CN105914648A - Fall preventable inspection robot - Google Patents
Fall preventable inspection robot Download PDFInfo
- Publication number
- CN105914648A CN105914648A CN201610281452.0A CN201610281452A CN105914648A CN 105914648 A CN105914648 A CN 105914648A CN 201610281452 A CN201610281452 A CN 201610281452A CN 105914648 A CN105914648 A CN 105914648A
- Authority
- CN
- China
- Prior art keywords
- support
- pinch wheels
- wheel
- road wheel
- fall arrest
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Abstract
The invention discloses a fall preventable inspection robot which comprises a robot body, a walking wheel and a clamping mechanism. The robot body is arranged above the walking wheel; the clamping mechanism is arranged under the walking wheel; between the walking wheel and the clamping mechanism is retained a cable. The walking wheel rolls and moves ahead along the cable, driven by the driving motor of the robot body. The clamping mechanism comprises a clamping wheel, a support and a connection rod. The clamping wheel is driven by the support and the connection rod to vertically move in either upward direction or downward direction with the consequence of clamping and separating the clamping wheel and the walking wheel. The bottom of the walking wheel is provided with a V shaped concave groove; the top of the clamping wheel is provided with a C shaped concave groove; a hollow cavity exists between the V shaped concave groove and the C shaped concave groove and the hollow cavity is home to wires and lines. With the invention, it is possible to prevent a falloff during work and to instantly avoid obstacles.
Description
Technical field
The present invention relates to robot field, particularly relate to a kind of fall arrest crusing robot.
Background technology
Owing to high-voltage line is chronically exposed to field, after weather corrodes, disconnected stock, abrasion often occur
And corrosion equivalent damage, so that periodically high-voltage line is patrolled and examined.Traditional high-voltage line patrol and examine work many by
It is accomplished manually, but manual inspection danger is high, and efficiency is low, in order to solve the problems referred to above, correlation technique
Personnel have developed high-voltage line crusing robot, replaces being accomplished manually and patrols and examines work.
Intelligent robot is the heat subject of current industry-by-industry, receives much concern, and it has been thrown in some areas
Entering trail run, intelligent inspection robot is maked an inspection tour according to pre-determined route, and every observation station, robot can stop
Only " step ", rotate " prying eyes ", by equipment appearance, chopper/plug-in strip opening and closing state, equipment originally
The data such as body and the infrared measurement of temperature of joint, meter reading are transferred to control room, and operation maintenance personnel foot does not goes out " room ",
Just will appreciate that operation condition in site.Intelligent robot is able to take the adverse circumstances such as high temperature, blast, heavy rain
Test execution is patrolled and examined, and significantly reduce transformer station's operation maintenance personnel patrols and examines workload.
But existing crusing robot is under the weather condition such as strong wind, sleet, it may occur that the showing of falling of tumbling
As, the most dangerous, and when crusing robot runs into barrier, barrier can not be dodged in time, this
The biggest restriction is caused to the application of crusing robot.
Therefore it provides a kind of fall arrest crusing robot, it is effectively prevented crusing robot and falls and running into
Can dodge in time during barrier, it appears increasingly important.
Summary of the invention
The defect that it is an object of the invention to overcome prior art provide one can be effectively prevented fall and
The fall arrest crusing robot can dodged in time when running into barrier.
In order to solve above-mentioned technical problem, the invention provides a kind of fall arrest crusing robot, including machine
Human body, road wheel and clamp system, described robot body is arranged on the top of described road wheel, described
Clamp system is arranged on the lower section of described road wheel, clamps wired between described road wheel and described clamp system
Cable, described road wheel rolls along described cable under robot body drives the drive of motor and advances；Described
Clamp system includes pinch wheels, support and connecting rod, and described pinch wheels is in described support and the drive of described connecting rod
Vertically be moved upwardly or downwardly down, it is achieved the clamping of described pinch wheels and described road wheel with separate；Described row
The bottom of travelling wheel is provided with a " V " shape groove, and the top of described pinch wheels is provided with one " C " connected in star,
Forming a cavity between described " V " shape groove and described " C " connected in star, described cable is contained in described sky
Intracavity.
Further, described support includes the first support, the second support and the 3rd support, and described pinch wheels is solid
Surely being connected to the top of described first support, the two ends of described first support are respectively at described second support and institute
State the 3rd support to be flexibly connected.
Further, described second support is provided with several first slide blocks, described 3rd support is arranged
Having several the second slide blocks, the two ends of described first support are divided by described first slide block and described second slide block
It is not flexibly connected with described second support and described 3rd support；Described connecting rod is several, described in several
Connecting rod is movably connected in described second support and described 3rd by described first slide block and described second slide block
On frame.
Preferably, several described connecting rods are hinged at infall, and one of them hinged place is provided with pushing block,
Described pushing block be provided above push rod, the end of described push rod is fixing with described first support to be connected.
Preferably, described pushing block is arranged on the hinged place apart from the farthest connecting rod of described first support.
Further, described pushing block is connected with the clamping motor output shaft of described pinch wheels, is used for driving
Described push rod, described first support and described connecting rod move up and down, and make to add bearing up pulley and clamp with road wheel or separate.
Further, described pinch wheels includes fore-clamp bearing up pulley and rear pinch wheels, and described road wheel includes front walking
Wheel and rear walking wheel, between described fore-clamp bearing up pulley and described front walking wheel and described rear pinch wheels and described
Cable all it is clamped with between rear walking wheel.
Preferably, described front walking wheel is the most identical with the size and shape of described rear walking wheel, described front clamp
Take turns the most identical with the size and shape of described rear pinch wheels.
Preferably, the diameter of described pinch wheels is less than the diameter of described road wheel.
The fall arrest crusing robot of the present invention, has the advantages that
1, the present invention has former and later two road wheels, connects a pinch wheels before and after correspondence, former and later two pinch wheels
Common effect makes robot more tight with the connection of cable, and falling risk reduces.
2, the road wheel of the present invention is provided with a " V " shape groove, and pinch wheels is provided with one " C " connected in star,
Forming a cavity between " V " shape groove and " C " connected in star, cable is contained in this cavity, is substantially reduced
Robot falls probability.
3, the present invention includes support, slide block, connecting rod, push rod and pushing block, and connecting rod is sliding with support by slide block
Being dynamically connected, pushing block is connected with the clamping motor output shaft stating pinch wheels, and pushing block is under the driving of motor
Drive push rod, support and connecting rod to move up and down, make to add bearing up pulley and clamp with road wheel or separate, when robot meets
Can dodge in time to during barrier.
Accompanying drawing explanation
In order to be illustrated more clearly that technical scheme, below will be in embodiment or description of the prior art
The required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Some bright embodiments, for those of ordinary skill in the art, in the premise not paying creative work
Under, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is pinch wheels and structural representation during road wheel clamping of the present invention；
Fig. 2 is the pinch wheels of present invention structural representation when separating with road wheel；
Fig. 3 is the attachment structure schematic diagram between the road wheel of the present invention, pinch wheels and cable.
Wherein, in figure, reference corresponds to: 1-robot body, 2-cable, 3-connecting rod, 4-the first support,
5-the second support, 6-the 3rd support, 7-the first slide block, 8-the second slide block, 9-pushing block, 10-push rod, 11-
Fore-clamp bearing up pulley, pinch wheels after 12-, 13-front walking wheel, 14-rear walking wheel.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in inventive embodiments is carried out clear,
It is fully described by, it is clear that described embodiment is only a part of embodiment of the present invention rather than all
Embodiment.Based on embodiments of the invention, those of ordinary skill in the art are not making creative work
On the premise of the every other embodiment that obtained, broadly fall into the scope of protection of the invention.
As depicted in figs. 1 and 2, the invention provides a kind of fall arrest crusing robot, including robot originally
Body 1, road wheel and clamp system, described robot body 1 is arranged on the top of described road wheel, described folder
Tight mechanism is arranged on the lower section of described road wheel, is clamped with cable between described road wheel and described clamp system
2, described road wheel rolls along described cable 2 under robot body drives the drive of motor and advances；Described
Clamp system includes pinch wheels, support and connecting rod 3, and described pinch wheels is at described support and the band of described connecting rod 3
Vertically be moved upwardly or downwardly under Dong, it is achieved the clamping of described pinch wheels and described road wheel with separate.
Continuing as depicted in figs. 1 and 2, described support includes the first support the 4, second support 5 and the 3rd support
6, described pinch wheels is fixedly connected on the top of described first support 4, and the two ends of described first support 4 are respectively
It is flexibly connected in described second support 5 and described 3rd support 6；It is provided with some on described second support 5
Individual first slide block 7, described 3rd support 6 is provided with several the second slide blocks 8, described first support 4
Two ends by described first slide block 7 and described second slide block 8 respectively with described second support 5 and the described 3rd
Support 6 is flexibly connected；Described connecting rod 3 is several, and several described connecting rods 3 are by described first slide block 7
It is movably connected on described second support 5 and described 3rd support 6 with described second slide block 8；Several institute
Stating connecting rod 3 hinged at infall, one of them hinged place is provided with pushing block 9, the top of described pushing block 9
Being provided with push rod 10, the end of described push rod 10 is fixing with described first support 4 to be connected；Preferably, described
Pushing block 9 is arranged on the hinged place apart from the farthest connecting rod of described first support 4, described pushing block 9 and institute
The clamping motor output shaft stating pinch wheels is connected, and is used for driving described push rod 10, described first support 4 and
Described connecting rod 3 moves up and down, and makes to add bearing up pulley and clamps with road wheel or separate.
Continuing as depicted in figs. 1 and 2, described pinch wheels includes fore-clamp bearing up pulley 11 and rear pinch wheels 12, described
Road wheel include front walking wheel 13 and rear walking wheel 14, described fore-clamp bearing up pulley 11 and described front walking wheel 13 it
Between and described rear pinch wheels 12 and described rear walking wheel 14 between be all clamped with cable 2；Walking before described
Wheel 13 is the most identical with the size and shape of described rear walking wheel 14, and described fore-clamp bearing up pulley 11 clamps after described
The size and shape of wheel 12 is the most identical.
As it is shown on figure 3, the diameter of described pinch wheels is less than the diameter of described road wheel, the end of described road wheel
Portion is provided with a " V " shape groove, and the top of described pinch wheels is provided with one " C " connected in star, described " V "
Forming a cavity between connected in star and described " C " connected in star, described cable 2 is contained in described cavity, greatly
The risk that big reduction road wheel falls in the process of walking.
The work process of the anti-falling mechanism of the present invention is as follows: during as it is shown in figure 1, robot normally travels,
Under the effect of clamping motor, pushing block 9 drives described push rod 10 and described first support 4 to move upward,
Pinch wheels is clamped with road wheel；As in figure 2 it is shown, when robot runs into barrier, at clamping motor
Under effect, pushing block 9 drives described push rod 10 and described first support 4 to move downward, just pinch wheels with
Road wheel departs from, and when barrier passes through, then clamps.
The fall arrest crusing robot of the present invention, has the advantages that
1, the present invention has former and later two road wheels, connects a pinch wheels before and after correspondence, former and later two pinch wheels
Common effect makes robot more tight with the connection of cable, and falling risk reduces.
2, the road wheel of the present invention is provided with a " V " shape groove, and pinch wheels is provided with one " C " connected in star,
Forming a cavity between " V " shape groove and " C " connected in star, cable is contained in this cavity, is substantially reduced
Robot falls probability.
3, the present invention includes support, slide block, connecting rod, push rod and pushing block, and connecting rod is sliding with support by slide block
Being dynamically connected, pushing block is connected with the clamping motor output shaft stating pinch wheels, and pushing block is under the driving of motor
Drive push rod, support and connecting rod to move up and down, make to add bearing up pulley and clamp with road wheel or separate, when robot meets
Can dodge in time to during barrier.
Above disclosed only presently preferred embodiments of the present invention, can not limit the present invention with this certainly
Interest field, the equivalent variations therefore made according to the claims in the present invention, still belong to the model that the present invention is contained
Enclose.
Claims (9)
1. a fall arrest crusing robot, it is characterised in that include robot body (1), road wheel and
Clamp system, described robot body (1) is arranged on the top of described road wheel, and described clamp system is arranged
Cable (2) it is clamped with between the lower section of described road wheel, described road wheel and described clamp system, described
Road wheel rolls along described cable (2) under robot body drives the drive of motor and advances；
Described clamp system includes pinch wheels, support and connecting rod (3), and described pinch wheels is in described support and institute
State and be vertically moved upwardly or downwardly under the drive of connecting rod (3), it is achieved described pinch wheels and the folder of described road wheel
Tightly with separate；
The bottom of described road wheel is provided with a " V " shape groove, and the top of described pinch wheels is provided with one " C "
Connected in star, forms a cavity, described cable (2) between described " V " shape groove and described " C " connected in star
It is contained in described cavity.
Fall arrest crusing robot the most according to claim 1, it is characterised in that described support includes
First support (4), the second support (5) and the 3rd support (6), described pinch wheels is fixedly connected on described
The top of the first support (4), the two ends of described first support (4) respectively at described second support (5) and
Described 3rd support (6) is flexibly connected.
Fall arrest crusing robot the most according to claim 2, it is characterised in that described second support
(5) be provided with several the first slide blocks (7) on, described 3rd support (6) is provided with several second
Slide block (8), described first slide block (7) and described second slide block are passed through in the two ends of described first support (4)
(8) it is flexibly connected with described second support (5) and described 3rd support (6) respectively；Described connecting rod (3)
For several, several described connecting rods (3) pass through described first slide block (7) and described second slide block (8)
It is movably connected on described second support (5) and described 3rd support (6).
4. according to the fall arrest crusing robot described in Claims 2 or 3, it is characterised in that several institutes
Stating connecting rod (3) hinged at infall, one of them hinged place is provided with pushing block (9), described pushing block
(9) be provided above push rod (10), the end of described push rod (10) and described first support (4)
Fixing connection.
Fall arrest crusing robot the most according to claim 4, it is characterised in that described pushing block (9)
It is arranged on the hinged place apart from the farthest connecting rod of described first support (4).
Fall arrest crusing robot the most according to claim 5, it is characterised in that described pushing block (9)
Be connected with the clamping motor output shaft of described pinch wheels, be used for driving described push rod (10), described first
Support (4) and described connecting rod (3) move up and down, and make to add bearing up pulley and clamp with road wheel or separate.
7. according to the fall arrest crusing robot described in claim 5 or 6, it is characterised in that described clamping
Wheel include fore-clamp bearing up pulley (11) and rear pinch wheels (12), described road wheel include front walking wheel (13) and
Rear walking wheel (14), between described fore-clamp bearing up pulley (11) and described front walking wheel (13) and described
Cable (2) all it is clamped with between rear pinch wheels (12) and described rear walking wheel (14).
Fall arrest crusing robot the most according to claim 7, it is characterised in that described front walking wheel
(13) the most identical with the size and shape of described rear walking wheel (14), described fore-clamp bearing up pulley (11) and institute
The size and shape stating rear pinch wheels (12) is the most identical.
Fall arrest crusing robot the most according to claim 8, it is characterised in that described pinch wheels
Diameter is less than the diameter of described road wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610281452.0A CN105914648A (en) | 2016-05-03 | 2016-05-03 | Fall preventable inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610281452.0A CN105914648A (en) | 2016-05-03 | 2016-05-03 | Fall preventable inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105914648A true CN105914648A (en) | 2016-08-31 |
Family
ID=56753126
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610281452.0A Pending CN105914648A (en) | 2016-05-03 | 2016-05-03 | Fall preventable inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105914648A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110265913A (en) * | 2019-03-19 | 2019-09-20 | 陈永春 | A kind of transmission line polling robot falling proof device |
| CN110492420A (en) * | 2019-07-30 | 2019-11-22 | 贵州电网有限责任公司 | A kind of bastinade formula deicer suitable for power distribution network |
-
2016
- 2016-05-03 CN CN201610281452.0A patent/CN105914648A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110265913A (en) * | 2019-03-19 | 2019-09-20 | 陈永春 | A kind of transmission line polling robot falling proof device |
| CN110492420A (en) * | 2019-07-30 | 2019-11-22 | 贵州电网有限责任公司 | A kind of bastinade formula deicer suitable for power distribution network |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160831 |
|
| WD01 | Invention patent application deemed withdrawn after publication |