CN107878590B - Running gear of transmission line inspection robot - Google Patents
Running gear of transmission line inspection robot Download PDFInfo
- Publication number
- CN107878590B CN107878590B CN201711338117.0A CN201711338117A CN107878590B CN 107878590 B CN107878590 B CN 107878590B CN 201711338117 A CN201711338117 A CN 201711338117A CN 107878590 B CN107878590 B CN 107878590B
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- shaft
- supporting
- walking
- bracket
- wheel
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- 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 walking device of a power transmission line inspection robot, which comprises a walking bracket and supporting arms symmetrically arranged at the front end and the rear end of the walking bracket; the supporting arm is arranged on the walking bracket through the angle adjusting component; the supporting arm comprises a supporting bracket, a walking driving device, a braking device for controlling the walking device to stop, and an obstacle surmounting device; the obstacle surmounting device comprises a left half opening and closing body and a right half opening and closing body which are arranged at the top of the supporting bracket. After encountering an obstacle, the walking mechanism disclosed by the invention can be opened and closed by the obstacle crossing mechanism, so that obstacle crossing can be realized. The invention has high safety performance and strong obstacle surmounting capability. The walking device has wide application range and can be widely applied to walking devices of circuit inspection and operation robots.
Description
Technical Field
The invention belongs to transmission line inspection equipment, and relates to a walking device of a transmission line inspection robot.
Background
The transmission line is an extremely important component of the power system, and in order to ensure safe and stable operation, inspection and inspection are required to be carried out regularly. The currently adopted method mainly comprises manual inspection and helicopter inspection. The manual inspection is low in efficiency, high in labor intensity and high in risk; the helicopter has high inspection cost, and the inspection quality is easily affected by weather. Therefore, it is necessary to develop a robot capable of carrying communication and inspection instruments to replace manual inspection of the transmission line automatically, so as to improve efficiency and ensure safe operation of the transmission line. Most of existing ultra-high voltage transmission line inspection robot mechanisms adopt a composite moving mechanism formed by combining wheel type movement and a composite connecting rod mechanism. The composite moving mechanism can realize stable and reliable walking of the ultra-high voltage transmission line inspection robot, ensure the passing performance of fittings such as a crimping pipe and a damper, and ensure the safety of the line and the inspection robot. The existing composite moving mechanism of the transmission line inspection robot has complex structure, heavy weight and complex obstacle crossing process, and is not easy to control.
Disclosure of Invention
The invention aims to solve the technical problem of providing a walking device of a transmission line inspection robot, which improves inspection efficiency and reduces labor cost.
In order to solve the technical problems, the invention adopts the following technical scheme: the walking device of the power transmission line inspection robot comprises a walking bracket and supporting arms symmetrically arranged at the front end and the rear end of the walking bracket; the supporting arm is arranged on the walking bracket through an angle adjusting component; the supporting arm can walk along the power transmission line; the supporting arm comprises a supporting bracket, a walking driving device, a braking device for controlling the walking device to park and a obstacle surmounting device; the support bracket comprises a base, and a left connecting plate and a right connecting plate which are arranged on two sides of the base; the obstacle surmounting device comprises a left half opening and closing body and a right half opening and closing body which are arranged at the top of the supporting bracket; the left half opening and closing body is provided with a left supporting shaft A, a left supporting shaft B and a left connecting shaft; the left connecting shaft is positioned between the left supporting shaft A and the left supporting shaft B; the left support shaft A is provided with a left half wheel A; the left support shaft B is provided with a left half wheel B; the left support shaft A, the left connecting shaft and the left support shaft B are respectively provided with a gear A, a gear B and a gear C; the gear A is meshed with the gear B, and the gear B is meshed with the gear C; the left support shaft A, the left connecting shaft and the left support shaft B are rotatably connected with the left connecting plate; one end of the left support shaft A is connected with the walking driving device;
the right half opening and closing body is provided with a right supporting shaft A, a right supporting shaft B and a right connecting shaft; the right connecting shaft is positioned between the right supporting shaft A and the right supporting shaft B; the right supporting shaft A is provided with a right half wheel A; the right supporting shaft B is provided with a right half wheel B; the left support shaft A is connected with the right support shaft A, the left support shaft B is connected with the right support shaft B, and the left connecting shaft is connected with the right connecting shaft through a positioning connecting structure.
Further, the lower surfaces of the left half opening and closing body and the right half opening and closing body are respectively provided with a supporting seat; the support seats below the left half opening and closing body and the right half opening and closing body are respectively connected with the left connecting plate and the right connecting plate through the moving device; the moving device comprises a moving motor, a ball screw and a nut sleeve fixedly arranged below the supporting seat; the mobile motor is arranged on the supporting arm through a motor mounting seat; an output shaft of the mobile motor is connected with the ball screw; the ball screw is in threaded connection with the nut sleeve.
Further, the positioning connection structure comprises a positioning socket and a positioning clamp column; the left half wheel A, the left half wheel B and the left connecting shaft are provided with positioning clamping columns; and the right half wheel A, the right half wheel B and the right connecting shaft are provided with positioning sockets.
Further, the walking driving device comprises a walking driving motor, a driving belt pulley, a driven belt pulley and a synchronous belt; the walking driving motor is fixedly arranged on the left connecting plate, an output shaft of the walking driving motor is connected with the driving belt wheel, and the driven belt wheel is arranged on the left supporting shaft A and is connected with the driving belt wheel through a synchronous belt.
Further, the braking device comprises a compression wheel, a spring buffer device, an electric cylinder and a lifting plate; the pressing wheel is arranged on the lifting plate; sliding blocks are arranged at two ends of the lifting plate, and sliding grooves are arranged on the left connecting plate and the right connecting plate; the lifting plate is connected with the supporting plate through a spring buffer device; the supporting plate is connected with the base through the electric cylinder.
Further, the angle adjusting assembly comprises a shaft sleeve arranged on the walking bracket and a rotating shaft arranged on the supporting arm; the rotating shaft is rotatably connected with the shaft sleeve.
The invention has the beneficial effects that: the invention relates to a walking device of a power transmission line inspection robot, which comprises a walking bracket and supporting arms symmetrically arranged at the front end and the rear end of the walking bracket; the supporting arm is arranged on the walking bracket through the angle adjusting component; the supporting arm comprises a supporting bracket, a walking driving device, a braking device for controlling the walking device to stop, and an obstacle surmounting device; the obstacle surmounting device comprises a left half opening and closing body and a right half opening and closing body which are arranged at the top of the supporting bracket. After encountering an obstacle, the walking mechanism disclosed by the invention can be opened and closed by the obstacle crossing mechanism, so that obstacle crossing can be realized. The invention has high safety performance and strong obstacle surmounting capability.
The walking device has wide application range and can be widely applied to walking devices of circuit inspection and operation robots.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic structural view of the support arm.
Fig. 3 is a schematic structural view of the obstacle surmounting device.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
1-3, the walking device of the power transmission line inspection robot comprises a walking bracket 1 and supporting arms 2 symmetrically arranged at the front end and the rear end of the walking bracket 1; the supporting arm 2 is arranged on the walking bracket 1 through an angle adjusting component; the supporting arm 2 can walk along the transmission line; the supporting arm 2 comprises a supporting bracket, a walking driving device 22, a braking device for controlling the walking device to stop, and an obstacle surmounting device; the support bracket comprises a base 211, a left connecting plate 212 and a right connecting plate 213 which are arranged on two sides of the base 211; the obstacle surmounting device comprises a left half opening and closing body and a right half opening and closing body which are arranged at the top of the supporting bracket; the left half opening and closing body is provided with a left supporting shaft A241, a left supporting shaft B242 and a left connecting shaft 243; the left connecting shaft 243 is positioned between the left supporting shaft A241 and the left supporting shaft B242; a left half wheel A244 is arranged on the left support shaft A241; the left support shaft B242 is provided with a left half wheel B245; the left support shaft A241, the left connecting shaft 243 and the left support shaft B242 are respectively provided with a gear A246, a gear B247 and a gear C248; gear a246 intermeshes with gear B247, gear B247 intermeshes with gear C248; the left support shaft A241, the left connecting shaft 243 and the left support shaft B242 are rotatably connected with the left connecting plate 212; one end of the left support shaft A241 is connected with the walking driving device 22;
the right half opening and closing body is provided with a right supporting shaft A251, a right supporting shaft B252 and a right connecting shaft 253; the right connecting shaft 253 is positioned between the right supporting shaft A251 and the right supporting shaft B252; the right support shaft A251 is provided with a right half wheel A254; a right half wheel B255 is arranged on the right support shaft B252; the left support shaft a241 and the right support shaft a251, the left support shaft B242 and the right support shaft B252, and the left connection shaft 243 and the right connection shaft 253 are all connected by a positioning connection structure.
The lower surfaces of the left half opening and closing body and the right half opening and closing body are respectively provided with a supporting seat 26; the support seat 26 below the left half-open-close body and the right half-open-close body is respectively connected with the left connecting plate 212 and the right connecting plate 213 through a moving device; the moving device comprises a moving motor 271, a ball screw 272 and a nut sleeve 273 fixedly arranged below the supporting seat 26; the mobile motor 271 is arranged on the supporting arm 2 through a motor mounting seat; an output shaft of the moving motor 271 is connected with the ball screw 272; the ball screw 272 is screwed with the nut sleeve 273.
The positioning connection structure comprises a positioning socket 291 and a positioning clamp column 292; the left half wheel a244, the left half wheel B245 and the left connecting shaft 243 are provided with positioning clamp columns 292; the right half wheel A254, the right half wheel B255 and the right connecting shaft 253 are provided with positioning sockets 291.
The traveling driving device 22 according to the present invention includes a traveling driving motor 221, a driving pulley 222, a driven pulley 223, and a timing belt 224; the walking driving motor 221 is fixedly disposed on the left connecting plate 212, an output shaft thereof is connected with the driving pulley 222, and the driven pulley 223 is disposed on the left supporting shaft a241 and is connected with the driving pulley 222 through the synchronous belt 224.
The braking device comprises a compression wheel 231, a spring buffer device 232, an electric cylinder 233 and a lifting plate 234; the hold-down wheel 231 is mounted on the lifting plate 234; the two ends of the lifting plate 234 are provided with sliding blocks, and the left connecting plate 212 and the right connecting plate 213 are provided with sliding grooves; the lifting plate 234 is connected with the supporting plate 235 through a spring buffer device 232; the support plate 235 is connected to the base 211 through an electric cylinder 233.
The angle adjusting component comprises a shaft sleeve 41 arranged on the walking bracket 1 and a rotating shaft 42 arranged on the supporting arm 2; the rotating shaft 42 is rotatably connected with the shaft sleeve 41.
The invention relates to a walking device of a power transmission line inspection robot, which comprises a walking bracket and supporting arms symmetrically arranged at the front end and the rear end of the walking bracket; the supporting arm is arranged on the walking bracket through the angle adjusting component; the supporting arm comprises a supporting bracket, a walking driving device, a braking device for controlling the walking device to stop, and an obstacle surmounting device; the obstacle surmounting device comprises a left half opening and closing body and a right half opening and closing body which are arranged at the top of the supporting bracket. After encountering an obstacle, the walking mechanism disclosed by the invention can be opened and closed by the obstacle crossing mechanism, so that obstacle crossing can be realized. The invention has high safety performance and strong obstacle surmounting capability.
The above embodiments are merely illustrative of the preferred embodiments of the present invention, and the present invention is not limited to the above embodiments, and various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the design concept of the present invention should fall within the protection scope of the present invention, and the claimed technical content of the present invention is fully described in the claims.
Claims (4)
1. The utility model provides a running gear of transmission line inspection robot which characterized in that: comprises a walking bracket (1) and supporting arms (2) symmetrically arranged at the front end and the rear end of the walking bracket (1); the supporting arm (2) is arranged on the walking bracket (1) through an angle adjusting component; the supporting arm (2) can walk along the power transmission line; the supporting arm (2) comprises a supporting bracket, a walking driving device (22), a braking device for controlling the walking device to stop and a obstacle surmounting device; the support bracket comprises a base (211), and a left connecting plate (212) and a right connecting plate (213) which are arranged on two sides of the base (211); the obstacle surmounting device comprises a left half opening and closing body and a right half opening and closing body which are arranged at the top of the supporting bracket; the left half opening and closing body is provided with a left supporting shaft A (241), a left supporting shaft B (242) and a left connecting shaft (243); the left connecting shaft (243) is positioned between the left supporting shaft A (241) and the left supporting shaft B (242); the left support shaft A (241) is provided with a left half wheel A (244); the left support shaft B (242) is provided with a left half wheel B (245); the left support shaft A (241), the left connecting shaft (243) and the left support shaft B (242) are respectively provided with a gear A (246), a gear B (247) and a gear C (248); gear a (246) intermeshes with gear B (247), gear B (247) intermeshes with gear C (248); the left support shaft A (241), the left connecting shaft (243) and the left support shaft B (242) are rotatably connected with the left connecting plate (212); one end of the left support shaft A (241) is connected with the walking driving device (22);
the right half opening and closing body is provided with a right supporting shaft A (251), a right supporting shaft B (252) and a right connecting shaft (253); the right connecting shaft (253) is positioned between the right supporting shaft A (251) and the right supporting shaft B (252); the right support shaft A (251) is provided with a right half wheel A (254); the right support shaft B (252) is provided with a right half wheel B (255); the left support shaft A (241) is connected with the right support shaft A (251), the left support shaft B (242) is connected with the right support shaft B (252), and the left connecting shaft (243) is connected with the right connecting shaft (253) through a positioning connecting structure; the lower surfaces of the left half opening and closing body and the right half opening and closing body are respectively provided with a supporting seat (26); the support seats (26) below the left half opening and closing body and the right half opening and closing body are respectively connected with the left connecting plate (212) and the right connecting plate (213) through the moving device; the moving device comprises a moving motor (271), a ball screw (272) and a nut sleeve (273) fixedly arranged below the supporting seat (26); the mobile motor (271) is arranged on the supporting arm (2) through a motor mounting seat; an output shaft of the moving motor (271) is connected with the ball screw (272); the ball screw (272) is in threaded connection with the nut sleeve (273); the positioning connection structure comprises a positioning socket (291) and a positioning clamping column (292); the left half wheel A (244), the left half wheel B (245) and the left connecting shaft (243) are provided with positioning clamping columns (292); the right half wheel A (254), the right half wheel B (255) and the right connecting shaft (253) are provided with positioning sockets (291).
2. The running gear of transmission line inspection robot according to claim 1, wherein: the walking driving device (22) comprises a walking driving motor (221), a driving belt wheel (222), a driven belt wheel (223) and a synchronous belt (224); the walking driving motor (221) is fixedly arranged on the left connecting plate (212), an output shaft of the walking driving motor is connected with the driving belt wheel (222), and the driven belt wheel (223) is arranged on the left supporting shaft A (241) and is connected with the driving belt wheel (222) through the synchronous belt (224).
3. The running gear of transmission line inspection robot according to claim 1, wherein: the braking device comprises a compression wheel (231), a spring buffer device (232), an electric cylinder (233) and a lifting plate (234); the hold-down wheel (231) is arranged on the lifting plate (234); sliding blocks are arranged at two ends of the lifting plate (234), and sliding grooves are arranged on the left connecting plate (212) and the right connecting plate (213); the lifting plate (234) is connected with the supporting plate (235) through a spring buffer device (232); the supporting plate (235) is connected with the base (211) through an electric cylinder (233).
4. The running gear of transmission line inspection robot according to claim 1, wherein: the angle adjusting assembly comprises a shaft sleeve (41) arranged on the walking bracket (1) and a rotating shaft (42) arranged on the supporting arm (2); the rotating shaft (42) is rotatably connected with the shaft sleeve (41).
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 CN107878590A (en) | 2018-04-06 |
| CN107878590B true CN107878590B (en) | 2023-10-20 |
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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) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN101771250A (en) * | 2008-12-30 | 2010-07-07 | 中国科学院沈阳自动化研究所 | Inspection robot mechanism |
| WO2012155505A1 (en) * | 2011-05-17 | 2012-11-22 | 福建省电力有限公司 | Unmanned automatic overhauling device for electric transmission lines |
| CN102916373A (en) * | 2011-08-01 | 2013-02-06 | 佳木斯电业局 | Double-wheel upturned pulley |
| CN103001151A (en) * | 2012-12-05 | 2013-03-27 | 山东电力集团公司电力科学研究院 | Line robot drive arm with obstacle crossing function |
| CN103972816A (en) * | 2014-05-09 | 2014-08-06 | 哈尔滨工程大学 | Obstacle-crossing mechanical arm suitable for power transmission line inspection robot |
| CN205212335U (en) * | 2015-12-18 | 2016-05-04 | 中国科学院沈阳自动化研究所 | Transmission line patrols and examines running gear of robot |
| CN106655006A (en) * | 2017-03-10 | 2017-05-10 | 华北电力大学（保定） | Transmission line inspection robot obstacle-crossing device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100518819B1 (en) * | 2003-08-01 | 2005-10-05 | 삼성전자주식회사 | Mobile robot |
-
2017
- 2017-12-14 CN CN201711338117.0A patent/CN107878590B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN101771250A (en) * | 2008-12-30 | 2010-07-07 | 中国科学院沈阳自动化研究所 | Inspection robot mechanism |
| WO2012155505A1 (en) * | 2011-05-17 | 2012-11-22 | 福建省电力有限公司 | Unmanned automatic overhauling device for electric transmission lines |
| CN102916373A (en) * | 2011-08-01 | 2013-02-06 | 佳木斯电业局 | Double-wheel upturned pulley |
| CN103001151A (en) * | 2012-12-05 | 2013-03-27 | 山东电力集团公司电力科学研究院 | Line robot drive arm with obstacle crossing function |
| CN103972816A (en) * | 2014-05-09 | 2014-08-06 | 哈尔滨工程大学 | Obstacle-crossing mechanical arm suitable for power transmission line inspection robot |
| CN205212335U (en) * | 2015-12-18 | 2016-05-04 | 中国科学院沈阳自动化研究所 | Transmission line patrols and examines running gear of robot |
| 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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| Publication number | Publication date |
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| CN107878590A (en) | 2018-04-06 |
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