armshaft rotation is driven, the rotation for exporting armshaft drives company
Fishplate bar so that two pieces of fixed blocks rotation that two pieces of connecting plates are hinged, and fixed block is fixed on folding column 12, additionally due to
Folding column 12, can only be along the axial movement of fixing axle by the fixation of fixing axle；That is, under the drive of fixed block,
Two pieces of folding columns 12 can only be relative or moved towards, so as to realize the folding of two folding wheels 1 on folding column 12.
When two folding wheels 1 need to separate, folding driving mechanism 14 is rotated so that the both ends for exporting armshaft are located exactly at
The inner side of two pieces of folding columns 12, the spacing of such two pieces of folding columns 12 are maximum；When two folding wheels 1 need to merge, open
Close drive device 14 to rotate so that the line between output armshaft both ends is parallel with two pieces of folding columns 12, at this moment two pieces of foldings
The spacing of column 12 is minimum, realizes the merging of two folding wheels 1.
After two folding wheels 1 merge, it can realize and walking is rolled on wire 7；If gold utensil etc. is installed on wire 7
Equipment, when needing avoiding obstacles, two folding wheels 1 are moved towards by the folding column 12 where respective, so as to two realities
Existing folding wheel 1 separates；Now, the gap between two folding wheels 1 can avoiding obstacles, surmount obstacles.After surmounting obstacles,
Two folding wheels 1 are merged by the relative movement of folding column 12, are continued to move along.
Certainly, folding driving mechanism 14 as described herein can be servomotor or steering wheel；In addition, folding is led
Multi-connecting-rod mechanism is could be arranged to device 13, it can also be provided that other mechanisms, as long as the phase of folding column 12 can be realized
Pair or move towards.
It can also include positioned at the lower section of wire 7 in addition, folding wheel is grabbed and can be brought into close contact with wire 7 and roll walking
Contact roller 2；And contact roller 2 is arranged on support frame 21.
So setting is advantageous in that, the height of support frame 21 is adjusted using height adjuster 25, so as to have adjusted position
In the height of the contact roller 2 of support frame 21, so that contact roller 2 can be fitted tightly over the lower section of wire 7.
In the present embodiment, height adjuster 25 includes motor, the first plate-shaped member and linkage.And linkage
Include the second plate-shaped member, column, output armshaft, height adjusting link part and vertical plate again.
Herein, support frame 21 is the flat board that one piece of both ends has projecting part, is installed respectively on the projecting part at both ends
Contact roller 2；The lower surface of support frame 21 is provided with hinge at one, and is articulated with the first plate-shaped member；Support frame 21 can be with
Hinge is that axle is rotated herein so that the height positioned at the contact roller 2 at the both ends of support frame 21 differs, to comply with wire 7
Dipping and heaving.
In addition, the electricity that height adjuster 25 herein includes linkage and drive link mechanism moves up and down
Machine, linkage are connected with the first plate-shaped member；Therefore, when linkage moves up and down, drive above and below the first plate-shaped member
It is mobile, so that support frame 21 moves up and down, it so just have adjusted the height of contact roller 2 on support frame 21.
Herein, the lower surface both ends for the first plate-shaped member that we are connected in the hinge with support frame 21 are respectively arranged with
Two root posts, groove being provided with the second plate-shaped member, the width of groove is equal to the distance between two root posts, so,
Second plate-shaped member can be put in from the lower end of two root posts, and at this moment two root posts are divided into two up and down by the second plate-shaped member
Point.Setting height(from bottom) is adjusted on one piece of vertical plate positioned at two root posts side of the lower surface of the second plate-shaped member setting, vertical plate
The motor of engagement positions 25；The axis of the output shaft of the motor of height adjuster 25 adjusts perpendicular to two root posts, and in height
The output shaft of the motor of device 25 is provided perpendicular to the output armshaft of output shaft axis, exports setting height(from bottom) adjustment bar on armshaft
Part, and be connected in the other end of height adjusting link part on the second rod member, the second rod member is fixedly connected with the end of two root posts.
Herein, height adjusting link part and output armshaft and the second rod member are be hinged, that is to say, that height adjusting link part can be defeated
Go out on armshaft or the second rod member the circular motion done.
So, when the motor of height adjuster 25 rotates, the output shaft of motor drives output armshaft rotation, and
Height adjusting link part is driven in vertical plane internal rotation；Due to the rotation of height adjusting link part so that the height change of the second rod member,
So as to adjust the height of two root posts, the height of contact roller 2 on final adjustment support frame 21.
Herein, the form of the linkage of height adjuster 25 is varied, as long as support frame 21 can be realized
Highly adjust.The other forms of linkage repeat no more herein.
In addition, the power resources of height adjuster 25 can be servomotor or steering wheel, it is no longer superfluous herein
State.
In addition, the motor 11 that folding wheel 1 can be controlled to rotate or stop is also provided with folding column 12；Namely
The rotation or stopping of folding wheel 1 are controlled using motor 11, walking is rolled on wire 7 so as to realize.
A kind of inspection robot grabbed with folding wheel provided by the present invention, including described by above-mentioned specific embodiment
Folding wheel is grabbed.
In addition, inspection robot also grabs 91 and latch segment 92 including climbing.Climbing grabs 91 and is located at the top of folding wheel 1, opens
Close the inner side of column 12；Climbing grabs 91 and is provided with the groove that can accommodate wire 7；And latch segment 92 grabs 91 top positioned at climbing,
It is closely coupled that 91 are grabbed with climbing, it is therefore an objective to prevent wire 7 from being slid out of climbing grabs 91 groove.
So, after two folding wheels 1 that folding wheel is grabbed separate, two folding wheels 1 are fallen from the both sides of wire 7,
And the latch segment 92 positioned at the top of folding wheel 1, the inner side of folding column 12 will be stuck on wire 7, inside latch segment 92
Groove accommodates wire 7, to prevent inspection robot from being dropped from wire 7；In addition, the top that 91 are grabbed positioned at climbing is provided with locking
Block 92, latch segment 92 are grabbed 91 with climbing and are brought into close contact, and so wire 7 just can be avoided to be skidded off above the groove of latch segment 92,
So as to prevent inspection robot from being dropped from wire 7.
Inspection robot provided by the present invention and its folding wheel are grabbed and be described in detail above.It is used herein
Specific case is set forth to the principle and embodiment of the present invention, and the explanation of above example is only intended to help and understands this
The method and its core concept of invention.It should be pointed out that for those skilled in the art, this hair is not being departed from
On the premise of bright principle, some improvement and modification can also be carried out to the present invention, these are improved and modification also falls into power of the present invention
In the protection domain that profit requires.
Claims (6)
1. a kind of folding wheel is grabbed, it is characterised in that including two folding columns (12) that are vertical and be arrangeding in parallel, and respectively
The folding wheel that walking is rolled on wire (7) on the inside of two folding columns (12) and can be realized after merging
(1)；Two folding columns (12) can be driven relative or moved towards, with realize two folding wheels (1) merge or
Separated folding guider (13) and folding driving mechanism (14) phase that power needed for the folding guider (13) is provided
Even；The folding guider (13) includes output armshaft, connecting plate and fixed block；
The output shaft of the folding driving mechanism (14) is stood perpendicular to the folding column (12) and positioned at two pieces of foldings
The centre position of post (12) bottom；Armshaft is exported described in the output axis connection, the hole exported among armshaft can be with institute
The cooperation of folding driving mechanism (14) output shaft is stated, and the output armshaft is symmetrical arranged for left and right ends；The output armshaft
Left and right ends be respectively articulated with connecting plate；The other end of the connecting plate is horizontal to be hinged on the fixed block, described solid
Determine the bottom that block is fixed on the folding column (12)；Positioned at two pieces of folding column (12) bottoms, positioned at the output shaft
The fixing axle of two pieces of folding columns (12) is arranged through above arm；
When the folding driving mechanism (14) rotates, output armshaft rotation is driven, the rotation for exporting armshaft drives connecting plate, made
Two pieces of fixed blocks rotation that two pieces of connecting plates are hinged is obtained, and fixed block is fixed on the folding column (12), additionally due to
The folding column (12), can only be along the axial movement of fixing axle by the fixation of fixing axle；That is, in the band of fixed block
Under dynamic, two pieces of folding columns (12) can only be relative or moved towards, so as to realize upper two of the folding column (12)
The folding of the folding wheel (1)；
When two folding wheels (1) need to separate, the folding driving mechanism (14) rotates so that exports the both ends of armshaft
The inner side of two pieces of folding columns (12) is located exactly at, the spacing of such two pieces of folding columns (12) is maximum；When two
When the folding wheel (1) needs to merge, the folding driving mechanism (14) rotates so that line between output armshaft both ends with
Two pieces of folding columns (12) are parallel, and at this moment the spacing of two pieces of folding columns (12) is minimum, realizes two foldings
Take turns the merging of (1)；
After two folding wheels (1) merge, it can realize and walking is rolled on wire (7)；If wire is provided with (7)
The equipment such as gold utensil, when needing avoiding obstacles, two folding wheels (1) pass through each where folding column (12) phase
To movement, so as to which two are realized that the folding wheel (1) separates；Now, the gap between two folding wheels (1) can be avoided
Barrier, surmount obstacles；After surmounting obstacles, relative movement that two folding wheels (1) pass through the folding column (12)
And merge, continue to move along.
2. folding wheel according to claim 1 is grabbed, it is characterised in that the folding wheel, which is grabbed, also to be included being located at the wire
(7) it can be brought into close contact below and with the wire (7) and roll the contact roller (2) of walking.
3. folding wheel according to claim 2 is grabbed, it is characterised in that the contact roller (2) is arranged on support frame (21),
It is connected to adjust the height adjuster (25) of support frame as described above (21) height with support frame as described above (21).
4. folding wheel according to claim 1 is grabbed, it is characterised in that is additionally provided with and can be controlled on the folding column (12)
Make the motor (11) that the folding wheel (1) rotates or stopped.
5. a kind of inspection robot, there is folding wheel to grab, it is characterised in that the folding wheel is grabbed as in the claims 1 to 4
Folding wheel described in any one is grabbed.
6. inspection robot according to claim 5, it is characterised in that positioned at the top of the folding wheel (1), described open
The climbing with the groove that can accommodate the wire (7) is additionally provided with the inside of conjunction column (12) and grabs (91), and is prevented described
Wire (7) grabs the latch segment (92) slid on (91) from the climbing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410706080.2A CN104362547B (en) | 2014-11-26 | 2014-11-26 | A kind of inspection robot and its folding wheel are grabbed |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410706080.2A CN104362547B (en) | 2014-11-26 | 2014-11-26 | A kind of inspection robot and its folding wheel are grabbed |
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| Publication Number | Publication Date |
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| CN104362547A CN104362547A (en) | 2015-02-18 |
| CN104362547B true CN104362547B (en) | 2018-01-26 |
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| CN201410706080.2A Active CN104362547B (en) | 2014-11-26 | 2014-11-26 | A kind of inspection robot and its folding wheel are grabbed |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105479432A (en) * | 2015-12-25 | 2016-04-13 | 天津梅迪亚科技有限公司 | Driving wheel device of inspection robot |
| CN105538337B (en) * | 2016-02-02 | 2017-06-06 | 哈尔滨工业大学 | A kind of high accuracy steel wire rope vertical-transmission joint |
| CN106272466A (en) * | 2016-09-15 | 2017-01-04 | 周珍芳 | High-voltage line climbing robot based on transfer arm obstacle detouring |
| CN108493832A (en) * | 2018-03-19 | 2018-09-04 | 洛阳理工学院 | A kind of cable car type line inspection device for high-tension bus-bar detection |
| CN109301753B (en) * | 2018-11-15 | 2019-07-23 | 山东科技大学 | It is a kind of along overhead transmission line walk climbing robot |
| CN112008687B (en) * | 2020-09-21 | 2022-04-19 | 中科开创（广州）智能科技发展有限公司 | Stay tower robot, cross tower bypass and robot system of patrolling and examining |
| CN113492409B (en) * | 2021-09-07 | 2021-11-23 | 国网瑞嘉(天津)智能机器人有限公司 | Line grabbing method and device for distribution network live working robot, electronic equipment and medium |
| CN115986624B (en) * | 2022-12-06 | 2024-08-13 | 江苏瑞禧智能电力科技有限公司 | Live working obstacle clearance robot for power transmission and distribution line |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103586861A (en) * | 2013-11-26 | 2014-02-19 | 国家电网公司 | Inspection robot |
| CN103863624A (en) * | 2014-04-02 | 2014-06-18 | 瑞安市智科包装机械有限公司 | Flareout device of bag packaging machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2463188A1 (en) * | 2004-04-15 | 2005-10-15 | Serge Montambault | Compact inspection and intervention vehicle that moves on a cable and can cross major obstacles |
| CN102751669B (en) * | 2012-07-27 | 2014-11-12 | 厦门大学 | Travelling mechanism of inspection robot for realizing obstacle crossing |
| CN202930832U (en) * | 2012-12-05 | 2013-05-08 | 山东电力集团公司电力科学研究院 | Line patrol robot for power transmission line |
| CN204271534U (en) * | 2014-11-26 | 2015-04-15 | 国网重庆市电力公司电力科学研究院 | A kind of inspection robot and folding wheel thereof are grabbed |
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2014
- 2014-11-26 CN CN201410706080.2A patent/CN104362547B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103586861A (en) * | 2013-11-26 | 2014-02-19 | 国家电网公司 | Inspection robot |
| CN103863624A (en) * | 2014-04-02 | 2014-06-18 | 瑞安市智科包装机械有限公司 | Flareout device of bag packaging machine |
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| CN104362547A (en) | 2015-02-18 |
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