CN104393530B - A kind of inspection robot obstacle crossing device for quadripartion transmission line of electricity - Google Patents
A kind of inspection robot obstacle crossing device for quadripartion transmission line of electricity Download PDFInfo
- Publication number
- CN104393530B CN104393530B CN201410681235.1A CN201410681235A CN104393530B CN 104393530 B CN104393530 B CN 104393530B CN 201410681235 A CN201410681235 A CN 201410681235A CN 104393530 B CN104393530 B CN 104393530B
- Authority
- CN
- China
- Prior art keywords
- drive
- fixed
- electricity
- transmission line
- inspection robot
- 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.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a kind of inspection robot obstacle crossing device for quadripartion transmission line of electricity, including the driving wheel mechanism being arranged on cable top, and it is arranged on two driven pulley mechanism of cable obliquely downward, connecting by head rod is fixing between driving wheel mechanism and driven pulley mechanism, being connected by the second connecting rod below driven pulley mechanism has base；Driving wheel mechanism includes at least two the first drive, it is provided with driving motor in any one first drive, being connected by link chain mechanism between first drive, each first drive is fixed on first fixed mount, hinged between adjacent two the first fixed mounts；Follower includes at least two the second drive, is connected by link chain mechanism between the second drive, and each second drive is fixed on second fixed mount, and adjacent two the second fixed mounts are hinged.The present invention can improve the deficiencies in the prior art, uses passive type obstacle detouring structure, simple in construction, and reliability is high.
Description
Technical field
The present invention relates to inspection robot technical field, a kind of inspection robot for quadripartion transmission line of electricity
Obstacle crossing device.
Background technology
Employing high pressure and supertension overhead power transmission line are the major ways of distance transmission & distribution electric power, high pressure and supertension line
Safe operation be the guarantee of long distance power transmission.Power circuit is chronically exposed to outside, persistently accepts the test of the Nature, and
Due to voltage effect in the conductor itself, produce substantial amounts of heat and electromagnetic induction, accelerate nature and transmission line of electricity is broken
Bad, a series of injuries such as electric wire fracture, abrasion, burn into is loose easily occur, as changed not in time, will be to whole power system
Bring immeasurable loss.
Traditional line data-logging mode has artificial line walking and helicopter line walking, and wherein artificial line walking labor intensity is big, work
Make efficiency low, the visual defects of outside macroscopic view can only be maked an inspection tour.Domestic the carrier using helicopter as line inspection was carried out
Test of many times, but on the one hand limited and the thermal-radiating impact of earth background thermal infrared, line walking matter by Helicopter Safety distance
Measure the most unsatisfactory；On the other hand, high helicopter expense also makes most transmission of electricity enterprise hang back.
In prior art in addition to above two line walking mode, also there is a kind of robot routine inspection mode, utilize machine
People's inspection of power transmission line, not only can alleviate workman's a thousand li line walking and the labor intensity of livewire work, and to improving grid automation
Level, guarantee electric power netting safe running are significant.Overhead transmission line robot is to move the artificial carrier of machine, carries
Detecting instrument or power tool, along ground wire or the guidewire movement of overhead transmission line, detect circuit, the operation such as maintenance.
Existing inspection robot, when crossing the barrier on cable, is all the active displacement by moving component and deformation is carried out more
Barrier, this is necessary for a set of active motion structure of independent design, also to coordinate special driving means to be operated, structure
Complexity, reliability is low.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of inspection robot obstacle detouring for quadripartion transmission line of electricity and fills
Putting, it is possible to solve the deficiencies in the prior art, use passive type obstacle detouring structure, simple in construction, reliability is high.
For solving above-mentioned technical problem, the technical solution used in the present invention is as follows.
A kind of inspection robot obstacle crossing device for quadripartion transmission line of electricity, including the drivewheel being arranged on cable top
Mechanism, and it is arranged on two driven pulley mechanism of cable obliquely downward, by first between driving wheel mechanism and driven pulley mechanism
Connecting rod is fixing to be connected, and being connected by the second connecting rod below driven pulley mechanism has base；Driving wheel mechanism includes at least two
First drive, is provided with driving motor in any one first drive, be connected by link chain mechanism between the first drive
Connecing, each first drive is fixed on first fixed mount, hinged between adjacent two the first fixed mounts；Follower bag
Including at least two the second drive, be connected by link chain mechanism between the second drive, each second drive is fixed on one
On individual second fixed mount, adjacent two the second fixed mounts are hinged.
As preferably, described driving wheel mechanism includes two the first drives, and the first drive is fixed on the first fixed mount
End, the top of the first fixed mount is provided with the first inclined-plane, is provided with the first arcuate slot between two the first fixed mounts, and
The the first elliposoidal slide bar matched with the first arcuate slot, is additionally provided with the first spring body between two fixed mounts.
As preferably, described first inclined-plane is provided with graphite linings.
As preferably, the angle of inclination on described first inclined-plane is 60 °～65 °.
As preferably, described driven pulley mechanism includes three the second drives, and the second drive is fixed on the second fixed mount
End, the top of the second fixed mount is provided with the second inclined-plane, be provided with between adjacent two the second fixed mounts the second arc insert
Groove, and the second elliposoidal slide bar matched with the second arcuate slot, be provided with the second bullet between adjacent two the second fixed mounts
Spring body.
As preferably, described second inclined-plane is provided with the first rubber layer.
As preferably, the angle of inclination on described second inclined-plane is 40 °～45 °.
As preferably, described link chain mechanism includes several chain terminals that head and the tail are hinged, and the middle part of chain terminal is arranged
Having groove, be provided with the second rubber layer in groove, two chain terminals are hinged by roller bearing, are provided with arc bullet outside roller bearing
Sheet, the middle part of the second rubber layer is provided with groove, is provided with positive stop spring plate in groove, and positive stop spring plate is by tinsel and arc bullet
Sheet connects, and tinsel is positioned at inside the second rubber layer.
What employing technique scheme was brought has the beneficial effects that: the present invention uses the obstacle detouring structure of passive type, utilizes
The extruding force of fixed mount and barrier realizes the deformation of barrier getting over mechanism, thus realizes obstacle detouring.Driving wheel mechanism and driven pulley mechanism
Form the arrangement mode of triangle, the stability that inspection robot is connected with cable when obstacle detouring can be improved.First inclined-plane and
Second inclined-plane is for carrying out contacting and produce the extruding force for fixed mount, when there is extruding force, fixed mount with barrier
Hinged place produces bending, and elliposoidal slide bar slides in arcuate slot, thus drives the top of fixed mount to be upturned, it is simple to Gu
Determine frame to clear the jumps.Graphite linings can reduce the first fixed mount and frictional force during bar contact, and the first rubber layer is permissible
Second fixed mount is buffered with the vibration produced during bar contact, reduces rocking of base.Driven pulley mechanism uses three
The structure that individual second fixed mount is hinged, also for the impact brought when reducing fixed mount across obstacle.Link chain mechanism is used
In realizing the transmission of drive, owing in running, drive can occur relative displacement under the drive of fixed mount, this
Relative displacement is to arc spring lamination generation effect so that it is elastic deformation occurs, and pulls positive stop spring plate by tinsel, it is ensured that chain
The fastness that bar terminal engages on drive, the second rubber layer can improve damping when chain terminal engages with drive
Power, reduces relatively rocking of link chain mechanism, also can improve its stability engaged with drive simultaneously.
Accompanying drawing explanation
Fig. 1 is the structure chart of one detailed description of the invention of the present invention.
Fig. 2 is the structure chart of driving wheel mechanism in one detailed description of the invention of the present invention.
Fig. 3 is the structure chart of driven pulley mechanism in one detailed description of the invention of the present invention.
Fig. 4 is the structure chart of link chain mechanism in one detailed description of the invention of the present invention.
Fig. 5 is the top view of chain terminal in one detailed description of the invention of the present invention.
Fig. 6 is the structure chart of the first drive in one detailed description of the invention of the present invention.
Fig. 7 is the structure chart of the second drive in one detailed description of the invention of the present invention.
In figure: 1, cable；2, driving wheel mechanism；3, driven pulley mechanism；4, head rod；5, the second connecting rod；6, the end
Seat；7, the first drive；8, motor is driven；9, link chain mechanism；10, the first fixed mount；11, the second drive；12, second fix
Frame；13, the first inclined-plane；14, the first arcuate slot；15, the first elliposoidal slide bar；16, the first spring body；17, graphite linings；18、
Second inclined-plane；19, the second arcuate slot；20, the second elliposoidal slide bar；21, the second spring body；22, the first rubber layer；23, chain
Bar terminal；24, groove；25, the second rubber layer；26, roller bearing；27, arc spring lamination；28, groove；29, positive stop spring plate；30, metal
Silk；31, the 3rd spring body；32, hard metal ball；33, bearing retainer；34, rubber sleeve；35, base arcuate edge；36, gear part.
Detailed description of the invention
The standardized element that uses in the present invention all can commercially, shaped piece according to description and accompanying drawing
Record all can carry out customized, and the concrete connected mode of each part all uses the bolt of maturation, rivet, weldering in prior art
Connect, the conventional means such as stickup, be not described in detail in this.
With reference to Fig. 1-7, one detailed description of the invention of the present invention includes the driving wheel mechanism 2 being arranged on cable 1 top, and
It is arranged on two driven pulley mechanism 3 of cable 1 obliquely downward, between driving wheel mechanism 2 and driven pulley mechanism 3, passes through head rod
4 fixing connections, are connected by the second connecting rod 5 below driven pulley mechanism 3 and have base 6；Driving wheel mechanism 2 includes at least two
One drive 7, is provided with driving motor 8, by link chain mechanism 9 phase between the first drive 7 in any one first drive 7
Connecting, each first drive 7 is fixed on first fixed mount 10, hinged between adjacent two the first fixed mounts 10；From
Motivation structure 3 includes at least two the second drive 11, is connected by link chain mechanism 9 between the second drive 11, each second
Drive 11 is fixed on second fixed mount 12, and adjacent two the second fixed mounts 12 are hinged.Driving wheel mechanism 2 includes two
First drive 7, the first drive 7 is fixed on the end of the first fixed mount 10, and the top of the first fixed mount 10 is provided with first
Inclined-plane 13, is provided with the first arcuate slot 14, and matched with the first arcuate slot 14 between two the first fixed mounts 10
One elliposoidal slide bar 15, is additionally provided with the first spring body 16 between two fixed mounts 10.It is provided with graphite linings on first inclined-plane 13
17, the angle of inclination on the first inclined-plane 13 is 62 °.Driven pulley mechanism 3 includes that three the second drives 11, the second drive 11 are fixed
In the end of the second fixed mount 12, the top of the second fixed mount 12 is provided with the second inclined-plane 18, adjacent two the second fixed mounts 12
Between be provided with the second arcuate slot, and the second elliposoidal slide bar 20 matched with the second arcuate slot 19, adjacent two
It is provided with the second spring body 21 between two fixed mounts 12, the second inclined-plane 18 is provided with the first rubber layer 22, the second inclined-plane 18
Angle of inclination is 43 °.Link chain mechanism 9 includes several chain terminals 23 that head and the tail are hinged, and the middle part of chain terminal 23 is provided with
Groove 24, is provided with the second rubber layer 25 in groove 24, two chain terminals 23 are hinged by roller bearing 26, arrange outside roller bearing 26
Arc spring lamination 27, the middle part of the second rubber layer 25 is had to be provided with groove 28, in groove 28, be provided with positive stop spring plate 29, positive stop spring plate
29 are connected with arc spring lamination 27 by tinsel 30, and it is internal that tinsel 30 is positioned at the second rubber layer 25.
It addition, be provided with and link chain mechanism 9 meshed gears portion 36 on the first drive 7 and the second drive 11.The
On one drive 7, in the side of gear part 36, connected by the 3rd spring body 31 and have hard metal ball 32.Second drive 11
On, in the side of gear part 36, being connected by the 3rd spring body 31 and have bearing retainer 33, sliding in bearing retainer 33 is provided with hard gold
Belong to ball 32.Hard metal ball 32 can be inside contracted by cable extruding generation when cable is combined at drive, and produces with link chain mechanism
Raw mutually extruding, thus improve drive and cable and the combination stability of chain structure.Hard metal on first drive 7
Ball 32 is fixedly installed, and can improve the stiction of the first drive 7 and cable 1, improve transmission effect；On second drive 11
Hard metal ball 32 slided by bearing retainer 33 and arrange, frictional force when the second drive 11 rotates can be reduced, reduce whole
The resistance of motion of individual device.It is provided with rubber sleeve 34, rubber sleeve outside the second arcuate slot 19 and the second elliposoidal slide bar 20
Relative displacement between second arcuate slot 19 and the second elliposoidal slide bar 20 can be slowed down by the damping force of deformation, improves
The stability of driven pulley mechanism 3 deformation, reduces the vibration of base 6.Base arcuate edge 35, arcuate bottom it is provided with bottom chain terminal 23
When limit 35 contacts with drive, can make chain terminal 23 in the case of all angles, chain terminal 23 connects with drive
Contacting surface is long-pending keeps constant with interaction force, thus during improve whole plant running, link chain mechanism 9 engages with drive
Ride comfort.
The present invention does not use any active obstacle detouring structure, simple in construction, and reliability is high, can be active with of the prior art
Obstacle detouring structure is the same, passes through various barrier.
The ultimate principle of the present invention and principal character and advantages of the present invention have more than been shown and described.The technology of the industry
Personnel, it should be appreciated that the present invention is not restricted to the described embodiments, simply illustrating this described in above-described embodiment and description
The principle of invention, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, and these become
Change and improvement both falls within scope of the claimed invention.Claimed scope by appending claims and
Equivalent defines.
Claims (8)
1. the inspection robot obstacle crossing device for quadripartion transmission line of electricity, it is characterised in that: include being arranged on cable (1)
The driving wheel mechanism (2) at top, and it is arranged on two driven pulley mechanism (3) of cable (1) obliquely downward, driving wheel mechanism (2)
And connect by head rod (4) is fixing between driven pulley mechanism (3), driven pulley mechanism (3) lower section is by the second connecting rod
(5) connection has base (6)；Driving wheel mechanism (2) includes at least two the first drive (7), any one first drive (7)
Inside it is provided with driving motor (8), is connected by link chain mechanism (9) between the first drive (7), each first drive (7)
It is fixed on first fixed mount (10), hinged between adjacent two the first fixed mounts (10)；Driven pulley mechanism (3) include to
Few two the second drives (11), are connected by link chain mechanism (9) between the second drive (11), each second drive
(11) being fixed on second fixed mount (12), adjacent two the second fixed mounts (12) are hinged.
Inspection robot obstacle crossing device for quadripartion transmission line of electricity the most according to claim 1, it is characterised in that: institute
Stating driving wheel mechanism (2) and include two the first drives (7), the first drive (7) is fixed on the end of the first fixed mount (10),
The top of the first fixed mount (10) is provided with the first inclined-plane (13), is provided with the first arc and inserts between two the first fixed mounts (10)
Groove (14), and the first elliposoidal slide bar (15) matched with the first arcuate slot (14), between two the first fixed mounts (10)
It is additionally provided with the first spring body (16).
Inspection robot obstacle crossing device for quadripartion transmission line of electricity the most according to claim 2, it is characterised in that: institute
State and on the first inclined-plane (13), be provided with graphite linings (17).
Inspection robot obstacle crossing device for quadripartion transmission line of electricity the most according to claim 2, it is characterised in that: institute
The angle of inclination stating the first inclined-plane (13) is 60 °～65 °.
Inspection robot obstacle crossing device for quadripartion transmission line of electricity the most according to claim 1, it is characterised in that: institute
Stating driven pulley mechanism (3) and include three the second drives (11), the second drive (11) is fixed on the end of the second fixed mount (12)
End, the top of the second fixed mount (12) is provided with the second inclined-plane (18), is provided with the between adjacent two the second fixed mounts (12)
Two arcuate slot (19), and the second elliposoidal slide bar (20) matched with the second arcuate slot (19), consolidate for adjacent two second
Determine to be provided with between frame (12) the second spring body (21).
Inspection robot obstacle crossing device for quadripartion transmission line of electricity the most according to claim 5, it is characterised in that: institute
State and on the second inclined-plane (18), be provided with the first rubber layer (22).
Inspection robot obstacle crossing device for quadripartion transmission line of electricity the most according to claim 5, it is characterised in that: institute
The angle of inclination stating the second inclined-plane (18) is 40 °～45 °.
Inspection robot obstacle crossing device for quadripartion transmission line of electricity the most according to claim 1, it is characterised in that: institute
Stating several chain terminals (23) that link chain mechanism (9) includes that head and the tail are hinged, the middle part of chain terminal (23) is provided with groove
(24), being provided with the second rubber layer (25) in groove (24), two chain terminals (23) are hinged by roller bearing (26), roller bearing (26)
Outside is provided with arc spring lamination (27), and the middle part of the second rubber layer (25) is provided with groove (28), arranges limited in groove (28)
Position shell fragment (29), positive stop spring plate (29) is connected with arc spring lamination (27) by tinsel (30), and tinsel (30) is positioned at the second rubber
Glue-line (25) is internal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410681235.1A CN104393530B (en) | 2014-11-25 | 2014-11-25 | A kind of inspection robot obstacle crossing device for quadripartion transmission line of electricity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410681235.1A CN104393530B (en) | 2014-11-25 | 2014-11-25 | A kind of inspection robot obstacle crossing device for quadripartion transmission line of electricity |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104393530A CN104393530A (en) | 2015-03-04 |
| CN104393530B true CN104393530B (en) | 2016-12-28 |
Family
ID=52611386
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410681235.1A Expired - Fee Related CN104393530B (en) | 2014-11-25 | 2014-11-25 | A kind of inspection robot obstacle crossing device for quadripartion transmission line of electricity |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104393530B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101104265A (en) * | 2007-07-31 | 2008-01-16 | 北华大学 | Arm hanging type high voltage transmission line detecting robot |
| CN101859990A (en) * | 2010-06-02 | 2010-10-13 | 武汉大学 | Robot for polling transmission line |
| CN102522715A (en) * | 2011-12-07 | 2012-06-27 | 姚正齐 | Obstacle-crossing travelling mechanism for inspection robot and inspection robot device |
| CN102751669A (en) * | 2012-07-27 | 2012-10-24 | 厦门大学 | Travelling mechanism of inspection robot for realizing obstacle crossing |
| CN103151747A (en) * | 2013-02-25 | 2013-06-12 | 洛阳理工学院 | Vertical patrolling deicer for high-tension cable |
| CA2880124A1 (en) * | 2012-07-27 | 2014-01-30 | University Of Kwazulu-Natal | An apparatus for use on a cable; and a system for and method of inspecting a cable |
-
2014
- 2014-11-25 CN CN201410681235.1A patent/CN104393530B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101104265A (en) * | 2007-07-31 | 2008-01-16 | 北华大学 | Arm hanging type high voltage transmission line detecting robot |
| CN101859990A (en) * | 2010-06-02 | 2010-10-13 | 武汉大学 | Robot for polling transmission line |
| CN102522715A (en) * | 2011-12-07 | 2012-06-27 | 姚正齐 | Obstacle-crossing travelling mechanism for inspection robot and inspection robot device |
| CN102751669A (en) * | 2012-07-27 | 2012-10-24 | 厦门大学 | Travelling mechanism of inspection robot for realizing obstacle crossing |
| CA2880124A1 (en) * | 2012-07-27 | 2014-01-30 | University Of Kwazulu-Natal | An apparatus for use on a cable; and a system for and method of inspecting a cable |
| CN103151747A (en) * | 2013-02-25 | 2013-06-12 | 洛阳理工学院 | Vertical patrolling deicer for high-tension cable |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104393530A (en) | 2015-03-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105353296B (en) | Using the flying probe tester of planar motor | |
| CN206185572U (en) | 90 chain type tool magazine of sword is fallen to side direction | |
| CN205670021U (en) | Bow net motion pantograph pan comprehensive detection station | |
| CN101718506A (en) | Intelligent movable target machine system | |
| CN208653748U (en) | A kind of pantograph and contact net contact analysis testing stand | |
| CN106514632B (en) | The five station feeding manipulator of shell of grass trimmer handpiece case charging equipment | |
| CN104393530B (en) | A kind of inspection robot obstacle crossing device for quadripartion transmission line of electricity | |
| CN205804169U (en) | A kind of bridge detecting device | |
| CN203176335U (en) | Gear-selecting automatic return type automobile manipulator assembly | |
| CN203972736U (en) | A kind of manipulator drag chain structure | |
| CN109655328B (en) | Pendulum spring driving steel rail and welded joint fatigue test equipment | |
| CN208697234U (en) | A kind of fixed device of electrical cable protection sleeve | |
| CN101020534A (en) | Frictional conveying system with grouped bogies | |
| CN203807057U (en) | Electric lifting table | |
| CN205826294U (en) | Spring fatigue test machine | |
| CN103191546B (en) | Flying riding entertaining exercise equipment | |
| CN104912752A (en) | Gravity power generation device | |
| CN204064836U (en) | Electric locomotive skimming wear pick-up unit | |
| CN105945384B (en) | Sound wire lap welding picks scaling powder scraper plate | |
| CN104047577A (en) | Linear motor direct-driven pumping unit | |
| CN208120091U (en) | A kind of inclined-plane is to rail mechanism | |
| CN104390796B (en) | A kind of upper body experiment porch of anthropomorphic robot | |
| CN202913229U (en) | Novel clip slide track for tentering and forming machine | |
| CN203648054U (en) | Traveling guide device of flight simulator for entertainment | |
| CN202592985U (en) | Gluing-driving device for shell-installing machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20161228 Termination date: 20201125 |