CN107856752B - Walking clipping mechanism for high voltage cable crusing robot - Google Patents
Walking clipping mechanism for high voltage cable crusing robot Download PDFInfo
- Publication number
- CN107856752B CN107856752B CN201711107438.XA CN201711107438A CN107856752B CN 107856752 B CN107856752 B CN 107856752B CN 201711107438 A CN201711107438 A CN 201711107438A CN 107856752 B CN107856752 B CN 107856752B
- Authority
- CN
- China
- Prior art keywords
- strut
- frame body
- high voltage
- voltage cable
- drive link
- 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
-
- 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 belongs to high-voltage line crusing robot technical fields, more particularly to high voltage cable crusing robot walking clipping mechanism.It includes frame body, traveling wheel, and traveling wheel is mounted on frame body, first motor is fixed on frame body and is connect with traveling wheel；Frame body front and rear part is respectively and fixedly provided with a pair of of fixing axle, the first strut and the second strut are respectively set in each pair of fixing axle, first strut is fixed with the first cramping body, second strut is fixed with the second cramping body, first cramping body and the second cramping body are oppositely arranged, first strut is hinged with the first drive link, second strut is hinged with the second drive link, first drive link is hinged with the both ends of bull stick respectively with the second drive link, bar rotation is set on frame body, the both ends of bull stick and worm screw are fixed, worm gear and worm screw are meshed, frame body is further fixed on the second motor being connect with worm gear.The configuration of the present invention is simple improves the safety and stability of high-voltage line crusing robot walking.
Description
Technical field
The invention belongs to high-voltage line crusing robot technical fields, walk more particularly to high voltage cable crusing robot
Clamping device.
Background technology
High-voltage line is commonly referred to as the transmission line of electricity of conveying 10KV (containing 10KV) the above voltage.High voltage power transmission is often adopted in the wild
The overhead line mode carried with steel tower is transmitted.Since high voltage cable exposes field for a long time, often there is stranded, abrasion equivalent damage,
Therefore it needs periodically to carry out inspection.Traditional high voltage cable inspection works by being accomplished manually.But manual inspection is dangerous high,
Efficiency is low.Currently, high-voltage line crusing robot can substitute artificial progress inspection.But current high voltage cable crusing robot
Walking clipping mechanism generally existing mechanism it is complicated, to high-voltage line angle change bad adaptability, be not easy to manipulate the shortcomings of.
Invention content
In view of the deficiencies of the prior art, the present invention provides it is a kind of it is simple in structure, to high voltage cable angle change adaptability
By force, the high high voltage cable crusing robot walking clipping mechanism of safety coefficient.
Technical solution provided by the invention is：
For the walking clipping mechanism of high voltage cable crusing robot, including frame body, traveling wheel, frame body is frame structure,
Traveling wheel is mounted on by shaft on frame body, and first motor, the rotation axis and traction drive of first motor are fixed on frame body
Connection；The front and rear part of the frame body is respectively and fixedly provided with a pair of of fixing axle, is rotated respectively in each pair of fixing axle and is provided with first
The first cramping body, the second clamping of end fixed setting of the second strut is fixedly installed in the end of bar and the second strut, the first strut
Body, the first cramping body and the second cramping body are oppositely arranged, and head end and the first drive link of first strut are hinged, and described
The head end of two struts is hinged with the second drive link, the other end of the first drive link and the second drive link respectively with the both ends of bull stick
It is hinged, bar rotation is set on frame body, and the bull stick of the front and rear part of the frame body is fixedly connected with the both ends of worm screw, the frame
It is further fixedly arranged on the second motor on body, worm gear is fixed in the rotary shaft of the second motor, worm gear and worm screw are meshed.
Specifically, being respectively and fixedly provided with rotary shaft on first cramping body and the second cramping body, it is arranged in the rotary shaft
Rotatable idler wheel.
There is a choosing, the contact surface of the idler wheel and high voltage cable is in arc-shaped, the outer surface of the contact surface and high voltage cable
Match.
It, can will be high under the first cramping body and the effect of the second cramping body compared with prior art, the present invention simple in structure
Crimping cable is in clamped condition always, and idler wheel can maintain walking states in the clamp state, improve walking safety and
Stability.The present invention provides worm gear structure as transmission structure, can be locked to clamp system, even if high voltage cable patrols
There is disconnection fault in inspection robot, and cramping body will not unclamp, and ensure that the safety of high voltage cable crusing robot.
Description of the drawings
Fig. 1 is the structural schematic diagram of the present invention；
1 frame body, 2 traveling wheel, 3 first motor, 45 second motor of shaft, 6 transmission shaft
7 turbine, 8 worm screw, 9 bull stick, 10 first drive link, 11 second drive link
12 first strut, 13 second strut, 14 first cramping body, 15 second cramping body
16 idler wheels.
Specific implementation mode
As shown in Figure 1, the walking clipping mechanism for high voltage cable crusing robot, including frame body 1, traveling wheel 2, frame body
1 is frame structure, and traveling wheel 2 is mounted on by shaft 4 on frame body 1, and first motor 3 is fixed on frame body 1, first motor 3
Rotation axis is sequentially connected with traveling wheel 2；
The front and rear part of the frame body 1 is respectively and fixedly provided with a pair of of fixing axle, and rotation is provided with the respectively in each pair of fixing axle
The first cramping body 14 is fixedly installed in the end of one strut 12 and the second strut 13, the first strut 12, and the end of the second strut 13 is solid
Second cramping body 15 is set surely, the first cramping body 14 and the second cramping body 15 are oppositely arranged, the head end of first strut 12 with
First drive link 10 is hinged, and the head end of second strut 13 is hinged with the second drive link 11, the first drive link 10 and
Both ends of the other end of two drive links 11 respectively with bull stick 9 are hinged, and bull stick 9 is rotatably dispose on frame body 1, the frame body 1
The bull stick 9 of front and rear part is fixedly connected with the both ends of worm screw 8, and the second motor 5, the second motor 5 are further fixedly arranged on the frame body 1
Rotary shaft on fix worm gear 7, worm gear 7 and worm screw 8 are meshed.
It is respectively and fixedly provided with rotary shaft on first cramping body, 14 and second cramping body 15, being arranged in the rotary shaft can turn
Dynamic idler wheel 16.
The contact surface of the idler wheel 16 and high voltage cable is in arc-shaped, the outer surface phase of the contact surface and high voltage cable
Match.
The high voltage cable crusing robot for using the present invention is hung on high voltage cable, the second motor 5 rotation at this time is logical
It crosses worm gear and drives worm screw rotation, and then bull stick 9 is made to be rotated counterclockwise around bull stick 9 and the connecting shaft of frame body 1 as shown in Figure 1, first
Drive link 10 pushes the first strut 12 to rotate clockwise, and the second drive link 11 pulls the rotation counterclockwise of the second strut 13, realizes the
One cramping body 14 and the second cramping body 15 are in open configuration.
High voltage cable crusing robot is only contacted by traveling wheel 2 with high voltage cable at this time.First motor rotate forward or
It rotates backward, first motor transmission shaft drives 3 main story of traveling wheel or reversion, realizes that high voltage cable robot goes forward in high voltage cable
Into or retreat.
When encountering strong wind, since the shaking of high voltage cable may cause high-voltage line crusing robot to fall from high voltage cable
It falls, the second motor 5 rotation at this time drives worm screw to reversely rotate by worm gear, and then makes bull stick 9 as shown in Figure 1 around bull stick 9 and frame
The connecting shaft of body 1 rotates clockwise, and the first drive link 10 pushes the rotation counterclockwise of the first strut 12, and the second drive link 11 pulls the
Two struts 13 rotate clockwise, and realize that the first cramping body 14 and the second cramping body 15 are in closed state.Due to there is idler wheel 16
Design, even if high voltage cable is in the state of being clamped, high-voltage line crusing robot can also be moved forward or back normally.Due to using
There is locked endless screw worm gear actuating mechanism, first cramping body 14 and the second cramping body 15 s will not even if under blackout condition
It unclamps, ensure that the safety of high-voltage line crusing robot.
When encountering the increase of the high voltage cable gradient, since the first cramping body 14 and the second cramping body 15 are rotatably dispose in frame
On body, the first cramping body 14 and the second cramping body 15 are fixed in the position relationship of clamping high voltage cable, so frame body 1 and high-voltage line
Position relationship between cable will not change, so the other component knot for the high voltage cable crusing robot being fixed on frame body 1
Position relationship between structure and high voltage cable will not change.
Finally it should be noted that:The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, those of ordinary skills in the art should understand that：Still
It can modify to the specific implementation mode of the present invention or equivalent replacement is carried out to some technical characteristics；Without departing from this hair
The spirit of bright technical solution should all cover within the scope of the technical scheme claimed by the invention.
Claims (3)
1. the walking clipping mechanism for high voltage cable crusing robot, which is characterized in that including frame body (1), traveling wheel (2),
Frame body (1) is frame structure, and traveling wheel (2) is mounted on by shaft (4) on frame body (1), and frame body is fixed with first motor on (1)
(3), the rotation axis of first motor (3) is sequentially connected with traveling wheel (2)；The front and rear part of the frame body (1) is respectively and fixedly provided with a pair of solid
Dead axle, rotation is provided with the first strut (12) and the second strut (13) respectively in each pair of fixing axle, the first strut (12)
The first cramping body (14) is fixedly installed in end, and the second cramping body (15), the first clamping is fixedly installed in the end of the second strut (13)
Body (14) and the second cramping body (15) are oppositely arranged, and head end and the first drive link (10) of first strut (12) are hinged,
The head end of second strut (13) is hinged with the second drive link (11), the first drive link (10) and the second drive link (11)
Both ends of the other end respectively with bull stick (9) are hinged, and bull stick (9) is rotatably dispose on frame body (1), the frame body (1) it is front and back
The bull stick (9) in portion is fixedly connected with the both ends of worm screw (8), is further fixedly arranged on the second motor (5) on the frame body (1), and second
Worm gear (7) is fixed in the rotary shaft of motor (5), worm gear (7) and worm screw (8) are meshed.
2. being used for the walking clipping mechanism of high voltage cable crusing robot according to claim 1, which is characterized in that described the
It is respectively and fixedly provided with rotary shaft on one cramping body (14) and the second cramping body (15), rotatable idler wheel is arranged in the rotary shaft
(16)。
3. being used for the walking clipping mechanism of high voltage cable crusing robot according to claim 2, which is characterized in that the rolling
The contact surface for taking turns (16) and high voltage cable is in arc-shaped, and the outer surface of the contact surface and high voltage cable matches.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711107438.XA CN107856752B (en) | 2017-11-10 | 2017-11-10 | Walking clipping mechanism for high voltage cable crusing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711107438.XA CN107856752B (en) | 2017-11-10 | 2017-11-10 | Walking clipping mechanism for high voltage cable crusing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107856752A CN107856752A (en) | 2018-03-30 |
| CN107856752B true CN107856752B (en) | 2018-10-19 |
Family
ID=61700141
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711107438.XA Active CN107856752B (en) | 2017-11-10 | 2017-11-10 | Walking clipping mechanism for high voltage cable crusing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107856752B (en) |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5460495A (en) * | 1977-10-21 | 1979-05-15 | Hitachi Cable Ltd | Method of installing anti-sag electric wire |
| CN101471546B (en) * | 2007-12-26 | 2011-05-11 | 中国科学院沈阳自动化研究所 | Gripper mechanism with fault release function for walking of patrolling robot |
| KR101228187B1 (en) * | 2010-08-06 | 2013-01-30 | 한국수력원자력 주식회사 | Balance Support and Steering Device for Cable Indenting Test Robot |
| CN202004378U (en) * | 2011-03-29 | 2011-10-05 | 重庆市电力公司超高压局 | Traveling arm of walking robot for transmission line |
| CN202395385U (en) * | 2012-01-10 | 2012-08-22 | 安徽送变电工程公司 | Sag observation remote control travelling trolley based on global positioning system (GPS) positioning technique |
| CN106058730B (en) * | 2016-07-25 | 2017-11-21 | 国网江苏省电力公司常州供电公司 | Concrete bar inspection platform rotates in a circumferential direction device |
-
2017
- 2017-11-10 CN CN201711107438.XA patent/CN107856752B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN107856752A (en) | 2018-03-30 |
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| PB01 | Publication | ||
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| TR01 | Transfer of patent right |
Effective date of registration: 20191209 Address after: No.6, Feilong Road, Wujian Industrial Park, Jiangdu District, Yangzhou City, Jiangsu Province Patentee after: Yangzhou Xinlong Electric Co., Ltd Address before: Xu Cun Zhen Tang Qiao Cun Dai Jia Ba 41, Jiaxing city 314422 Zhejiang city of Haining Province Patentee before: Sun Zhetao |
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| TR01 | Transfer of patent right |