CN105071295B - Unmanned plane hangs running gear - Google Patents
Unmanned plane hangs running gear Download PDFInfo
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- CN105071295B CN105071295B CN201510562401.0A CN201510562401A CN105071295B CN 105071295 B CN105071295 B CN 105071295B CN 201510562401 A CN201510562401 A CN 201510562401A CN 105071295 B CN105071295 B CN 105071295B
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- slide bar
- crank
- fixed
- unmanned plane
- bottom roller
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Abstract
A kind of unmanned plane for being suspended on line walking on power transmission line hangs running gear, including coaster, has movable pulley on coaster vehicle body, feature is：Also include pedestal, fix bar, slide bar, slide bar track, crank, crank-drive mechanism, bottom roller, traveling drive mechanism, pedestal is fixed on above unmanned plane, fix bar is fixed on pedestal, slide bar axis of an orbit is solid on the head of fix bar, slide bar track can be swung around the axle vertical with the slide bar centre-line of track, slide bar is track restrained by slide bar, the upper end of slide bar is fixed with coaster vehicle body, crank is hinged with slide bar, the output shaft of crank-drive mechanism is consolidated with crank axle, motor drives traveling drive mechanism, crank movable pulley in lower dead point position can clamp power transmission line with bottom roller.Benefit be with can less mechanism weight obtain larger operating distance, and traveling is reliable.
Description
Technical field：
The present invention is to hang the improvement of running gear on power transmission line on unmanned plane.
Background technology：
Power transmission line unmanned machine line walking is that occur the eighties in last century, is obtained in recent years with the development of unmanned air vehicle technique
More universal application, but be a key all the time as how less construction weight makes unmanned plane reliably be suspended on power transmission line
Problem, there are two kinds of method of clamping of clamping up and down and left and right clamping to power transmission line, have no the clamp structure using crank Slide bar structure.
Disclose on the net《North China Power Grid Co., Ltd's science and technology item fund application paper》Wherein there is the project name to be《Power transmission line intelligent
Inspection robot》Report, this report the status both at home and abroad and technical scheme of unmanned plane line walking have been done relatively be described in detail.Line walking
Running mechanism at present still based on wheeled.
The purpose of the present invention is：A kind of suspension running gear of unmanned plane on power transmission line is provided.
The content of the invention：
A kind of unmanned plane hangs running gear, is arranged on unmanned plane, for being suspended on line walking on power transmission line, including cunning
Car, there is movable pulley on coaster vehicle body, it is characterised in that：Also include pedestal, fix bar, slide bar, slide bar track, crank, crank to drive
Motivation structure, bottom roller, pedestal are fixed on above unmanned plane, and bottom roller part is trapped in pedestal, and fix bar is fixed on pedestal,
Slide bar track is fixed on the head of fix bar with axle, and slide bar track can be swung around the axle vertical with the slide bar centre-line of track, slide bar
Track restrained by slide bar, upper end and the coaster vehicle body of slide bar are fixed, and crank is hinged with slide bar, the output shaft of crank-drive mechanism with
Crank is fixed, and motor driving crank-drive mechanism, crank can make distance between coaster and bottom roller most in upper dead center position
Greatly, crank can make the distance between coaster and bottom roller minimum in lower dead point position, make supratrochlear movable pulley can with bottom roller
To clamp power transmission line.
Foregoing unmanned plane suspension running gear also includes traveling drive mechanism, traveling drive mechanism driving bottom roller.
The pedestal of foregoing unmanned plane suspension running gear is flute profile, and bottom roller in groove, drive by the traveling of motor driving
Motivation structure is fixed on a cell wall, and crank-drive mechanism and fix bar are fixed on another cell wall, the axle and cell wall of crank
It is parallel.
The slide bar track of foregoing unmanned plane suspension running gear is connected by a fixed block with fix bar, and fixed block is fixed
On the head of fix bar, there is the hole with fix bar head fits on fixed block, be enclosed on fixed club head, have axis on slide bar track
The axle vertical with the axis of slide bar track or hole, axle or hole interlock with slide bar track, there is axis and fixed rod axis on fixed block
Vertical axle or hole, axle or hole interlock with fix bar, and slide bar track passes through axis connection with fixed block.
There is lug boss on the coaster vehicle body of foregoing unmanned plane suspension running gear, lug boss is in lower dead point position in crank
When be embedded in the groove of fixed block header or be close to the side of slide bar track.
The slide bar of foregoing unmanned plane suspension running gear is tubulose, and an end of slide bar is fixed with the bearing of hinge,
The axis of bearing is vertical with the axis of sliding bar, in bearing body insertion pipe or is enclosed on outside pipe.
The pedestal of foregoing unmanned plane suspension running gear is box-like made of high molecular polymer, and fix bar is inserted in outside box wall
In prominent upright opening.
Two bearings of the bottom roller of foregoing unmanned plane suspension running gear are separately fixed on two cell walls of pedestal, and two
There are open slot, two bearings insertion open slot of bottom roller on individual cell wall, traveling drive mechanism drives bottom roller by shaft coupling.
The bottom roller of foregoing unmanned plane suspension running gear is fixed with axle, and the axle of bottom roller is hollow female splined shaft, traveling
The output shaft of drive mechanism has spline, and the spline of traveling drive mechanism output shaft and the hollow female splined shaft of bottom roller coordinate.
Foregoing unmanned plane suspension running gear has multiple bottom rollers, and gear drive is used between two bottom rollers.
The slide bar of foregoing unmanned plane suspension running gear or fix bar one of both or both are all using rectangular cross section
Tubing.
The fix bar of foregoing unmanned plane suspension running gear can use Boards wall on pedestal, screw or bolt presses folder
Plate.
Invention effect：
The crank and sliding bar mecbanism of the unmanned plane suspension running gear of the present invention is obtained larger with less construction weight
Operating distance, larger operating distance make seizure power transmission line more convenient, and crank self-locking in bottom dead centre is reliable, and movable pulley is with
Larger pressure is kept between roller, increasing the frictional force between power transmission line and bottom roller makes traveling reliable.
Brief description of the drawings：
1. the pedestal of 6. traveling drive mechanism of coaster vehicle body 2. movable pulley, 3. fixed block, 4. fix bar, 5. bottom roller 7.
8. the crank-drive mechanism of 11. lug boss of crank 9. slide bar track, 10. slide bar 12.
Fig. 1 is the front view of unmanned plane suspension running gear,
Fig. 2 is Fig. 1 left view.
Embodiment：
Below in conjunction with example, the present invention is described in detail：
Referring to Fig. 1 and Fig. 2, there is movable pulley 2 on coaster vehicle body 1, movable pulley 2 has two groups of left and right, and every group there are coaxial two
Take turns, it is separated by a distance between two-wheeled.3 be fixed block, there is the hole with the head fits of fix bar 4 on fixed block, and fixed block is enclosed on
The head of fix bar 4, slide bar rail, there are the axis axle vertical with the axis of slide bar track or hole, axle or hole and slide bar track on road 9
Staggeredly, the axis axle vertical with fixed rod axis or hole, axle or hole interlock with fix bar on fixed block, slide bar track and fixation
Block passes through axis connection.
7 be pedestal, and pedestal 7 is flute profile made of metallic plate in this example, and in groove, two wall tops of groove respectively have bottom roller 5
One groove, two bearing profiles of bottom roller are rectangles, with respectively having a groove, bearing on two faces of bearing hole diameter parallel
On groove and base wall on groove be stuck.Traveling drive mechanism 6 is fixed on outside the cell wall of pedestal 7, the both ends of the groove of pedestal 7
Two cell walls between have spacer or space bar.
Slide bar 10 is tubulose made of carbon fiber, and an end of slide bar is fixed with the bearing of hinge, the axis of bearing with
The axis of slide bar is vertical, in bearing body insertion pipe or is enclosed on outside pipe.The other end of slide bar is fixed with the vehicle body of coaster, on vehicle body to
One piece of tabular jut 11 of lower stretching, tabular jut are inserted on fixed block or slide bar track when crank is in lower dead point position
In groove, or plate face is close to a face of slide bar track, and two kinds of methods can prevent coaster from being relatively rotated with slide bar.
Crank-drive mechanism 12 is the gear reduction of motor driving, and output shaft and the crank of crank-drive mechanism are consolidated
Fixed, fixed method connects preferably with tooth form spline.Crank-drive mechanism 12 is fixed on the base relative with traveling drive mechanism
On another cell wall of seat.
The method that fix bar is fixed on pedestal can use the clamping plate of anchor ear form, fastened, can also be inserted in bolt
On pedestal in the hole of protuberance.
The connection of coaster vehicle body and slide bar can use anchor ear, can also have hole, head of the borehole jack in slide bar on coaster vehicle body
Portion, with screw or cementing fixation.
Box-like can be made in pedestal 7 of macromolecule polymer material, there is protuberance in the box wall of box-like pedestal, and fix bar is inserted
In the hole of protuberance.
Fix bar and slide bar can be circular or rectangular cross section square tubes or pipe, can be carbon fiber pipe or metal tube.
Substantially working condition is：Unmanned plane is risen close to power transmission line, and motor driving crank, which rotates, lifts coaster, nobody
Machine is traversing to make slide bar touch power transmission line, and then crank is inverted to bottom dead centre, and movable pulley clamps power transmission line, traveling driving with bottom roller
Mechanism drives bottom roller, and unmanned plane suspension running gear starts line walking.
Claims (10)
1. a kind of unmanned plane hangs running gear, it is arranged on unmanned plane, for being suspended on line walking on power transmission line, including coaster,
There is movable pulley on coaster vehicle body, it is characterised in that：Also include pedestal, fix bar, slide bar, slide bar track, crank, crank driving machine
Structure, bottom roller, pedestal are fixed on above unmanned plane, and bottom roller part is trapped in pedestal, and fix bar is fixed on pedestal, slide bar
Track is directly or indirectly fixed on the head of fix bar with axle, and slide bar track can be put around the axle vertical with the slide bar centre-line of track
Dynamic, slide bar is track restrained by slide bar, and upper end and the coaster vehicle body of slide bar are fixed, and crank is hinged with slide bar, crank-drive mechanism
Output shaft is fixed with crank, and motor driving crank-drive mechanism, crank can make between coaster and bottom roller in upper dead center position
Distance it is maximum, crank can make the distance between coaster and bottom roller minimum in lower dead point position, make supratrochlear movable pulley with
Bottom roller can clamp power transmission line.
2. unmanned plane according to claim 1 hangs running gear, it is characterised in that：Also include traveling drive mechanism, walk
Row drive mechanism drives bottom roller.
3. unmanned plane according to claim 1 hangs running gear, it is characterised in that：Pedestal is flute profile, and bottom roller exists
In groove, the traveling drive mechanism of motor driving is fixed on a cell wall, and crank-drive mechanism and fix bar are fixed on another
On individual cell wall, the axle and walls parallel of crank.
4. unmanned plane according to claim 1 hangs running gear, it is characterised in that：Slide bar track passes through a fixed block
It is connected with fix bar, fixed block is fixed on the head of fix bar, has the hole with fix bar head fits on fixed block, is enclosed on fixation
Club head, there are the axis axle vertical with the axis of slide bar track or hole, axle or hole to interlock with slide bar track on slide bar track, it is fixed
There are the axis axle vertical with fixed rod axis or hole, axle or hole to interlock with fix bar on block, slide bar track passes through axle with fixed block
Connection.
5. unmanned plane according to claim 4 hangs running gear, it is characterised in that：There is lug boss on coaster vehicle body, it is convex
The portion of rising is embedded in the groove of fixed block header or is close to the side of slide bar track when crank is in lower dead point position.
6. unmanned plane according to claim 1 hangs running gear, it is characterised in that：Slide bar is tubulose, the one of slide bar
Individual end is fixed with the bearing of hinge, and the axis of bearing is vertical with the axis of sliding bar, in bearing body insertion pipe or is enclosed on outside pipe.
7. unmanned plane according to claim 1 hangs running gear, it is characterised in that：Pedestal is made of high molecular polymer
It is box-like, fix bar is inserted in prominent upright opening outside box wall.
8. unmanned plane according to claim 3 hangs running gear, it is characterised in that：Two bearings of bottom roller are solid respectively
It is scheduled on two cell walls of pedestal, there is open slot, two bearings insertion open slot of bottom roller, traveling driving machine on two cell walls
Structure drives bottom roller by shaft coupling.
9. unmanned plane according to claim 8 hangs running gear, it is characterised in that：Bottom roller is fixed with axle, bottom roller
Axle be hollow female splined shaft, the output shaft of traveling drive mechanism has spline, the spline of traveling drive mechanism output shaft and lower rolling
The hollow female splined shaft of wheel coordinates.
10. unmanned plane according to claim 1 hangs running gear, it is characterised in that：There are multiple bottom rollers, rolled under two
Gear drive is used between wheel.
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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105071295A CN105071295A (en) | 2015-11-18 |
| CN105071295B true CN105071295B (en) | 2018-03-27 |
Family
ID=54500608
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510562401.0A Active CN105071295B (en) | 2015-09-07 | 2015-09-07 | Unmanned plane hangs running gear |
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| Country | Link |
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| CN (1) | CN105071295B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| 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 |
Family Cites Families (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 |
| CN101752804B (en) * | 2008-12-03 | 2011-10-05 | 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 |
| CN102005705B (en) * | 2010-10-29 | 2012-09-05 | 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 |
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2015
- 2015-09-07 CN CN201510562401.0A patent/CN105071295B/en active Active
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| Publication number | Publication date |
|---|---|
| CN105071295A (en) | 2015-11-18 |
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