CN105071295A - Unmanned aerial vehicle suspension walking device - Google Patents
Unmanned aerial vehicle suspension walking device Download PDFInfo
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- CN105071295A CN105071295A CN201510562401.0A CN201510562401A CN105071295A CN 105071295 A CN105071295 A CN 105071295A CN 201510562401 A CN201510562401 A CN 201510562401A CN 105071295 A CN105071295 A CN 105071295A
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- fixed
- slide bar
- crank
- bottom roller
- unmanned plane
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Abstract
The invention relates to an unmanned aerial vehicle suspension walking device. The unmanned aerial vehicle suspension walking device comprises a tackle. The body of the tackle is provided with sliding wheels. The unmanned aerial vehicle suspension walking device is characterized in that the unmanned aerial vehicle suspension walking device also comprises a base, a fixing rod, a sliding rod, a sliding rod rail, a crank, a crank driving mechanism, lower rolling wheels and a walking driving mechanism; the base is fixed on the upper surface of an unmanned aerial vehicle; the fixing rod is fixed on the base; a sliding rod rail shaft is fixed at the head of the fixing rod; the sliding rod rail can rotate around a shaft vertical to the axis of the sliding rod rail; the sliding rod is constrained by the sliding rod rail; the upper end of the sliding rod is fixed to the body of the tackle; the crank is hinged to the sliding rod; the output shaft of the crank driving mechanism is fixed to a crank shaft; a motor drives the walking driving mechanism; when the crank is at a lower dead point, the sliding wheels and the lower rolling wheels can clamp a power transmission line. According to the unmanned aerial vehicle suspension walking device, a larger action distance can be obtained with a small mechanism. The unmanned aerial vehicle suspension walking device is advantageous in reliable walking.
Description
Technical field:
The invention relates to the improvement that unmanned plane hangs running gear on power transmission line.
Background technology:
The eighties in last century power transmission line unmanned machine line walking occur, along with the development of unmanned air vehicle technique obtained comparatively general application in recent years, but making unmanned plane reliably be suspended on power transmission line as how less construction weight is a key issue all the time, there are clamping and left and right up and down to clamp two kinds of method of clamping to power transmission line, have no the clamp structure adopting crank Slide bar structure.Disclosing " North China Power Grid Co., Ltd's science and technology item fund application paper " on the net wherein has project name to be the report of " intelligent transmission line patrol robot ", and this report has been done the status both at home and abroad of unmanned plane line walking and technical scheme and comparatively described in detail.The running mechanism of line walking is at present still based on wheeled.
The object of the invention is: the suspension running gear providing a kind of unmanned plane on power transmission line.
Summary of the invention:
A kind of unmanned plane hangs running gear, be arranged on unmanned plane, for being suspended on line walking on power transmission line, comprise coaster, coaster vehicle body there is movable pulley, it is characterized in that: also comprise pedestal, fixed lever, slide bar, slide bar track, crank, crank-drive mechanism, bottom roller, pedestal is fixed on above unmanned plane, bottom roller part is trapped in pedestal, fixed lever is fixed on pedestal, slide bar track axle is fixed on the head of fixed lever, slide bar track can swing around the axle vertical with the slide bar centre-line of track, slide bar is track restrained by slide bar, upper end and the coaster vehicle body of slide bar are fixed, crank and slide bar hinged, output shaft and the crank of crank-drive mechanism are fixed, motor driven crank-drive mechanism, crank can make the distance between coaster and bottom roller maximum at upper dead center position, crank can make the distance between coaster and bottom roller minimum at lower dead point position, supratrochlear movable pulley and bottom roller is made to clamp power transmission line.
Aforementioned unmanned plane hangs running gear and also comprises traveling driving mechanism, and traveling driving mechanism drives bottom roller.
The pedestal that aforementioned unmanned plane hangs running gear is flute profile, and bottom roller is in groove, and the traveling driving mechanism of motor driven is fixed on a cell wall, and crank-drive mechanism and fixed lever are fixed on another cell wall, the axle of crank and walls parallel.
The slide bar track that aforementioned unmanned plane hangs running gear is connected with fixed lever by a fixed block, fixed block is fixed on the head of fixed lever, fixed block there is the hole with fixed lever head fits, be enclosed within fixed lever head, slide bar track has axle or the hole of the axes normal of axis and slide bar track, axle or hole and slide bar track interlock, and fixed block have axle or the hole of axis and fixed lever axes normal, axle or hole and fixed lever interlock, and slide bar track is connected by axle with fixed block.
The coaster vehicle body of aforementioned unmanned plane suspension running gear has lug boss, and lug boss embeds when crank is in lower dead point position in the groove of fixed block head or is close to the side of slide bar track.
The slide bar that aforementioned unmanned plane hangs running gear is tubulose, and an end winding support of slide bar has the bearing of hinge, the axis of bearing and the axes normal of sliding bar, and bearing body embeds in pipe or is enclosed within outside pipe.
The pedestal that aforementioned unmanned plane hangs running gear be high molecular polymer make box-like, fixed lever is inserted in the upright opening that box wall gives prominence to outward.
Two bearings that aforementioned unmanned plane hangs the bottom roller of running gear are separately fixed on two cell walls of pedestal, and two cell walls have open slot, and two bearings of bottom roller embed open slot, and traveling driving mechanism drives bottom roller by shaft coupling.
Bottom roller and the axle of aforementioned unmanned plane suspension running gear are fixed, and the axle of bottom roller is hollow female splined shaft, and the output shaft of traveling driving mechanism has spline, and the spline of traveling driving mechanism output shaft coordinates with the hollow female splined shaft of bottom roller.
Aforementioned unmanned plane hangs running gear multiple bottom roller, uses gear drive between two bottom rollers.
Aforementioned unmanned plane hangs one of both the slide bar of running gear or fixed lever or both all adopt the tubing of rectangular cross section.
The fixed lever that aforementioned unmanned plane hangs running gear can use Boards wall on pedestal, screw or bolt presses clamping plate.
Invention effect:
The crank and sliding bar mecbanism that unmanned plane of the present invention hangs running gear obtains larger operating distance with less construction weight, larger operating distance makes seizure power transmission line more convenient, crank self-locking when bottom dead centre is reliable, keep larger pressure between movable pulley and bottom roller, the frictional force increased between power transmission line and bottom roller makes traveling reliable.
Accompanying drawing illustrates:
1. coaster vehicle body 2. movable pulley 3. fixed block 4. fixed lever 5. bottom roller 6. traveling driving mechanism 7. pedestal 8. crank 9. slide bar track 10. slide bar 11. lug boss 12. crank-drive mechanism
Fig. 1 is the front view that unmanned plane hangs running gear,
Fig. 2 is the left view of Fig. 1.
Embodiment:
Below in conjunction with example, the present invention is described in detail:
See Fig. 1 and Fig. 2, coaster vehicle body 1 has movable pulley 2, movable pulley 2 has two groups, left and right, and often group has two coaxial wheels, separated by a distance between two-wheeled.3 is fixed blocks, fixed block there is the hole with fixed lever 4 head fits, fixed block is enclosed within the head of fixed lever 4, slide bar rail, road 9 has axle or the hole of the axes normal of axis and slide bar track, axle or hole and slide bar track interlock, and fixed block have axle or the hole of axis and fixed lever axes normal, axle or hole and fixed lever interlock, and slide bar track is connected by axle with fixed block.
7 is pedestals, and in this example, pedestal 7 is flute profiles that metallic plate is made, and bottom roller 5 is in groove, respectively there is a groove two wall tops of groove, two bearing profiles of bottom roller are rectangles, and respectively have a groove with on two faces of dead eye axis being parallel, the groove on bearing and the groove in base wall are stuck.Traveling driving mechanism 6 is fixed on outside the cell wall of pedestal 7, has spacer or space bar between two cell walls at the two ends of pedestal 7 groove.
Slide bar 10 is tubuloses that carbon fiber is made, and an end winding support of slide bar has the bearing of hinge, the axis of bearing and the axes normal of slide bar, and bearing body embeds in pipe or is enclosed within outside pipe.The other end of slide bar is fixed with the vehicle body of coaster, vehicle body stretches out one piece of tabular jut 11 downwards, tabular jut inserts in the groove on fixed block or slide bar track when crank is at lower dead point position, or a face of slide bar track is close in plate face, two kinds of ways can stop coaster and slide bar to relatively rotate.
Crank-drive mechanism 12 is gear reductions of motor driven, and output shaft and the crank of crank-drive mechanism are fixed, and fixing method preferably adopts profile of tooth spline joint.Crank-drive mechanism 12 is fixed on another cell wall of the pedestal relative with traveling driving mechanism.
The fixed lever method be fixed on pedestal can adopt the clamping plate of anchor ear form, by bolted, also can be inserted in the hole of protuberance on pedestal.
The connection of coaster vehicle body and slide bar can adopt anchor ear, also can be porose on coaster vehicle body, borehole jack at the head of slide bar, with screw or cementing fixing.
Pedestal 7 can make box-like with macromolecule polymer material, and the box wall of box-like pedestal has protuberance, and fixed lever is inserted in the hole of protuberance.
Fixed lever and slide bar can be square tube or the pipe of circle or rectangular cross section, can be carbon fiber pipe or metal tube.
Roughly working condition is: unmanned plane rises close to power transmission line, motor driven crank makes coaster lift, power transmission line touched by the traversing slide bar that makes of unmanned plane, then crank is inverted to bottom dead centre, movable pulley and bottom roller clamp power transmission line, traveling driving mechanism drives bottom roller, and unmanned plane hangs running gear and starts line walking.
Claims (10)
1. a unmanned plane hangs running gear, be arranged on unmanned plane, for being suspended on line walking on power transmission line, comprise coaster, coaster vehicle body there is movable pulley, it is characterized in that: also comprise pedestal, fixed lever, slide bar, slide bar track, crank, crank-drive mechanism, bottom roller, pedestal is fixed on above unmanned plane, bottom roller part is trapped in pedestal, fixed lever is fixed on pedestal, slide bar track is directly or indirectly fixed on the head of fixed lever with axle, slide bar track can swing around the axle vertical with the slide bar centre-line of track, slide bar is track restrained by slide bar, upper end and the coaster vehicle body of slide bar are fixed, crank and slide bar hinged, output shaft and the crank of crank-drive mechanism are fixed, motor driven crank-drive mechanism, crank can make the distance between coaster and bottom roller maximum at upper dead center position, crank can make the distance between coaster and bottom roller minimum at lower dead point position, supratrochlear movable pulley and bottom roller is made to clamp power transmission line.
2. unmanned plane according to claim 1 hangs running gear, it is characterized in that: also comprise traveling driving mechanism, and traveling driving mechanism drives bottom roller.
3. unmanned plane according to claim 1 hangs running gear, it is characterized in that: pedestal is flute profile, bottom roller is in groove, and the traveling driving mechanism of motor driven is fixed on a cell wall, crank-drive mechanism and fixed lever are fixed on another cell wall, the axle of crank and walls parallel.
4. unmanned plane according to claim 1 hangs running gear, it is characterized in that: slide bar track is connected with fixed lever by a fixed block, fixed block is fixed on the head of fixed lever, fixed block there is the hole with fixed lever head fits, be enclosed within fixed lever head, slide bar track there are axle or the hole of the axes normal of axis and slide bar track, axle or hole and slide bar track interlock, fixed block there are axle or the hole of axis and fixed lever axes normal, axle or hole and fixed lever interlock, and slide bar track is connected by axle with fixed block.
5. unmanned plane according to claim 1 hangs running gear, and it is characterized in that: coaster vehicle body has lug boss, lug boss embeds when crank is in lower dead point position in the groove of fixed block head or is close to the side of slide bar track.
6. unmanned plane according to claim 1 hangs running gear, and it is characterized in that: slide bar is tubulose, an end winding support of slide bar has the bearing of hinge, the axis of bearing and the axes normal of sliding bar, and bearing body embeds in pipe or is enclosed within outside pipe.
7. unmanned plane according to claim 1 hangs running gear, it is characterized in that: pedestal be high molecular polymer make box-like, fixed lever is inserted in the upright opening that box wall gives prominence to outward.
8. unmanned plane according to claim 3 hangs running gear, it is characterized in that: two bearings of bottom roller are separately fixed on two cell walls of pedestal, two cell walls have open slot, and two bearings of bottom roller embed open slot, and traveling driving mechanism drives bottom roller by shaft coupling.
9. unmanned plane according to claim 8 hangs running gear, it is characterized in that: bottom roller and axle are fixed, the axle of bottom roller is hollow female splined shaft, and the output shaft of traveling driving mechanism has spline, and the spline of traveling driving mechanism output shaft coordinates with the hollow female splined shaft of bottom roller.
10. unmanned plane according to claim 1 hangs running gear, it is characterized in that: have multiple bottom roller, uses gear drive between two bottom rollers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510562401.0A CN105071295B (en) | 2015-09-07 | 2015-09-07 | Unmanned plane hangs running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510562401.0A CN105071295B (en) | 2015-09-07 | 2015-09-07 | Unmanned plane hangs running gear |
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| Publication Number | Publication Date |
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| CN105071295A true CN105071295A (en) | 2015-11-18 |
| CN105071295B CN105071295B (en) | 2018-03-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510562401.0A Active CN105071295B (en) | 2015-09-07 | 2015-09-07 | Unmanned plane hangs running gear |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106786139A (en) * | 2016-12-08 | 2017-05-31 | 北京国网富达科技发展有限责任公司 | A kind of tele-control system of transmission line of electricity fall coaster |
| WO2017126820A1 (en) * | 2016-01-20 | 2017-07-27 | 한국전력공사 | Variable flying robot |
| KR101806040B1 (en) * | 2016-09-23 | 2017-12-07 | 한국전력공사 | System for fransformable flying robot for maintenance of power lines and operation method thereof |
| CN113541037A (en) * | 2021-06-25 | 2021-10-22 | 国网山西省电力公司晋城供电公司 | Tower passing device of high-voltage transmission line climbing pulley and using method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2171933Y (en) * | 1993-09-04 | 1994-07-13 | 无锡供电局 | Double-driven rotary frame expanding corner flying carriage |
| CN101752804A (en) * | 2008-12-03 | 2010-06-23 | 中国科学院自动化研究所 | Two-arm swing obstacle-clearing type line walking robot body |
| CN201544224U (en) * | 2009-09-17 | 2010-08-11 | 北京深浪电子技术有限公司 | Infrared wireless thermal imagery polling robot |
| CN102005705A (en) * | 2010-10-29 | 2011-04-06 | 西安交通大学 | Suspended line walking robot |
| CN204858422U (en) * | 2015-09-07 | 2015-12-09 | 李烨 | Unmanned aerial vehicle hangs running gear |
-
2015
- 2015-09-07 CN CN201510562401.0A patent/CN105071295B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2171933Y (en) * | 1993-09-04 | 1994-07-13 | 无锡供电局 | Double-driven rotary frame expanding corner flying carriage |
| CN101752804A (en) * | 2008-12-03 | 2010-06-23 | 中国科学院自动化研究所 | Two-arm swing obstacle-clearing type line walking robot body |
| CN201544224U (en) * | 2009-09-17 | 2010-08-11 | 北京深浪电子技术有限公司 | Infrared wireless thermal imagery polling robot |
| CN102005705A (en) * | 2010-10-29 | 2011-04-06 | 西安交通大学 | Suspended line walking robot |
| CN204858422U (en) * | 2015-09-07 | 2015-12-09 | 李烨 | Unmanned aerial vehicle hangs running gear |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017126820A1 (en) * | 2016-01-20 | 2017-07-27 | 한국전력공사 | Variable flying robot |
| KR101837585B1 (en) * | 2016-01-20 | 2018-03-14 | 한국전력공사 | Transformable flying robot |
| KR101806040B1 (en) * | 2016-09-23 | 2017-12-07 | 한국전력공사 | System for fransformable flying robot for maintenance of power lines and operation method thereof |
| WO2018056501A1 (en) * | 2016-09-23 | 2018-03-29 | 한국전력공사 | Transformable flying robot for power line maintenance, and control method therefor |
| CN106786139A (en) * | 2016-12-08 | 2017-05-31 | 北京国网富达科技发展有限责任公司 | A kind of tele-control system of transmission line of electricity fall coaster |
| CN113541037A (en) * | 2021-06-25 | 2021-10-22 | 国网山西省电力公司晋城供电公司 | Tower passing device of high-voltage transmission line climbing pulley and using method |
| CN113541037B (en) * | 2021-06-25 | 2022-07-22 | 国网山西省电力公司晋城供电公司 | Tower passing device of high-voltage transmission line climbing pulley and using method |
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| Publication number | Publication date |
|---|---|
| CN105071295B (en) | 2018-03-27 |
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