CN107878590A - A kind of running gear of transmission line polling robot - Google Patents
A kind of running gear of transmission line polling robot Download PDFInfo
- Publication number
- CN107878590A CN107878590A CN201711338117.0A CN201711338117A CN107878590A CN 107878590 A CN107878590 A CN 107878590A CN 201711338117 A CN201711338117 A CN 201711338117A CN 107878590 A CN107878590 A CN 107878590A
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- China
- Prior art keywords
- support axle
- support
- axle
- running gear
- connecting shaft
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- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
- Toys (AREA)
- Gear Transmission (AREA)
Abstract
The invention discloses a kind of running gear of transmission line polling robot, including mobile holder and the support arm for being symmetricly set in mobile holder rear and front end；Support arm is installed on by angle regulation component on described mobile holder；Support arm includes supporting support, travel driving unit, the brake apparatus and obstacle crossing device of control running gear parking；Obstacle crossing device includes being arranged at the left half-open fit and right half-open zoarium at the top of supporting support.For the walking mechanism of the present invention after obstacle is run into, barrier getting over mechanism carries out folding, it is possible to realizes obstacle detouring.The security performance of the present invention is high, and obstacle climbing ability is strong.The running gear of the present invention has a wide range of application, and can be incorporated in the running gear of circuit inspection and Work robot extensively.
Description
Technical field
The invention belongs to polling transmission line equipment, is related to a kind of running gear of transmission line polling robot.
Background technology
Transmission line of electricity is the particularly important part of power system, in order to ensure that it is safely and steadily run, it is necessary to fixed
Phase carries out walkaround inspection.The method used at present mainly has manual inspection and helicopter routing inspection.The efficiency of manual inspection is low, work
Intensity is big, dangerous high；The cost of helicopter routing inspection is high, and the easy climate of inspection quality influences.Therefore, it is necessary to which developing to carry
Communicate with the robot of inspection instrument to replace manually carrying out automatic detecting to transmission line of electricity, to improve efficiency, it is ensured that power transmission line
The safe operation on road.It is most of using by wheel type mobile and compound in existing EHV transmission line patrol robot mechanism
The composite moving mechanism that linkage combination forms.Composite moving mechanism will can realize that ultra high-tension transmission line crusing robot is steady
Fixed, reliable walking, it can ensure to gold utensils such as aluminium hydraulic pressed connecting pipe, dampers by performance, circuit and inspection machine can be ensured
The safety of people itself.The complicated of current power transmission route inspecting robot composite moving mechanism, weight are big, across obstacle mistake
Journey is complicated, is difficult to control.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of running gear of transmission line polling robot, improves inspection
Efficiency, reduce cost of labor.
In order to solve the above technical problems, the present invention adopts the following technical scheme that：A kind of row of transmission line polling robot
Walking apparatus, including mobile holder and the support arm for being symmetricly set in mobile holder rear and front end；Described support arm passes through angle
Adjustment component is installed on described mobile holder；Described support arm can walk along transmission line of electricity；Described support arm bag
Include supporting support, travel driving unit, the brake apparatus and obstacle crossing device of control running gear parking；Described supporting support
Including pedestal and it is arranged at the left connection board and right connection board of pedestal both sides；Described obstacle crossing device includes being arranged at support branch
The left half-open fit and right half-open zoarium of top of the trellis；Be provided with described left half-open zoarium left support axle A, left support axle B and
Left connecting shaft；Described left connecting shaft is located between left support axle A and left support axle B；A left side is provided with described left support axle A
Half wheel A；Left half wheel B is provided with described left support axle B；Described left support axle A, left connecting shaft and described left support axle
Gear A, gear B and gear C are respectively arranged with B；Gear A is intermeshed with gear B, gear B and gear C；Described left branch
Support axle A, left connecting shaft and described left support axle B are rotatably connected with described left connection board；The one of described left support axle A
End is connected with described travel driving unit；
Right support axle A, right support axle B and right connecting shaft are provided with described right half-open zoarium；Described right connecting shaft is located at
Between right support axle A and right support axle B；Right half wheel A is provided with described right support axle A；Set on described right support axle B
There is right half wheel B；Left support axle A passes through with right support axle A, left support axle B and right support axle B, left connecting shaft with right connecting shaft
Positioning connection structure connects.
Further, described left half-open fit and described right half-open fit lower surface is provided with support base；It is left
The support base of half-open fit and right half-open fit lower section passes through mobile device and described left connection board and described right company respectively
Fishplate bar connects；Described mobile device includes mobile motor, ball-screw and the nut sleeve being fixedly installed on below support base；Institute
The mobile motor stated is arranged on by motor mount on described support arm；The output shaft of mobile motor and described ball wire
Thick stick connects；Described ball-screw is spirally connected with described nut sleeve.
Further, described positioning connection structure includes aligning receptacle and positioning card column；The left half wheel A, left half wheel B
Positioning card column is provided with described left connecting shaft；Set in described right half wheel A, right half wheel B and described right connecting shaft
There is aligning receptacle.
Further, described travel driving unit includes travel driving motor, driving pulley, driven pulley and synchronization
Band；Described travel driving motor is fixedly installed in described left connection board, and its output shaft is connected with driving pulley, it is described from
Movable belt pulley is arranged on the left support axle A, and is connected by timing belt with driving pulley.
Further, described brake apparatus includes contact roller, spring bumper, electric cylinders and lifter plate；Described pressure
Bearing up pulley is installed on described lifter plate；Described lifter plate is provided at both ends with sliding block, the left connection board and right connection board
On be provided with chute；The lifter plate is connected by spring bumper with supporting plate；Described supporting plate passes through electric cylinders and institute
The pedestal connection stated.
Further, described angle regulation component includes the axle sleeve being arranged on mobile holder and is arranged on support arm
Rotating shaft；Described rotating shaft is rotatably connected with described axle sleeve.
Beneficial effects of the present invention：A kind of running gear of transmission line polling robot of the present invention, including walking branch
Frame and the support arm for being symmetricly set in mobile holder rear and front end；Support arm is installed on described walking by angle regulation component
On support；Support arm includes supporting support, travel driving unit, the brake apparatus and obstacle detouring dress of control running gear parking
Put；Obstacle crossing device includes being arranged at the left half-open fit and right half-open zoarium at the top of supporting support.The walking mechanism of the present invention exists
After running into obstacle, barrier getting over mechanism carries out folding, it is possible to realizes obstacle detouring.The security performance of the present invention is high, and obstacle climbing ability is strong.
The running gear of the present invention has a wide range of application, and can be incorporated in circuit inspection and the walking of Work robot dress extensively
Put.
Brief description of the drawings
In order to more clearly illustrate the technical scheme in the embodiment of the present invention, will use below required in embodiment
Accompanying drawing is simply introduced, it should be apparent that, drawings in the following description are only some embodiments described in the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the structural representation of support arm.
Fig. 3 is the structural representation of obstacle crossing device.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes.
As Figure 1-3, it is a kind of running gear of transmission line polling robot of the invention, including mobile holder 1
With the support arm 2 for being symmetricly set in the rear and front end of mobile holder 1；Described support arm 2 is installed on institute by angle regulation component
On the mobile holder 1 stated；Described support arm 2 can walk along transmission line of electricity；Described support arm 2 includes supporting support, OK
Walk drive device 22, the brake apparatus and obstacle crossing device of control running gear parking；Described supporting support includes pedestal 211
And it is arranged at the left connection board 212 and right connection board 213 of the both sides of pedestal 211；Described obstacle crossing device includes being arranged at support
The left half-open fit and right half-open zoarium of cradle top；Left support axle A241, left support are provided with described left half-open zoarium
Axle B242 and left connecting shaft 243；Described left connecting shaft 243 is located between left support axle A241 and left support axle B242；It is described
Left support axle A241 on be provided with left half wheel A244；Left half wheel B245 is provided with described left support axle B242；Described
Gear A 246, gear B 247 and tooth are respectively arranged with left support axle A241, left connecting shaft 243 and described left support axle B242
Take turns C248；Gear A 246 is intermeshed with gear B 247, gear B 247 and gear C 248；Described left support axle A241, Zuo Lian
Spindle 243 and described left support axle B242 are rotatably connected with described left connection board 212；Described left support axle A241's
One end is connected with described travel driving unit 22；
Right support axle A251, right support axle B252 and right connecting shaft 253 are provided with described right half-open zoarium；Described right company
Spindle 253 is located between right support axle A251 and right support axle B252；Right half is provided with described right support axle A251 to take turns
A254；Right half wheel B255 is provided with described right support axle B252；Left support axle A241 and right support axle A251, left support axle
B242 is connected with right support axle B252, left connecting shaft 243 with right connecting shaft 253 by positioning connection structure.
The half-open fit and described right half-open fit lower surface in a left side of the present invention is provided with support base 26；Left half
Folding body and the support base 26 of right half-open fit lower section pass through mobile device and described left connection board 212 and the described right side respectively
Connecting plate 213 connects；Described mobile device includes mobile motor 271, ball-screw 272 and is fixedly installed under support base 26
The nut sleeve 273 of side；Described mobile motor 271 is arranged on by motor mount on described support arm 2；Mobile motor
271 output shaft is connected with described ball-screw 272；Described ball-screw 272 is spirally connected with described nut sleeve 273.
Positioning connection structure of the present invention includes aligning receptacle 291 and positioning card column 292；The left half wheel A244,
Positioning card column 292 is provided with left half wheel B245 and described left connecting shaft 243；Described right half wheel A254, right half wheel B255
Aligning receptacle 291 is provided with described right connecting shaft 253.
Travel driving unit 22 of the present invention includes travel driving motor 221, driving pulley 222, driven pulley 223
With timing belt 224；Described travel driving motor 221 is fixedly installed in described left connection board 212, its output shaft and active
Belt wheel 222 is connected, and the driven pulley 223 is arranged on the left support axle A241, and passes through timing belt 224 and driving pulley
222 connections.
Brake apparatus of the present invention includes contact roller 231, spring bumper 232, electric cylinders 233 and lifter plate 234；
Described contact roller 231 is installed on described lifter plate 234；Described lifter plate 234 is provided at both ends with sliding block, the left side
Chute is provided with connecting plate 212 and right connection board 213；The lifter plate 234 passes through spring bumper 232 and supporting plate
235 connections；Described supporting plate 235 is connected by electric cylinders 233 with described pedestal 211.
Angle regulation component of the present invention includes the axle sleeve 41 being arranged on mobile holder 1 and is arranged on support arm
2 rotating shaft 42；Described rotating shaft 42 is rotatably connected with described axle sleeve 41.
A kind of running gear of transmission line polling robot of the present invention, including mobile holder and it is symmetricly set in walking
The support arm of support rear and front end；Support arm is installed on by angle regulation component on described mobile holder；Support arm includes
Supporting support, travel driving unit, the brake apparatus and obstacle crossing device of control running gear parking；Obstacle crossing device includes setting
Left half-open fit and right half-open zoarium at the top of supporting support.The walking mechanism of the present invention is after obstacle is run into, barrier getting over mechanism
Carry out folding, it is possible to realize obstacle detouring.The security performance of the present invention is high, and obstacle climbing ability is strong.
Embodiment described above is only that the preferred embodiment of the present invention is described, not to the design of the present invention
It is defined with scope, on the premise of design concept of the present invention is not departed from, ordinary skill technical staff is to this hair in this area
The all variations and modifications that bright technical scheme is made all should fall into protection scope of the present invention, claimed skill of the invention
Art content, all it is documented in technical requirements book.
Claims (6)
- A kind of 1. running gear of transmission line polling robot, it is characterised in that：Including mobile holder（1）Be symmetricly set in Mobile holder（1）The support arm of rear and front end（2）；Described support arm（2）Described row is installed on by angle regulation component Walk support（1）On；Described support arm（2）It can be walked along transmission line of electricity；Described support arm（2）Including supporting support, OK Walk drive device（22）, control running gear parking brake apparatus and obstacle crossing device；Described supporting support includes pedestal （211）And it is arranged at pedestal（211）The left connection board of both sides（212）And right connection board（213）；Described obstacle crossing device includes The left half-open fit and right half-open zoarium being arranged at the top of supporting support；Left support axle A is provided with described left half-open zoarium （241）, left support axle B（242）With left connecting shaft（243）；Described left connecting shaft（243）Positioned at left support axle A（241）An and left side Support shaft B（242）Between；Described left support axle A（241）On be provided with left half wheel A（244）；Described left support axle B （242）On be provided with left half wheel B（245）；Described left support axle A（241）, left connecting shaft（243）With described left support axle B （242）On be respectively arranged with gear A（246）, gear B（247）And gear C（248）；Gear A（246）With gear B（247）, tooth Take turns B（247）With gear C（248）Intermeshing；Described left support axle A（241）, left connecting shaft（243）With described left support Axle B（242）With described left connection board（212）It is rotatably connected；Described left support axle A（241）One end and described row Walk drive device（22）Connection.Right support axle A is provided with described right half-open zoarium（251）, right support axle B（252）With right connecting shaft（253）；It is described Right connecting shaft（253）Positioned at right support axle A（251）With right support axle B（252）Between；Described right support axle A（251）On It is provided with right half wheel A（254）；Described right support axle B（252）On be provided with right half wheel B（255）；Left support axle A（241）With Right support axle A（251）, left support axle B（242）With right support axle B（252）, left connecting shaft（243）With right connecting shaft（253） Connected by positioning connection structure.
- A kind of 2. running gear of transmission line polling robot according to claim 1, it is characterised in that：A described left side Half-open fit and described right half-open fit lower surface is provided with support base（26）；Under left half-open fit and right half-open zoarium The support base of side（26）Pass through mobile device and described left connection board respectively（212）With described right connection board（213）Connection； Described mobile device includes mobile motor（271）, ball-screw（272）Be fixedly installed on support base（26）The nut of lower section Set（273）；Described mobile motor（271）Described support arm is arranged on by motor mount（2）On；Mobile motor （271）Output shaft and described ball-screw（272）Connection；Described ball-screw（272）With described nut sleeve（273） It is spirally connected.
- A kind of 3. running gear of transmission line polling robot according to claim 1, it is characterised in that：Described determines Position attachment structure includes aligning receptacle（291）With positioning card column（292）；The left half wheel A（244）, left half wheel B（245）And institute The left connecting shaft stated（243）On be provided with positioning card column（292）；Described right half wheel A（254）, right half wheel B（255）With it is described Right connecting shaft（253）On be provided with aligning receptacle（291）.
- A kind of 4. running gear of transmission line polling robot according to claim 1, it is characterised in that：Described row Walk drive device（22）Including travel driving motor（221）, driving pulley（222）, driven pulley（223）And timing belt（224）； Described travel driving motor（221）It is fixedly installed on described left connection board（212）On, its output shaft and driving pulley （222）Connection, the driven pulley（223）It is arranged at the left support axle A（241）On, and pass through timing belt（224）With active Belt wheel（222）Connection.
- A kind of 5. running gear of transmission line polling robot according to claim 1, it is characterised in that：Described system Dynamic device includes contact roller（231）, spring bumper（232）, electric cylinders（233）And lifter plate（234）；Described contact roller （231）It is installed on described lifter plate（234）On；Described lifter plate（234）Be provided at both ends with sliding block, the left connection board （212）And right connection board（213）On be provided with chute；The lifter plate（234）Pass through spring bumper（232）With supporting plate （235）Connection；Described supporting plate（235）Pass through electric cylinders（233）With described pedestal（211）Connection.
- A kind of 6. running gear of transmission line polling robot according to claim 1, it is characterised in that：Described angle Degree adjustment component includes being arranged on mobile holder（1）On axle sleeve（41）And it is arranged on support arm（2）Rotating shaft（42）；It is described Rotating shaft（42）With described axle sleeve（41）It is rotatably connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711338117.0A CN107878590B (en) | 2017-12-14 | 2017-12-14 | Running gear of transmission line inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711338117.0A CN107878590B (en) | 2017-12-14 | 2017-12-14 | Running gear of transmission line inspection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107878590A true CN107878590A (en) | 2018-04-06 |
| CN107878590B CN107878590B (en) | 2023-10-20 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711338117.0A Active CN107878590B (en) | 2017-12-14 | 2017-12-14 | Running gear of transmission line inspection robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN107878590B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115241796A (en) * | 2022-08-19 | 2022-10-25 | 中科开创（广州）智能科技发展有限公司 | Overhead transmission line inspection robot |
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| CN106655006A (en) * | 2017-03-10 | 2017-05-10 | 华北电力大学（保定） | Transmission line inspection robot obstacle-crossing device |
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| US20050027396A1 (en) * | 2003-08-01 | 2005-02-03 | Samsung Electronics Co., Ltd. | Mobile robot |
| CN101771251A (en) * | 2008-12-30 | 2010-07-07 | 中国科学院沈阳自动化研究所 | Moving obstacle-crossing mechanism of inspection robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115241796A (en) * | 2022-08-19 | 2022-10-25 | 中科开创（广州）智能科技发展有限公司 | Overhead transmission line inspection robot |
| CN115241796B (en) * | 2022-08-19 | 2023-08-22 | 中科开创（广州）智能科技发展有限公司 | Overhead transmission line inspection robot |
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| Publication number | Publication date |
|---|---|
| CN107878590B (en) | 2023-10-20 |
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