CN107732777A - A kind of adjustable for height power transmission line crusing robot - Google Patents
A kind of adjustable for height power transmission line crusing robot Download PDFInfo
- Publication number
- CN107732777A CN107732777A CN201711044132.4A CN201711044132A CN107732777A CN 107732777 A CN107732777 A CN 107732777A CN 201711044132 A CN201711044132 A CN 201711044132A CN 107732777 A CN107732777 A CN 107732777A
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- CN
- China
- Prior art keywords
- transmission line
- power transmission
- road wheel
- support arm
- drive motor
- 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.)
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Classifications
-
- 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
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- Manipulator (AREA)
Abstract
The invention discloses a kind of adjustable for height power transmission line crusing robot, it includes body and walking mechanism, the body is arranged on power transmission line by the support of walking mechanism, the walking mechanism includes support arm and road wheel, the support arm upper end is connected with body, and the road wheel is arranged on the side of support arm, relative displacement can occur in vertical direction with support arm, the road wheel is arranged on power transmission line, drives body to be moved along power transmission line.The robot can freely adjust upper-lower height when being moved on power transmission line, and robot can not pass through when avoiding occurring above or below power transmission line barrier.
Description
Technical field
The present invention relates to power transmission line to protect field, refers in particular to a kind of adjustable for height power transmission line crusing robot.
Background technology
Be advantageous to understand circuit, it is necessary to carry out transmission line of electricity periodic maintenance to ensure the normal operation of power circuit
The change of operation conditions, the defects of also finding circuit and equipment in time and local environmental conditions, safeguard and provide for line maintenance
Data.The inspection of current power transmission line is mainly carried out by the way of artificial detection, but China's transmission line of electricity mileage is long, coverage
Extensively, also across mountain area, great river, meadow and virgin forest etc., this just makes inspection labor intensity big and is difficult to protect some circuits
Cyclic in-position measuring is demonstrate,proved, and influences inspection quality, at the same altitude hot-line operation, the security presence hidden danger of patrol officer.
In order to solve the above problems, inspection is carried out to circuit using robot；Because power transmission line will pass through the environment such as forest,
Many obstacles occur around power transmission line.And existing transmission of electricity crusing robot is highly fixed, some tops are oversized, have
Lower section is oversized.When having the barriers such as branch above and below power transmission line, robot can not pass through.
The content of the invention
It is an object of the invention to：For above-mentioned problem, there is provided a kind of adjustable for height power transmission line inspection machine
People, the robot can freely adjust upper-lower height when being moved on power transmission line, avoid occurring obstacle above or below power transmission line
Wu Shi robots can not pass through.
The technical solution adopted by the present invention is as follows：
A kind of adjustable for height power transmission line crusing robot, it includes body and walking mechanism, and the body passes through walking mechanism
Support be arranged on power transmission line, the walking mechanism includes support arm and road wheel, and the support arm upper end is connected with body,
The road wheel is arranged on the side of support arm, relative displacement, the road wheel can occur with support arm in the vertical direction
It is arranged on power transmission line, drives body to be moved along power transmission line.
Due to that relative displacement can occur in vertical direction between road wheel and support arm；There is obstacle above power transmission line
When, support arm moves down relative to power transmission line and road wheel；Height of the body above power transmission line is shortened, body is passed through
Obstacle above power transmission line；
When there is obstacle below power transmission line, support arm moves up relative to power transmission line and road wheel；Make body below power transmission line
Height shorten, body is passed through the obstacle below power transmission line.
Further, it is cavity inside the support arm, the elevating mechanism for driving road wheel to move up and down is provided with it.
Further, the elevating mechanism includes the screw mandrel and sliding block being mutually matched, the screw mandrel edge support arm lengths side
To arrangement；The road wheel is arranged on sliding block by road wheel mounting bracket；Screw drive motor is provided with the support arm,
When screw drive motor drive screw rotates, sliding block drives the movement of road wheel in the vertical direction.
Due to said structure, when there is obstacle above power transmission line, screw drive motor drives screw mandrel to rotate, make sliding block to
Upper movement, support arm move down relative to power transmission line and road wheel；Height of the body above power transmission line is shortened, enable body
Pass through the obstacle above power transmission line；
When there is obstacle below power transmission line, screw drive motor drives screw mandrel to rotate, and moves down sliding block, support arm is relative
Moved up in power transmission line and road wheel；Height of the body below power transmission line is shortened, enable body by power transmission line below
Obstacle.
Further, the support arm is provided with displacement mouth close to road wheel side, and the displacement opening's edge supports arm lengths side
To setting；The sliding block is connected by the connector through displacement mouth with walking wheeling supporting frame, and the connector is slided along displacement mouth
It is dynamic.
Due to said structure, it is intraoral that connector is arranged on displacement, and connector coordinates with displacement mouth, plays guide effect, just
Relatively moved in road wheel and support arm in the vertical direction.
Further, the road wheel mounting bracket is in " door " font, and road wheel is arranged on door word inframe, door word by rotating shaft
Frame side is connected by connector with the sliding block in support arm, and opposite side is provided with traction drive motor；The road wheel drives
Dynamic motor driven road wheel rotates.
Further, power transmission line status monitoring sensor, surrounding environment monitoring sensor are provided with the body；It is described
Power transmission line status monitoring sensor, surrounding environment monitoring sensor, traction drive motor and screw drive motor are and body
On controller be connected；Power supply is additionally provided with the body, the power supply is power transmission line status monitoring sensor, surrounding environment prison
Survey sensor, traction drive motor and screw drive motor power supply.
Due to said structure, power transmission line status monitoring sensor can detect the state of power transmission line, whether find power transmission line
Need to overhaul；Surrounding environment monitoring sensor can detect above or below power transmission line whether have obstacle, when it detects transmission of electricity
When having obstacle above or below line, control screw drive motor rotates.Machine human organism is adjusted above or below power transmission line
Highly, the obstacle above or below by power transmission line is allowed the robot to.
In summary, by adopting the above-described technical solution, the beneficial effects of the invention are as follows：The power transmission line inspection of the present invention
Robot can freely adjust height, be easy to it to pass through the obstacle above or below power transmission line.Obstacle detouring mode is simple, obstacle detouring process
In do not have to shut down, be easy to the continuous inspection of robot, routing inspection efficiency is high.
Brief description of the drawings
Fig. 1 is the front view of the present invention；
Fig. 2 is the support arm displacement mouth view of the present invention；
Fig. 3 is the left view of the present invention.
Embodiment
Below in conjunction with the accompanying drawings, the present invention is described in detail.
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
A kind of adjustable for height power transmission line crusing robot, it includes body 2 and walking mechanism, and the body 2 passes through row
The support for walking mechanism is arranged on power transmission line, and the walking mechanism includes support arm 1 and road wheel 5, the upper end of support arm 1 with
Body 2 is connected, and the road wheel 5 is arranged on the side of support arm 1, and relative position can occur with the in the vertical direction of support arm 1
Move, the road wheel 5 is arranged on power transmission line, drives body 2 to be moved along power transmission line.
In present embodiment, the robot is provided with front and rear two groups of walking mechanisms, and several are included in every group of walking mechanism
Road wheel 5, the quantity of road wheel 5 match with the radical of power transmission line.In present embodiment, power transmission line is two, then preceding vehicle with walking machine
Structure and rear walking mechanism include two road wheels 5, and each road wheel 5 is connected by a support arm 1 with body 2, and row
Walking wheel 5 can relatively move with the in the vertical direction of support arm 1.
Road wheel 5 can be arranged on the outside or inner side of support arm 1, and in present embodiment, road wheel 5 is located in support arm
1 inner side.When robot is arranged on power transmission line, support arm 1 can just wrap up power transmission line, can so improve machine
People is arranged on the stability on power transmission line.When robot ambulation is walked, road wheel 5 is located at the top of support arm 1, can so make
The center of gravity of robot reduces, while support arm 1 is wrapped up power transmission line, ensures the stability during robot ambulation.
It is cavity inside each support arm 1, the liter for driving road wheel 5 to move up and down is provided with each support arm 1
Descending mechanism.
The elevating mechanism includes the screw mandrel 7 and sliding block 6 that are mutually matched, and the screw mandrel 7 is along the length direction cloth of support arm 1
Put；The road wheel 5 is arranged on sliding block 6 by the mounting bracket 3 of road wheel 5；Screw drive motor is provided with the support arm 1
9, screw drive motor 9 is arranged on upper end or lower end in support arm 1, is connected with the upper end of screw mandrel 7 or lower end, when screw mandrel drives
When the drive screw 7 of motor 9 rotates, sliding block 6 drives the movement of the in the vertical direction of road wheel 5.
The support arm 1 is provided with displacement mouth 8 close to the side of road wheel 5, and the displacement mouth 8 is set along the length direction of support arm 1
Put；The sliding block 6 is connected by the connector through displacement mouth 8 with the support frame of road wheel 5, and the connector is slided along displacement mouth 8
It is dynamic.
The mounting bracket 3 of road wheel 5 is in " door " font, and road wheel 5 is arranged on door word inframe, door word frame side by rotating shaft
It is connected by connector with the sliding block 6 in support arm 1, opposite side is provided with traction drive motor 4；The traction drive electricity
Machine 4 drives road wheel 5 to rotate.
Power transmission line status monitoring sensor, surrounding environment monitoring sensor are provided with the body 2；The transmission of electricity wire
State monitoring sensor, surrounding environment monitoring sensor, traction drive motor 4 and screw drive motor 9 with the control on body 2
Device processed is connected；Power supply is additionally provided with the body 2, the power supply is power transmission line status monitoring sensor, surrounding environment monitoring biography
Sensor, traction drive motor 4 and screw drive motor 9 are powered.The power transmission line status monitoring sensor can install body 2
Front or lower section；Surrounding environment monitoring sensor is then arranged on surrounding or top or the bottom of body 2, for detecting robot
The environment of surrounding.
During work, adjustment road wheel 5 is located at the top of support arm 1, body 2 is suspended on power transmission line, reduces body 2
Center of gravity, ensure operation stability.When the surrounding environment monitoring sensor positioned at the front of body 2 detects power transmission line on preceding line direction
There is an obstacle lower section, at the same supported underneath arm 1 can not by when, controller control screw drive motor 9 rotates, and moves down sliding block 6,
Support arm 1 is moved up relative to road wheel 5 and power transmission line, support arm 1 is passed through power transmission line；When positioned at the rear of body 2
Surrounding detection sensor detects the obstacle that has below power transmission line, and the surrounding obstacle detecting sensor in the front of body 2 is not examined
There is obstacle below power transmission line on line direction before measuring, then controller control screw drive motor 9 rotates, and is that sliding block 6 moves up, makes branch
Brace 1 moves down relative to road wheel 5 and power transmission line, reduces the center of gravity of body 2, ensures the stability of operation.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (6)
- A kind of 1. adjustable for height power transmission line crusing robot, it is characterised in that：It includes body（2）And walking mechanism, it is described Body（2）It is arranged on by the support of walking mechanism on power transmission line, the walking mechanism includes support arm（1）And road wheel（5）, The support arm（1）Upper end and body（2）It is connected, the road wheel（5）It is arranged on support arm（1）Side, can be with support Arm（1）Relative displacement, the road wheel occur in the vertical direction（5）It is arranged on power transmission line, drives body（2）Along power transmission line It is mobile.
- 2. adjustable for height power transmission line crusing robot according to claim 1, it is characterised in that：The support arm（1） Inside is cavity, is provided with drive road wheel in it（5）The elevating mechanism moved up and down.
- 3. adjustable for height power transmission line crusing robot according to claim 2, it is characterised in that：The elevating mechanism bag Include the screw mandrel being mutually matched（7）And sliding block（6）, the screw mandrel（7）Along support arm（1）Length direction is arranged；The road wheel（5） Pass through road wheel（5）Mounting bracket（3）It is arranged on sliding block（6）On；The support arm（1）Inside it is provided with screw drive motor（9）, when Screw drive motor（9）Drive screw（7）During rotation, sliding block（6）Drive road wheel（5）In the vertical direction moves.
- 4. adjustable for height power transmission line crusing robot according to claim 3, it is characterised in that：The support arm（1） Close to road wheel（5）Side is provided with displacement mouth（8）, the displacement mouth（8）Along support arm（1）Length direction is set；The sliding block （6）By through displacement mouth（8）Connector and road wheel（5）Support frame is connected, and the connector is along displacement mouth（8）Slide.
- 5. adjustable for height power transmission line crusing robot according to claim 4, it is characterised in that：The road wheel（5） Mounting bracket（3）In " door " font, road wheel（5）Door word inframe is arranged on by rotating shaft, door word frame side passes through connector and branch Brace（1）Interior sliding block（6）It is connected, opposite side is provided with traction drive motor（4）；The traction drive motor（4）Band Dynamic road wheel（5）Rotate.
- 6. adjustable for height power transmission line crusing robot according to claim 5, it is characterised in that：The body（2）On It is provided with power transmission line status monitoring sensor, surrounding environment monitoring sensor；The power transmission line status monitoring sensor, four chow rings Border monitoring sensor, traction drive motor（4）And screw drive motor（9）And body（2）On controller be connected；It is described Body（2）On be additionally provided with power supply, the power supply be power transmission line status monitoring sensor, surrounding environment monitor sensor, road wheel Motor（4）And screw drive motor（9）Power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711044132.4A CN107732777A (en) | 2017-10-31 | 2017-10-31 | A kind of adjustable for height power transmission line crusing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711044132.4A CN107732777A (en) | 2017-10-31 | 2017-10-31 | A kind of adjustable for height power transmission line crusing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107732777A true CN107732777A (en) | 2018-02-23 |
Family
ID=61203448
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711044132.4A Withdrawn CN107732777A (en) | 2017-10-31 | 2017-10-31 | A kind of adjustable for height power transmission line crusing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107732777A (en) |
-
2017
- 2017-10-31 CN CN201711044132.4A patent/CN107732777A/en not_active Withdrawn
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180223 |