CN106711838A - Power transmission line integrated operating robot with straight line obstacle crossing mechanism - Google Patents
Power transmission line integrated operating robot with straight line obstacle crossing mechanism Download PDFInfo
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- CN106711838A CN106711838A CN201510494708.1A CN201510494708A CN106711838A CN 106711838 A CN106711838 A CN 106711838A CN 201510494708 A CN201510494708 A CN 201510494708A CN 106711838 A CN106711838 A CN 106711838A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 55
- 230000004888 barrier function Effects 0.000 claims description 47
- 210000004744 fore-foot Anatomy 0.000 claims description 36
- 210000000323 shoulder joint Anatomy 0.000 claims description 27
- 230000005611 electricity Effects 0.000 claims description 21
- 230000033001 locomotion Effects 0.000 description 9
- 239000007787 solid Substances 0.000 description 9
- 210000002683 foot Anatomy 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 210000000245 forearm Anatomy 0.000 description 3
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 3
- 239000010931 gold Substances 0.000 description 3
- 229910052737 gold Inorganic materials 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
The present invention provides a power transmission line integrated operating robot with a straight line obstacle crossing mechanism. The power transmission line integrated operating robot includes a front half part and a rear half part; the front half part includes a front shoulder (25), a front arm support (2) and a front wheel (4); the rear half part includes a rear shoulder (26), a rear shoulder support (18) and a rear wheel (22); the front end of the front shoulder (25) is provided with a front rotation mechanism which makes the front wheel (4) move along a direction perpendicular to the advancing direction of the front wheel (4); and the rear end of the rear shoulder (26) is provided with a rear rotation mechanism which makes the rear wheel (22) move along a direction perpendicular to the advancing direction of the rear wheel (22). According to the power transmission line integrated operating robot of the invention, takeoff from lines and obstacle avoidance can be achieved through one mechanism, a condition in the prior art that takeoff from lines and obstacle avoidance should be jointly completed through two execution mechanisms can be avoided, and the obstacle crossing mechanism of the robot can be simplified, and the weight of the robot can be reduced.
Description
Technical field
The present invention relates to the testing equipment field of transmission line of electricity, particularly a kind of power transmission line with straightway barrier getting over mechanism
Road synthetic job machine people.
Background technology
Power transmission line comprehensive Work robot can complete various operations on overhead transmission line, typically all by can
Different power tools are carried along the robot manipulating task platform that transmission line of electricity is moved and complete different job tasks, for example, patrol
Inspection, deicing, remove obstacles.Wherein robot manipulating task platform is the most important components of whole operating system, and machine
The barrier getting over mechanism of people is again the important component of robot manipulating task platform.The obstacle detouring of multi-form also determines robot
Different obstacle detouring modes and process.Complicated barrier getting over mechanism makes that robot obstacle detouring process is complicated, construction weight is big；And tie
The simple barrier getting over mechanism of structure can simplify robot obstacle detouring process, improve the stability and reliability of robot work,
The weight of robot can be mitigated, be easy to the transport of robot and upper offline.
On transmission line of electricity when walking and operation, the driving wheel of existing power transmission line comprehensive Work robot is placed in and is led
Directly over line, wire is embraced using two paws, driving wheel is pressed on wire.When preparing offline, in driving wheel off-line,
Paw is first turned on, driving wheel is left the surface of wire by way of side-sway.The action reached the standard grade with it is offline
Contrast, makes driving wheel be in the surface of wire by side-sway first, then closes paw, embraces wire.
Existing power transmission line comprehensive Work robot driving wheel off-line needs two actions --- paw opening and closing, driving wheel
Side-sway, this just make driver part control is comparatively laborious, structure is more complicated.Secondly, two fingers of paw must have
There is strict symmetric relation and it is necessary to meet the strict characteristics of motion, mechanism characteristicses can be otherwise had a strong impact on, to machine
The processing of structure, debugging have requirement higher.The last program need former and later two mechanical arms cooperate could complete across
The function of obstacle-overpass, degree of freedom in system is more, complex structure.
The content of the invention
In order to solve the problems, such as that traditional synthetic job machine people controls cumbersome and structure more complicated.The invention provides
A kind of power transmission line comprehensive Work robot with straightway barrier getting over mechanism, contains a knot for approximate straightway
Structure, allow the off-line of robot barrier getting over mechanism and avoidance to be capable of achieving by a mechanism, it is to avoid conventional off-line and
Avoidance action needs Liang Ge executing agencies to complete jointly, simplifies the barrier getting over mechanism of robot, alleviates the weight of robot
Amount.
The present invention is that the technical scheme for solving the use of its technical problem is：A kind of power transmission line with straightway barrier getting over mechanism
Road synthetic job machine people, including first half and latter half, the first half contain crop, preceding arm support and preceding
Wheel, the latter half contains back porch, rear arm support and trailing wheel；The front end connection of the rear end and back porch of crop, forearm branch
Erection is placed in the front end of crop, and rear arm support is arranged at the rear end of back porch, and front-wheel is arranged at the upper end of preceding arm support, after
Wheel is arranged at the upper end of rear arm support, and the front end of crop is additionally provided with can be such that front-wheel is moved along the direct of travel perpendicular to front-wheel
Dynamic preceding rotating mechanism, the rear end of back porch is additionally provided with rear turn that trailing wheel can be made to be moved along the direct of travel perpendicular to trailing wheel
Motivation structure.
Crop and back porch are in the form of a column, and crop and back porch are horizontally disposed, and the rear end of crop is fixed with preceding shoulder joint
Section, back porch is fixedly arranged at the front end with rear shoulder joint, and preceding shoulder joint is connected with back porch articulation, crop can be relative to rear
Shoulder is rotated, and the axis of the rotating shaft between preceding shoulder joint and rear shoulder joint is horizontally disposed and perpendicular to back porch.
The preceding rotating mechanism includes preceding runner and the preceding fixed guide support for supporting preceding runner, preceding fixed guide support
It is tabular, the lower end of preceding arm support is rotated by preceding bearing pin with preceding runner and is connected, runner before the axis runout of preceding bearing pin
The axis of rotary shaft, preceding runner is also associated with the first driver part for driving the forward wheel to rotate, and current runner turns
When dynamic, preceding runner can promote forearm holder pivots and front-wheel is moved obliquely upward.
Preceding fixed guide support is vertical with crop, and the lower end of preceding fixed guide support is fixedly connected with the front end of crop, preceding
Runner is located in preceding fixed guide support, and the axis of the rotary shaft of preceding runner is perpendicular to preceding fixed guide support.
Preceding arm support is column, and the groove for vertically opening up, preceding fixed guide support grafting are provided with preceding arm support
In the groove, the top of preceding fixed guide support is additionally provided with guide chute, and the guide chute is contained within the preceding axis of guide, preceding
The axis of the axis of guide is fixedly connected perpendicular to preceding fixed guide support, the preceding axis of guide with preceding arm support, and the preceding axis of guide can
Slided along the guide chute.
Front-wheel is located at the left side of preceding arm support, and the pivot center of front-wheel is horizontally disposed, the pivot center of front-wheel with
Crop is vertical, and front-wheel is connected with the second driver part for driving the front-drive, and the upper end of preceding arm support is provided with peace
Dress hole, second driver part is arranged in the mounting hole.
The first half also includes the clamping part for clamping transmission line of electricity positioned at forearm pedestal upper end, and the clamping part sets
Put in the front of front-wheel, the clamping part is fixedly connected by connector with preceding arm support.
The clamping part contains fore paw leading screw and the support for supporting the fore paw leading screw, and two rotations are arranged with fore paw leading screw
To opposite nut, a fore paw is respectively and fixedly provided with each described nut, two fore paws are in herringbone, when fore paw silk
Can be close to each other when thick stick is rotated, between two fore paws or it be also associated with for driving fore paw silk away from, fore paw leading screw
The 3rd driver part that thick stick is rotated.
The structure of the first half is identical with the structure of the latter half, the first half and the latter half
Mirror image each other.
This has the power transmission line comprehensive Work robot of straightway barrier getting over mechanism also containing for controlling this with straight line
The control unit of the power transmission line comprehensive Work robot operation of section barrier getting over mechanism.
The beneficial effects of the invention are as follows：
1st, by the cooperation of runner and the axis of guide, front and back wheel can be allowed to carry out the dynamic of opening and closing according to desired trajectory
Make；
2nd, reduce during robot obstacle detouring, two-arm rotates the free degree of redundancy.
3rd, according to different voltage class and different model gold utensil, it is determined that corresponding robot arm size and guide track,
Robot across different size barrier can be made, the adaptive capacity to environment of robot is improve.
Brief description of the drawings
Below in conjunction with the accompanying drawings to the power transmission line comprehensive Work robot with straightway barrier getting over mechanism of the present invention
It is described in further detail.
Fig. 1 be this have straightway barrier getting over mechanism power transmission line comprehensive Work robot schematic perspective view.
Fig. 2 be this have straightway barrier getting over mechanism power transmission line comprehensive Work robot front-wheel and transmission line of electricity phase
Schematic diagram during contact.
Fig. 3 be this have straightway barrier getting over mechanism power transmission line comprehensive Work robot front-wheel to transmission line of electricity
Schematic diagram when oblique upper is moved.
The axis of guide before wherein 1., 2. before arm support, 3. before turbin generator, 4. front-wheel, 5. fore paw leading screw, 6. before
Pawl, 7. fore paw motor, 8. before runner, 9. before bearing pin, 10. before fixed guide support, 11. forward turbin generators,
Shoulder joint before 12., shoulder joint after 13., runner motor after 14., 15. rear pin shafts, runner after 16., after 17.
The axis of guide, arm support after 18., 19. rear solid end motors, 20. rear solid ends, 21. rear solid end leading screws, 22. trailing wheels, after 23.
Turbin generator, fixed guide support after 24., 25. crops, 26. back porches, 27. rotating shafts, 28. transmission lines of electricity, 201.
Guide chute.
Specific embodiment
Below in conjunction with the accompanying drawings to the power transmission line comprehensive Work robot with straightway barrier getting over mechanism of the present invention
It is described in further detail.A kind of power transmission line comprehensive Work robot with straightway barrier getting over mechanism, including it is preceding
Half part and latter half, the first half contain crop 25, preceding arm support 2 and front-wheel 4, and the latter half contains
Back porch 26, rear arm support 18 and trailing wheel 22；The front end connection of the rear end and back porch 26 of crop 25, crop 25
Front end be provided with preceding arm support 2, the rear end of back porch 26 is provided with rear arm support 18, before the upper end of preceding arm support 2 is provided with
Wheel 4, the upper end of rear arm support 18 is provided with trailing wheel 22, the front end of crop 25 be additionally provided with can make front-wheel 4 along perpendicular to
Front-wheel 4 direct of travel movement preceding rotating mechanism, the rear end of back porch 26 be additionally provided with can make trailing wheel 22 along perpendicular to
The rear rotating mechanism of the direct of travel movement of trailing wheel 22, as shown in Figure 1.
The power transmission line comprehensive Work robot with straightway barrier getting over mechanism operationally passes through front-wheel 4 and trailing wheel
22 hang on transmission line of electricity 28, as shown in Fig. 2 the direct of travel of front-wheel 4 and trailing wheel 22 is perpendicular to paper
Inward-facing or outside, front-wheel 4 and trailing wheel 22 are rotated so as to drive the power transmission line comprehensive Work robot along power transmission line
Road 28 is walked, and when the power transmission line comprehensive Work robot runs into obstacle, the preceding rotating mechanism can make front-wheel 4
Along the direct of travel movement perpendicular to front-wheel 4 and away from barrier, the distance of the movement need satisfaction make front-wheel 4 along
Transmission line of electricity 28 can be across the barrier without coming in contact or colliding, similarly when moving, the rear rotating mechanism
Also trailing wheel 22 can be made along the direct of travel movement perpendicular to trailing wheel 22 and away from barrier, mobile distance needs full
Across the barrier without coming in contact or colliding when enabling trailing wheel 22 to be moved along transmission line of electricity 28 enough, such as scheme
Shown in 3.
Crop 25 and back porch 26 are in the form of a column, and crop 25 and back porch 26 are one in front and one in back set in the horizontal direction, preceding
The rear end of shoulder 25 is fixed with preceding shoulder joint 12, and back porch 26 is fixedly arranged at the front end with rear shoulder joint 13, preceding shoulder joint 12
Rotated with rear shoulder joint 13 and be connected, crop 25 can be rotated relative to back porch 26, preceding shoulder joint 12 and rear shoulder joint
The axis of the rotating shaft 27 between 13 is horizontally disposed and perpendicular to back porch 26.In addition, crop 25 and back porch 26
The distance between can also adjust.
The preceding rotating mechanism includes preceding runner 8 and the preceding fixed guide support 10 for supporting preceding runner 8, preceding fixation
Guiding trestle 10 is tabular, and the lower end of preceding arm support 2 is rotated by preceding bearing pin 9 with preceding runner 8 and is connected, preceding bearing pin
The axis of the rotary shaft of runner 8 before 9 axis runout, preceding runner 8 is also associated with for driving the preceding runner 8 to rotate
The first driver part.In the present embodiment, first driver part is forward turbin generator 11, forward turbin generator 11
The diameter parallel of motor shaft and the rotary shaft of preceding runner 8, the driving wheel and the phase of preceding runner 8 of the connection of forward turbin generator 11
Cut.When current runner 8 is rotated, preceding runner 8 can promote preceding arm support 2 to rotate and front-wheel 4 is moved obliquely upward
Dynamic, the direct of travel of general front-wheel 4 and trailing wheel 22 is horizontal direction, as shown in figure 3, the direct of travel of front-wheel 4
Along transmission line of electricity 28 perpendicular to paper, preceding runner 8 preceding arm support 2 can be promoted to rotate and move and make front-wheel 4 to
The upper right side movement of transmission line of electricity 28.
Preceding fixed guide support 10 is vertical with crop 25, the lower end of preceding fixed guide support 10 and the front end of crop 25
It is fixedly connected, preceding runner 8 is located in preceding fixed guide support 10, and the axis of the rotary shaft of preceding runner 8 is vertical
In preceding fixed guide support 10.
Preceding arm support 2 is to be provided with the groove for vertically opening up, preceding fixed guide support in column, preceding arm support 2
10 and the part of preceding runner 8 be plugged in the groove, the top of preceding fixed guide support 10 is additionally provided with for controlling
The guide chute 201 of preceding arm support 2 and the movement locus of front-wheel 4, the guide chute 201 is contained within the preceding axis of guide 1,
The axis of the preceding axis of guide 1 is fixedly connected perpendicular to preceding fixed guide support 10, the preceding axis of guide 1 with preceding arm support 2,
The preceding axis of guide 1 can be slided along the guide chute.According to different voltage class and different model gold utensil, it is determined that accordingly
The preceding fixed guide support 10 and the guide track of the size of preceding runner 8 and guide chute 201 of robot, so that can
So that different size barrier is crossed over by the robot, the adaptive capacity to environment of robot is improved.
As depicted in figs. 1 and 2, front-wheel 4 is located at the left side of preceding arm support 2, and the pivot center of front-wheel 4 is along level side
To setting, the pivot center of front-wheel 4 is vertical with crop 25, and front-wheel 4 is connected with for driving what the front-wheel 4 was rotated
Second driver part, the upper end of preceding arm support 2 is provided with mounting hole, and second driver part is arranged in the mounting hole.
In the present embodiment, second driver part is preceding turbin generator 3.
The first half also includes the clamping part for clamping transmission line of electricity positioned at the upper end of preceding arm support 2, the clamping part
The front of front-wheel 4 is arranged on, the clamping part is fixedly connected by connector with preceding arm support 2, the clamping part and front-wheel
4 are synchronized with the movement.As shown in figure 1, the clamping part contains fore paw leading screw 5 and the support for supporting the fore paw leading screw 5,
Two oppositely oriented nuts are arranged with fore paw leading screw 5, a fore paw 6, two are respectively and fixedly provided with each described nut
Individual fore paw 6 be in herringbone, when fore paw leading screw 5 is rotated, between two fore paws 6 can it is close to each other or away from,
Fore paw leading screw 5 is also associated with the 3rd driver part for driving the fore paw leading screw 5 to rotate.In the present embodiment, this
Three driver parts are fore paw motor 7.When this has the power transmission line comprehensive Work robot of straightway barrier getting over mechanism along defeated
When electric line 28 is walked, fore paw leading screw 5 is rotated makes two fore paws 6 close to each other, equivalent to entangling transmission line of electricity 28,
Prevent the power transmission line comprehensive Work robot from being dropped from transmission line of electricity 28, when the power transmission line comprehensive work machine
When people runs into obstacle, fore paw leading screw 5 is rotated is located remotely from each other two fore paws 6, in order to front-wheel 4 and the clamping part energy
Enough leaping over obstacles.
The structure with the first half of the power transmission line comprehensive Work robot of straightway barrier getting over mechanism and institute
The structure for stating latter half is identical, the first half and the latter half mirror image each other.
The first half include the preceding axis of guide 1, preceding arm support 2, preceding turbin generator 3, front-wheel 4, fore paw leading screw 5,
It is fore paw 6, fore paw motor 7, preceding runner 8, preceding bearing pin 9, preceding fixed guide support 10, forward turbin generator 11, preceding
Shoulder joint 12, crop 25.The latter half include rear shoulder joint 13, rear runner motor 14, rear pin shaft 15,
Runner 16, the rear axis of guide 17, rear arm support 18, rear solid end motor 19, rear solid end 20, rear solid end leading screw 21, trailing wheel afterwards
22nd, rear-wheel motor 23, rear fixed guide support 24, back porch 26.In order to save length, due to the first half
With latter half mirror image each other, the concrete structure of the latter half is not described in detail.
This has the power transmission line comprehensive Work robot of straightway barrier getting over mechanism also containing for controlling this with straight line
The control unit of the power transmission line comprehensive Work robot operation of section barrier getting over mechanism.First driver part, second drive
Dynamic component and the 3rd driver part are connected with the control unit.
This has the power transmission line comprehensive Work robot of straightway barrier getting over mechanism can be by artificial unlucky or pulley
The mode of hanging, make front-wheel 4 and trailing wheel 22 be suspended on needs patrol and examine or operation wire or ground wire (transmission line of electricity
28) on.When there is no the barriers such as gold utensil in lead wire and earth wire, by preceding turbin generator 3 and rear-wheel motor 23 band respectively
Dynamic front-wheel 4 and trailing wheel 22 advance, and the power transmission line comprehensive Work robot is steadily walked in lead wire and earth wire.
When walking is arrived wait before the barrier crossed over when, the power transmission line comprehensive Work robot stops walking, preparation obstacle detouring.
Firstly, it is necessary to open fore paw 6, i.e., fore paw leading screw 5 is rotated is located remotely from each other two fore paws 6, makes between two fore paws 6
Minimum range while runner 8 before rotating, regulation fore paw 6 position, makes fore paw 6 and preceding more than the diameter of transmission line of electricity 28
Wheel 4 laterally away from transmission line of electricity 28, as shown in Figure 3.Meanwhile, two rear solid ends 20 are clamped, and give foot corresponding support force.
And the anglec of rotation (i.e. the anglec of rotation of the crop 25 relative to back porch 26) of preceding shoulder joint 12 and rear shoulder joint 13 is adjusted,
Make front-wheel 4 and the clamping part away from barrier.
After first half is opened completely, trailing wheel 22 advances, and promotes whole robot to walk forward.When latter half of tap
During nearly barrier, halt.Regulation shoulder joint and the anglec of rotation of preceding runner 8, make fore paw 6 recover original normal row
Position when walking, front-wheel 4 is ridden on transmission line of electricity 28, is closed two fore paws 6 and is clamped.Afterwards, rear solid end 20 is opened,
Continue the rotational angle of regulation shoulder joint and rear runner 16 so that latter half completes to be beaten with above-mentioned first half identical
Open procedure, to complete to change arm work.
Front-wheel 4 advances, and drags whole robot and walks forward.When whole robot has fully passed over barrier,
The anglec of rotation and the anglec of rotation of rear runner 16 of the preceding shoulder joint 12 of regulation and rear shoulder joint 13, latter half is recovered
As initial position, trailing wheel 22 is ridden on transmission line of electricity 28, closes rear solid end 6.
Now, robot has completed complete obstacle detouring work.Polling transmission line can be proceeded according to demand
Deng work.
The above, specific embodiment only of the invention, it is impossible to the scope that its restriction invention is implemented, so its etc.
With the displacement of component, or the equivalent variations made according to scope of patent protection of the present invention and modification, should all still fall within this patent
The category covered.In addition, between technical characteristic and technical characteristic in the present invention, between technical characteristic and technical scheme,
Can be used with independent assortment between technical scheme and technical scheme.
Claims (10)
1. a kind of power transmission line comprehensive Work robot with straightway barrier getting over mechanism, it is characterised in that the tool
The power transmission line comprehensive Work robot for having straightway barrier getting over mechanism includes first half and latter half, the first half
Containing crop (25), preceding arm support (2) and front-wheel (4), the latter half contains back porch (26), rear arm support
And trailing wheel (22) (18)；
The front end connection of the rear end and back porch (26) of crop (25), preceding arm support (2) is arranged at crop (25)
Front end, rear arm support (18) is arranged at the rear end of back porch (26), and front-wheel (4) is arranged at preceding arm support (2)
Upper end, trailing wheel (22) is arranged at the upper end of rear arm support (18), and the front end of crop (25) is additionally provided with and can make
The preceding rotating mechanism that front-wheel (4) is moved along the direct of travel perpendicular to front-wheel (4), the rear end of back porch (26) also sets
There is the rear rotating mechanism that trailing wheel (22) can be made to be moved along the direct of travel perpendicular to trailing wheel (22).
2. the power transmission line comprehensive Work robot with straightway barrier getting over mechanism according to claim 1, its
It is characterised by：Crop (25) and back porch (26) are in the form of a column, and crop (25) and back porch (26) are along level side
To setting, the rear end of crop (25) is fixed with preceding shoulder joint (12), and back porch (26) is fixedly arranged at the front end with rear shoulder joint
Section (13), preceding shoulder joint (12) rotates with rear shoulder joint (13) and is connected, and crop (25) can be relative to back porch
(26) rotate, the axis of the rotating shaft (27) between preceding shoulder joint (12) and rear shoulder joint (13) is in the horizontal direction
Set and perpendicular to back porch (26).
3. the power transmission line comprehensive Work robot with straightway barrier getting over mechanism according to claim 1, its
It is characterised by：The preceding rotating mechanism includes preceding runner (8) and the preceding fixed guide support for supporting preceding runner (8)
(10), preceding fixed guide support (10) is tabular, and the lower end of preceding arm support (2) is with preceding runner (8) by preceding
Bearing pin (9) rotates connection, the axis of the rotary shaft of runner (8), preceding runner before the axis runout of preceding bearing pin (9)
(8) the first driver part for driving the preceding runner (8) to rotate is also associated with, when current runner (8) rotates,
Preceding runner (8) can promote preceding arm support (2) to rotate and front-wheel (4) is moved obliquely upward.
4. the power transmission line comprehensive Work robot with straightway barrier getting over mechanism according to claim 3, its
It is characterised by：Preceding fixed guide support (10) is vertical with crop (25), the lower end of preceding fixed guide support (10)
Front end with crop (25) is fixedly connected, and preceding runner (8) is interior positioned at preceding fixed guide support (10), preceding runner
(8) axis of the rotary shaft is perpendicular to preceding fixed guide support (10).
5. the power transmission line comprehensive Work robot with straightway barrier getting over mechanism according to claim 3, its
It is characterised by：Preceding arm support (2) is column, and the groove for vertically opening up is provided with preceding arm support (2), preceding
Fixed guide support (10) is plugged in the groove, and the top of preceding fixed guide support (10) is additionally provided with guide chute,
The guide chute is contained within the preceding axis of guide (1), the axis of the preceding axis of guide (1) perpendicular to preceding fixed guide support (10),
The preceding axis of guide (1) is fixedly connected with preceding arm support (2), and the preceding axis of guide (1) can be slided along the guide chute.
6. the power transmission line comprehensive Work robot with straightway barrier getting over mechanism according to claim 1, its
It is characterised by：, positioned at the left side of preceding arm support (2), the pivot center of front-wheel (4) is in the horizontal direction for front-wheel (4)
Set, the pivot center of front-wheel (4) is vertical with crop (25), and front-wheel (4) is connected with for driving the front-wheel (4)
The second driver part for rotating, the upper end of preceding arm support (2) is provided with mounting hole, and second driver part is arranged on this
In mounting hole.
7. the power transmission line comprehensive Work robot with straightway barrier getting over mechanism according to claim 1, its
It is characterised by：The first half also includes the clamping part for clamping transmission line of electricity positioned at preceding arm support (2) upper end,
The clamping part is arranged on the front of front-wheel (4), and the clamping part is fixedly connected by connector with preceding arm support (2).
8. the power transmission line comprehensive Work robot with straightway barrier getting over mechanism according to claim 7, its
It is characterised by：The clamping part contains fore paw leading screw (5) and the support for supporting the fore paw leading screw (5), fore paw silk
Two oppositely oriented nuts are arranged with thick stick (5), a fore paw (6), two are respectively and fixedly provided with each described nut
Individual fore paw (6), when fore paw leading screw (5) is rotated, can mutually lean in herringbone between two fore paws (6)
Close or remote from fore paw leading screw (5) is also associated with the 3rd driver part for driving the fore paw leading screw (5) to rotate.
9. the power transmission line comprehensive Work robot with straightway barrier getting over mechanism according to claim 1, its
It is characterised by：The structure of the first half is identical with the structure of the latter half, the first half and it is described after
Half part mirror image each other.
10. the power transmission line comprehensive Work robot with straightway barrier getting over mechanism according to claim 1, its
It is characterised by：This has the power transmission line comprehensive Work robot of straightway barrier getting over mechanism also containing for controlling this to have
The control unit of the power transmission line comprehensive Work robot operation of straightway barrier getting over mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510494708.1A CN106711838B (en) | 2015-08-12 | 2015-08-12 | Power transmission line comprehensive operation robot with straight line segment obstacle crossing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510494708.1A CN106711838B (en) | 2015-08-12 | 2015-08-12 | Power transmission line comprehensive operation robot with straight line segment obstacle crossing mechanism |
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| Publication Number | Publication Date |
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| CN106711838A true CN106711838A (en) | 2017-05-24 |
| CN106711838B CN106711838B (en) | 2024-03-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510494708.1A Active CN106711838B (en) | 2015-08-12 | 2015-08-12 | Power transmission line comprehensive operation robot with straight line segment obstacle crossing mechanism |
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| CN107738702A (en) * | 2017-10-13 | 2018-02-27 | 中国农业大学 | With the furnace tube outer wall walking mechanism being oriented to obstacle crossing function |
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| CN109659862A (en) * | 2019-02-28 | 2019-04-19 | 西南交通大学 | A kind of armful line running gear of ultra-high-tension power transmission line inspection robot |
| CN109680609A (en) * | 2019-01-08 | 2019-04-26 | 上海源盛机械电气制造有限公司 | One kind is across barrier mechanism, moving trolley and noise barrier stand column bolt inspection device |
| CN112003187A (en) * | 2020-08-24 | 2020-11-27 | 南京云上自动化科技有限公司 | Joint type double-foot high-voltage line inspection robot |
| CN113904262A (en) * | 2021-10-08 | 2022-01-07 | 攀钢集团工程技术有限公司 | Construction method for transferring large-span overhead line |
| CN113922275A (en) * | 2021-10-26 | 2022-01-11 | 江苏宇诚业基电气设备有限公司 | A remove inspection device for cable run |
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| CN117578289A (en) * | 2023-10-11 | 2024-02-20 | 国网冀北电力有限公司张家口供电公司 | Fault detection device for power transmission line |
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| CN107738702A (en) * | 2017-10-13 | 2018-02-27 | 中国农业大学 | With the furnace tube outer wall walking mechanism being oriented to obstacle crossing function |
| CN107738702B (en) * | 2017-10-13 | 2019-10-22 | 中国农业大学 | Furnace tube outer wall walking mechanism with guiding and obstacle crossing function |
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| CN109680609B (en) * | 2019-01-08 | 2023-12-22 | 上海源盛机械电气制造有限公司 | Obstacle crossing mechanism, travelling car and sound barrier upright bolt inspection device |
| CN109680609A (en) * | 2019-01-08 | 2019-04-26 | 上海源盛机械电气制造有限公司 | One kind is across barrier mechanism, moving trolley and noise barrier stand column bolt inspection device |
| CN109659862B (en) * | 2019-02-28 | 2023-12-01 | 西南交通大学 | Line holding walking device of high-voltage transmission line inspection robot |
| CN109659862A (en) * | 2019-02-28 | 2019-04-19 | 西南交通大学 | A kind of armful line running gear of ultra-high-tension power transmission line inspection robot |
| CN112003187B (en) * | 2020-08-24 | 2022-01-28 | 南京云上自动化科技有限公司 | Joint type double-foot high-voltage line inspection robot |
| CN112003187A (en) * | 2020-08-24 | 2020-11-27 | 南京云上自动化科技有限公司 | Joint type double-foot high-voltage line inspection robot |
| CN113904262A (en) * | 2021-10-08 | 2022-01-07 | 攀钢集团工程技术有限公司 | Construction method for transferring large-span overhead line |
| CN113904262B (en) * | 2021-10-08 | 2023-08-04 | 攀钢集团工程技术有限公司 | Construction method for transferring large-span overhead line |
| CN113922275A (en) * | 2021-10-26 | 2022-01-11 | 江苏宇诚业基电气设备有限公司 | A remove inspection device for cable run |
| CN115902548A (en) * | 2022-11-23 | 2023-04-04 | 国网江苏省电力有限公司镇江供电分公司 | Overhead line insulator detection robot in transformer substation and obstacle crossing method of overhead line insulator detection robot |
| CN115902548B (en) * | 2022-11-23 | 2023-09-22 | 国网江苏省电力有限公司镇江供电分公司 | Overhead wire insulator detection robot in transformer substation and obstacle crossing method of overhead wire insulator detection robot |
| CN117578289A (en) * | 2023-10-11 | 2024-02-20 | 国网冀北电力有限公司张家口供电公司 | Fault detection device for power transmission line |
| CN117578289B (en) * | 2023-10-11 | 2024-04-19 | 国网冀北电力有限公司张家口供电公司 | Fault detection device for power transmission line |
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