CN108649480B - Inspection robot, travelling wheel and manufacturing method thereof - Google Patents
Inspection robot, travelling wheel and manufacturing method thereof Download PDFInfo
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- CN108649480B CN108649480B CN201810326969.6A CN201810326969A CN108649480B CN 108649480 B CN108649480 B CN 108649480B CN 201810326969 A CN201810326969 A CN 201810326969A CN 108649480 B CN108649480 B CN 108649480B
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- 238000007689 inspection Methods 0.000 title claims abstract description 60
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 30
- 230000001681 protective effect Effects 0.000 claims abstract description 105
- 239000002654 heat shrinkable material Substances 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims description 27
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 claims description 3
- 230000013011 mating Effects 0.000 claims description 3
- 238000005299 abrasion Methods 0.000 abstract description 6
- 238000000034 method Methods 0.000 description 13
- 239000000463 material Substances 0.000 description 6
- 239000002184 metal Substances 0.000 description 2
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Tires In General (AREA)
Abstract
The invention relates to a patrol robot, a walking wheel and a manufacturing method thereof, wherein the manufacturing method of the walking wheel comprises the following steps: the wheel body comprises a wheel shaft and two side wheel covers, wherein the two side wheel covers are oppositely arranged on the wheel shaft at intervals, the two side wheel covers protrude out of the wheel shaft in the radial direction of the wheel shaft, and the parts of the protruding wheel shaft of the two side wheel covers and the outer periphery of the wheel shaft jointly enclose a line containing space; the wheel axle is sleeved with a protective sleeve which is tubular and made of heat-shrinkable materials; and (3) enabling the heat source to be close to the protective sleeve, and enabling the protective sleeve to be tightly attached to the wheel shaft after being heated, so that the travelling wheel with the protective sleeve is manufactured. The walking wheel includes wheel body and lag, and inspection robot includes robot body and walking wheel, and the walking wheel rotationally sets up on the robot body, and the walking wheel can the joint on the ground wire. The inspection robot, the travelling wheel and the manufacturing method thereof can reduce abrasion of the outer surface of the travelling wheel, thereby ensuring the travelling efficiency of the inspection robot.
Description
Technical Field
The invention relates to the technical field of transmission line inspection, in particular to an inspection robot, a travelling wheel and a manufacturing method thereof.
Background
In order to find hidden trouble and defect of the transmission line in time, the transmission line needs to be periodically inspected so as to avoid power failure caused by the failure of the transmission line. The region of China is wide, places such as mountain and river are often required to be traversed in inspection operation, and the operation environment is bad. The inspection robot has the characteristics of strong environmental adaptability, no inspection blind area, short inspection period, low inspection cost and the like, and is widely applied to the inspection operation of the power transmission line.
The inspection robot is provided with travelling wheels, and can be hung on the ground wire of the power transmission line through the travelling wheels to carry out inspection by taking the power transmission line as an operation path. During the inspection process of the inspection robot, due to friction between the travelling wheels and the ground wire, the outer surfaces of the travelling wheels can be worn along with the increase of the inspection distance, so that the travelling efficiency of the inspection robot is affected.
Disclosure of Invention
Based on the above, it is necessary to provide a patrol robot, a road wheel and a method for manufacturing the same, which aim to reduce the abrasion of the outer surface of the road wheel, thereby ensuring the running efficiency of the patrol robot.
The manufacturing method of the travelling wheel comprises the following steps:
the wheel body comprises a wheel shaft and two side wheel covers, wherein the two side wheel covers are arranged on the wheel shaft at intervals and protrude out of the wheel shaft in the radial direction of the wheel shaft, and the parts, protruding out of the wheel shaft, of the two side wheel covers and the outer periphery of the wheel shaft jointly enclose a line containing space;
the wheel axle is sleeved with a protective sleeve which is tubular and made of a heat-shrinkable material;
and (3) enabling the heat source to be close to the protective sleeve, and enabling the protective sleeve to be tightly attached to the wheel shaft after being heated, so that the travelling wheel with the protective sleeve is manufactured.
The manufacturing method of the travelling wheel has at least the following advantages:
the wheel body comprises a wheel shaft and two side wheel covers, wherein the two side wheel covers are oppositely arranged on the wheel shaft at intervals. The two side wheel covers protrude out of the wheel shaft in the radial direction of the wheel shaft, and the parts of the two side wheel covers protruding out of the wheel shaft and the outer periphery of the wheel shaft enclose a line containing space together, and the line containing space is used for containing a ground wire so that the travelling wheel can travel by taking the ground wire as a path.
An anti-theft sheath is sleeved on the wheel shaft. Because the protective sleeve is tubular, the protective sleeve can be sleeved on the wheel shaft more conveniently, so that the sleeving speed of the protective sleeve is further increased, and the manufacturing efficiency is improved. The protective sleeve is positioned between the wheel body and the ground wire, so that the outer surface of the wheel body can be protected from being worn in the walking process, and the walking efficiency of the inspection robot is ensured. In addition, when the protective sleeve is worn to a certain degree, a new protective sleeve can be replaced, so that the walking efficiency of the inspection robot is further ensured.
The protective sleeve is made of heat-shrinkable material, and the heat source is close to the protective sleeve, so that the protective sleeve is tightly attached to the wheel shaft after being heated, and the travelling wheel with the protective sleeve is manufactured. The method is simple to operate, the sleeve of the protective sleeve can be quickly sleeved, the protective sleeve can be tightly attached to the wheel shaft, the manufacturing time is saved, and the product quality is improved.
The technical scheme is further described as follows:
In one embodiment, the step of sleeving the wheel axle with an anti-theft sheath further comprises:
detaching at least one of said side wheel covers from said axle;
Sleeving a protective sleeve on the wheel shaft;
The detached side wheel cover is mounted on the wheel axle.
In one embodiment, the heat source is an alcohol burner, a hot air blower or a torch.
A road wheel comprising:
the wheel body comprises a wheel shaft and two side wheel covers, the two side wheel covers are oppositely arranged on the wheel shaft at intervals, the two side wheel covers protrude out of the wheel shaft in the radial direction of the wheel shaft, and the parts of the two side wheel covers protruding out of the wheel shaft and the outer periphery of the wheel shaft enclose a containing line space together; and
The protective sleeve is sleeved on the wheel shaft, is tubular and is made of a heat-shrinkable material.
The travelling wheel has at least the following advantages:
The wheel body comprises a wheel shaft and two side wheel covers, and the two side wheel covers are oppositely arranged on the wheel shaft at intervals. The two side wheel covers protrude out of the wheel shaft in the radial direction of the wheel shaft, and the parts of the two side wheel covers protruding out of the wheel shaft and the outer periphery of the wheel shaft enclose a line containing space together, and the line containing space is used for containing a ground wire so that the travelling wheel can travel by taking the ground wire as a path.
The wheel shaft is sleeved with the protective sleeve, and the protective sleeve is positioned between the wheel body and the ground wire, so that the outer surface of the wheel body can be protected from being worn in the walking process, and the walking efficiency of the inspection robot is ensured. In addition, when the protective sleeve is worn to a certain degree, a new protective sleeve can be replaced, so that the walking efficiency of the inspection robot is further ensured. Moreover, the protecting sleeve is tubular and can be conveniently sleeved on the wheel shaft, so that the sleeving speed of the protecting sleeve is further increased, and the manufacturing efficiency is improved.
Because the protective sleeve is made of heat-shrinkable materials, the heat source can be close to the protective sleeve, so that the protective sleeve is tightly attached to the wheel shaft after being heated, the protective sleeve is quickly sleeved, the manufacturing time is saved, and the product quality is improved.
The technical scheme is further described as follows:
in one embodiment, the protective sleeve is provided with cleats or anti-slip textures.
In one embodiment, at least one of the side wheel covers is detachably connected to the wheel axle.
In one embodiment, the wheel axle is further provided with two annular protrusions, the two annular protrusions are oppositely arranged at intervals, the two annular protrusions are located between the two side wheel covers, a first through hole is formed in the side wheel cover detachably connected with the wheel axle, a second through hole corresponding to the first through hole is formed in the annular protrusion adjacent to the side wheel cover, and the fasteners penetrate through the first through hole and the second through hole to detachably connect the side wheel cover to the wheel axle.
A patrol robot, comprising:
the robot body comprises a driving assembly; and
A road wheel according to any one of claims 4 to 7 rotatably mounted on the robot body, the road wheel being capable of being clamped to a ground line so that the robot body is suspended from the ground line by the road wheel, the drive assembly being for driving the road wheel in rotation.
The inspection robot has at least the following advantages:
because the inspection robot is provided with the robot body and the travelling wheels, the robot body comprises the driving assembly, and the travelling wheels can travel by taking the ground wire as a path under the driving action of the driving assembly. In addition, the walking wheel is including the cover and establish at epaxial lag of shaft, and the lag is made by pyrocondensation material, and the wheel body passes through lag and ground wire contact, so in inspection robot's the inspection in-process, the wheel body can not worn and torn, has guaranteed inspection robot's walking efficiency. And when the protective sleeve is worn to a certain extent, the protective sleeve can be replaced, so that the walking efficiency of the inspection robot is further ensured.
The technical scheme is further described as follows:
In one embodiment, the wheel axle extends through one of the side wheel covers in the axial direction to form a matching part, and the driving assembly comprises a power source and a transmission unit, wherein the power source is used for driving the wheel axle to rotate through the transmission unit so as to drive the travelling wheel to rotate.
In one embodiment, the power source is a motor, the transmission unit includes a driving sprocket, a driven sprocket and a chain, the driving sprocket is disposed on an output shaft of the motor, the driven sprocket is disposed on the matching portion, the driving sprocket and the driven sprocket are both located between the chains, and the motor is used for driving the driving sprocket to rotate, so that the chains drive the travelling wheels to rotate through the driven sprocket; or alternatively
The power source is the motor, the drive unit includes driving pulley, driven pulley and belt, the driving pulley set up in on the output shaft of motor, driven pulley set up in on the cooperation portion, the driving pulley with driven pulley all is located between the belt, the motor is used for driving the driving pulley rotates, so that the belt passes through driven pulley drives the walking wheel rotates.
Drawings
FIG. 1 is a flow chart of a method of manufacturing a running wheel according to an embodiment;
Fig. 2 is a schematic flow chart of step S200 in fig. 1;
FIG. 3 is a schematic diagram of a inspection robot in one embodiment;
FIG. 4 is a schematic view of the travel wheel of FIG. 3 with one side cover removed from the axle;
FIG. 5 is a cross-sectional view taken along line A-A of FIG. 4;
FIG. 6 is a schematic structural view of the protective cover in FIG. 5.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit or scope of the invention, which is therefore not limited to the specific embodiments disclosed below.
It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
Referring to fig. 1, a method for manufacturing a road wheel in an embodiment is used for manufacturing a road wheel including a wheel body and a protective sleeve, and the method for manufacturing a road wheel has the advantages of fast sleeving speed of the protective sleeve and tight fitting between the protective sleeve and the wheel body. The wheel body can be contacted with the ground wire through the protective sleeve, so that the abrasion of the outer surface of the wheel body can be reduced, and in the embodiment, the manufacturing method of the travelling wheel comprises the following steps:
Step S100, providing a wheel body, wherein the wheel body comprises a wheel shaft and two side wheel covers, the two side wheel covers are oppositely arranged on the wheel shaft at intervals, the two side wheel covers protrude out of the wheel shaft in the radial direction of the wheel shaft, and the protruding wheel shaft parts of the two side wheel covers and the outer periphery of the wheel shaft jointly enclose a line containing space. The wire containing space is used for containing the ground wire, so that the wheel body can walk by taking the ground wire as a path.
Step S200, sleeving a protective sleeve on the wheel shaft, wherein the protective sleeve is tubular and made of a heat-shrinkable material. The tubular protective sleeve is easier to sleeve on the wheel shaft, so that the sleeve speed of the protective sleeve is further increased, and the manufacturing efficiency is improved. The existence of the protective sleeve can prevent the wheel shaft from being in direct contact with the ground wire, thereby achieving the purpose of reducing the abrasion of the wheel shaft and ensuring the walking efficiency of the inspection robot. It can be understood that along with the growth of the inspection distance, the abrasion degree of the protective sleeve can be more and more serious, and the protective sleeve abraded to a certain degree can be replaced in time, so that the walking efficiency of the inspection robot is further ensured.
Further, since the travelling wheels are generally made of metal, the self weight of the inspection robot is heavy, and the inspection robot is suspended on the ground wire of the power transmission line by the travelling wheels, the travelling wheels may affect the power transmission line. The protective sleeve can generate a certain degree of buffer between the wheel body and the ground wire, so that the influence of the travelling wheel on the power transmission line is reduced, and meanwhile, the protective sleeve can also play a role in increasing the friction force between the wheel body and the ground wire, so that the inspection robot can walk quickly. The protective sleeve made of the heat-shrinkable material has the advantages of close fitting with the wheel axle, quick installation and the like. Of course, in other embodiments, the protective sheath may also be made of a non-heat shrinkable material, such as rubber or the like.
And step S300, enabling the heat source to be close to the protective sleeve, enabling the protective sleeve to be closely attached to the wheel shaft after being heated, and manufacturing the walking wheel with the protective sleeve. Wherein the heat source can be an alcohol lamp, a hot air blower or a blast burner. In this embodiment, the heat source is the air heater, and when hot-blast blowing to the lag, the lag is heated shrink, because the lag cover is established at epaxial, so the lag after the heating can hug closely epaxial, has effectively increased the laminating degree of inseparable with the shaft surface. The protective sleeve mounting mode in the embodiment has the advantages of high mounting speed, easiness in mounting, low cost and the like. Of course, in other embodiments, the heat source can be flexibly selected according to actual situations, so long as the protecting sleeve is tightly attached to the wheel shaft after being heated.
Referring to fig. 2, further, step S200 can be divided into step S210, step S220 and step S230.
Specifically, in step S210, at least one side wheel cover is detached from the wheel axle, so as to facilitate sleeving the anti-theft sheath. One of the side wheel covers can be detached, or both of the side wheel covers can be detached, in the embodiment, only one of the side wheel covers is detached, so that the sleeving time of the protective sleeve can be effectively shortened, and the manufacturing efficiency is improved. Of course, in other embodiments, the side wheel cover and the wheel axle may be non-detachably connected, such as integrally formed with the side wheel cover and the wheel axle. Taking the integral forming of the side wheel cover and the wheel axle as an example, the inner diameter of the protective sleeve is larger than the cross section dimension of the side wheel cover in the radial direction of the wheel axle, so that the protective sleeve can be sleeved on the wheel axle easily.
There are various ways of detachably connecting the side wheel cover to the wheel axle, such as interference connection, glue joint, etc. In the embodiment, the side wheel cover is connected with the wheel shaft through screws, so that the structure is simple and the disassembly and the assembly are easy. Specifically in this embodiment, be provided with the arch that can with the side wheel lid butt on the shaft, seted up first through-hole on the side wheel lid, seted up the second through-hole corresponding with first through-hole on the arch, the screw wears to locate in first through-hole and the second through-hole to realize that the side wheel lid is connected with the detachably of shaft.
Step S220, sleeving the protective sleeve on the wheel shaft. In the embodiment, the protective sleeve is only sleeved on the wheel shaft, so that the material of the protective sleeve can be effectively saved, and the manufacturing cost of the travelling wheel is reduced. Of course, in other embodiments, the protective sleeve may be sleeved on the outer surface of the entire wheel axle and a part of the side wheel cover, or the protective sleeve may be sleeved on the entire wheel body, so that the wheel body is more comprehensively protected, and the influence on the walking efficiency of the inspection robot due to the damage of the wheel body is reduced. The worn protecting sleeve can be scratched by directly using a cutter when the protecting sleeve is dismounted, so that the protecting sleeve can be dismounted rapidly.
And step S230, the detached side wheel cover is installed on the wheel shaft. It is understood that step S230 may be disposed before step S300 or after step S300. In this embodiment, step S230 is performed before step S300, the first through hole on the side wheel cover is aligned with the second through hole on the protrusion, and then the screw is threaded through the first through hole and the second through hole, so that the side wheel cover is installed, and the method is simple, convenient and low in connection cost.
The manufacturing method of the travelling wheel has at least the following advantages:
the wheel body comprises a wheel shaft and two side wheel covers, wherein the parts of the two side wheel covers protruding out of the wheel shaft and the outer periphery of the wheel shaft jointly enclose a line containing space, and the line containing space is used for containing a ground wire so that the travelling wheel can walk by taking the ground wire as a path. At least one side wheel cover is detachably connected with the wheel shaft so that the protective sleeve can be sleeved on the wheel shaft more easily, and meanwhile, the protective sleeve material can be saved.
An anti-theft sheath is sleeved on the wheel shaft. The protective sleeve is positioned between the wheel body and the ground wire, so that the outer surface of the wheel body can be protected from being worn in the walking process, and the walking efficiency of the inspection robot is ensured. In addition, when the protective sleeve is worn to a certain degree, a new protective sleeve can be replaced, so that the walking efficiency of the inspection robot is further ensured.
The protective sleeve is made of heat-shrinkable material, and the heat source is close to the protective sleeve, so that the protective sleeve is tightly attached to the wheel shaft after being heated, and the travelling wheel with the protective sleeve is manufactured. The method is simple to operate, the heat source can be selected in a plurality of types, the sleeve of the protective sleeve can be quickly arranged, the protective sleeve can be tightly attached to the wheel shaft, the manufacturing time is saved, and the product quality is improved.
Referring to fig. 3, the inspection robot 10 in an embodiment includes a walking wheel 100 and a robot body 200, wherein the walking wheel 100 may be manufactured by the manufacturing method of the walking wheel 100, the walking wheel 100 includes a wheel body 110 (see fig. 4) and a protective sleeve 120 (see fig. 5), and the walking wheel 100 has the characteristic that the outer surface of the wheel body 110 is not easy to be worn, so that the inspection robot 10 has higher walking efficiency.
Referring to fig. 4, the wheel body 110 includes a wheel axle 111 and two side wheel covers 112, the two side wheel covers 112 are disposed on the wheel axle 111 at intervals, the two side wheel covers 112 protrude from the wheel axle 111 in a radial direction of the wheel axle 111, and a portion of the two side wheel covers 112 protruding from the wheel axle 111 and an outer periphery of the wheel axle 111 together enclose a line accommodating space 101. The wire accommodating space 101 is used for accommodating a ground wire, so that the wheel body 110 can walk on the ground wire as a path.
Optionally, at least one side shroud 112 is removably connected to axle 111. There are various detachable connection manners of the side wheel cover 112 and the wheel axle 111, such as interference connection, gluing, etc., and one or two side wheel covers 112 may be detachably connected with the wheel axle 111. In particular, in the present embodiment, the side wheel cover 112 detachably connected to the wheel shaft 111 is one, and the side wheel cover 112 is screwed to the wheel shaft 111 by a fastener (not shown).
Specifically, two annular protrusions 113 are disposed on the axle 111, the two annular protrusions 113 are disposed opposite to each other at intervals, the two annular protrusions 113 are located between the two side wheel covers 112, a first through hole is formed in the side wheel cover 112 detachably connected with the axle 111, a second through hole corresponding to the first through hole is formed in the annular protrusion 113 adjacent to the side wheel cover 112, and fasteners penetrate through the first through hole and the second through hole to detachably connect the side wheel cover 112 to the axle 111. In this embodiment, the fastener is a screw. The side wheel cover 112 is connected with the wheel axle 111 through the fastening piece, so that the side wheel cover 112 and the wheel axle 111 can be conveniently and repeatedly disassembled and assembled, and the disassembly and assembly operation are simple.
Referring to fig. 5 and 6, the protection sleeve 120 is sleeved on the axle 111. It will be appreciated that the side wheel cover 112 may be removably attached to the axle 111 in a manner that allows the protective sleeve 120 to be more easily placed over the axle 111. In addition, since the diameter of the axle 111 is smaller than the cross-sectional dimension of the side wheel cover 112 in the radial direction of the axle 111, the detachable connection of the side wheel cover 112 and the axle 111 can make the inner diameter of the protecting sleeve 120 relatively smaller, which is beneficial to saving the material of the protecting sleeve 120, and can make the protecting sleeve 120 and the axle 111 tightly fit.
The presence of the protective sleeve 120 prevents direct contact between the axle 111 and the ground, thereby achieving the purpose of reducing wear of the axle 111 and ensuring the walking efficiency of the inspection robot 10. It can be appreciated that, as the inspection distance increases, the abrasion degree of the protective sleeve 120 becomes more and more severe, and the protective sleeve 120 abraded to a certain degree can be replaced in time, so that the walking efficiency of the inspection robot 10 is further ensured.
Since the material of the travelling wheel 100 is generally metal, and the dead weight of the inspection robot 10 is heavy, and the inspection robot 10 is suspended on the ground line of the transmission line by means of the travelling wheel 100, the travelling wheel 100 may affect the transmission line. The protective sleeve 120 can generate a certain degree of buffer between the wheel body 110 and the ground wire, so that the influence of the travelling wheel 100 on the power transmission line is reduced, and meanwhile, the protective sleeve 120 can also play a role in increasing the friction force between the wheel body 110 and the ground wire, so that the inspection robot 10 can rapidly walk.
Further, the protective sheath 120 is tubular and made of a heat-shrinkable material. The tubular protective sleeve 120 can be conveniently sleeved on the wheel shaft. When the walking wheel 100 is manufactured, after the protective sleeve 120 is sleeved on the wheel shaft 111, the heat source can be close to the protective sleeve 120, so that the protective sleeve 120 is heated and then is tightly attached to the wheel shaft 111, and the protective sleeve 120 can be quickly installed. When the protective sleeve 120 needs to be disassembled, the protective sleeve 120 can be scratched by a cutter, so that the method is simple and convenient.
Further, the protective cover 120 is provided with anti-slip protrusions or anti-slip textures. The friction force between the travelling wheel 100 and the ground wire is increased due to the existence of the anti-slip protrusions or the anti-slip textures, so that the slipping phenomenon of the travelling wheel 100 can be effectively prevented, and the travelling speed of the travelling wheel 100 can be ensured. The anti-slip protrusions can be granular or strip-shaped, and the anti-slip textures can be bent.
The robot body 200 includes a driving assembly (not shown) for driving the traveling wheels 100 to rotate. The walking wheel 100 is rotatably arranged on the robot body 200, and the walking wheel 100 can be clamped on the ground wire, so that the robot body 200 is suspended on the ground wire through the walking wheel 100. During inspection operation, the driving assembly drives the travelling wheel 100 to rotate, and the robot body 200 travels along the ground line along with the travelling wheel 100 under the action of friction force between the travelling wheel 100 and the ground line.
The axle 111 extends through one of the side wheel covers 112 in the axial direction thereof to form a mating portion, and the driving assembly includes a power source and a transmission unit, wherein the power source is used for driving the axle 111 to rotate through the transmission unit, so as to drive the travelling wheel 100 to rotate. The design of the matching part arranged on the wheel axle 111 can reduce the manufacturing difficulty of the side wheel cover 112 and reduce the connection requirement of the wheel axle 111 and the side wheel cover 112.
In this embodiment, the power source is the motor, and the drive unit includes driving sprocket, driven sprocket and chain, and driving sprocket sets up on the output shaft of motor, and driven sprocket sets up on the cooperation portion, and driving sprocket and driven sprocket all are located between the chain, and the motor is used for driving sprocket and rotates to make the chain drive walking wheel 100 through driven sprocket and rotate. The transmission mode has high transmission precision, no slipping phenomenon, high working reliability and high transmission power.
The engaging portion is provided with a locking member (not shown) which is screwed with the engaging portion, and the driven sprocket is located between the side cover 112 and the locking member for preventing the driven sprocket from being displaced in the axial direction of the wheel shaft 111. In this embodiment, the locking member is in the form of a wheel, a threaded hole is formed in the locking member, and an external thread is provided on the mating portion. Of course, in other embodiments, the locking member may have other structures as long as the driven sprocket is prevented from being displaced in the axial direction of the wheel shaft 111. The cooperation portion can also be provided with a protective cover, and the protective cover is used for protecting the driven sprocket and the locking piece so as to improve the service life.
In another embodiment, the power source is a motor, the transmission unit comprises a driving belt pulley, a driven belt pulley and a belt, the driving belt pulley is arranged on an output shaft of the motor, the driven belt pulley is arranged on the matching part, the driving belt pulley and the driven belt pulley are both positioned between the belts, and the motor is used for driving the driving belt pulley to rotate so that the belt drives the travelling wheels to rotate through the driven belt pulley. The transmission mode has the advantages of simple structure, stable transmission, easy maintenance and lower cost.
Referring to fig. 3 and 4 again, the robot body 200 further includes a support frame 210, the driving assembly and the travelling wheels 100 are disposed on the support frame 210, the support frame 210 includes a first support bar 211, and two ends of the first support bar 211 are respectively provided with a travelling wheel 100. The presence of the first support bar 211 can ensure that the road wheels 100 at both ends of the first support bar 211 remain on the same straight line, while also ensuring that the road wheels 100 at both ends of the first support bar 211 do not generate relative displacement in the length direction of the first support bar 211.
Further, the support frame 210 further includes a second support bar 212, the driving assembly, the travelling wheel 100 and the first support bar 211 are all disposed on the second support bar 212, and the presence of the second support bar 212 increases the stability of the travelling wheel 100. In the present embodiment, a traveling wheel 100 is disposed on a second support bar 212, so that the stability of the traveling wheel 100 can be further improved while the weight of the robot body 200 is reduced.
Optionally, two support plates are disposed on the second support rod 212, through shaft holes are disposed on the support plates, and the matching parts are disposed in the through shaft holes, so that the travelling wheel 100 is disposed on the second support rod 212 through the two support plates disposed at opposite intervals, and the driven sprocket is disposed between the two support plates disposed at opposite intervals, so as to further improve the setting stability of the travelling wheel 100. Of course, in other embodiments, the number of support plates may also be one or three.
The inspection robot 10 further includes a camera and a controller (not shown), the camera is electrically connected with the robot body 200, the robot body 200 is communicatively connected with the controller, the camera is used for photographing the protective sleeve 120, the controller has a display screen, and the display screen is used for displaying pictures photographed by the camera. The operator can hold the controller by hand and observe the wear condition of the protecting sleeve 120 through the display screen so as to replace the worn protecting sleeve 120 in time.
The inspection robot 10 and the travelling wheel 100 thereof have at least the following advantages:
The inspection robot 10 comprises a robot body 200 and travelling wheels 100, wherein the robot body 200 comprises a support frame 210 and a driving assembly, and the driving assembly and the travelling wheels 100 are arranged on the support frame 210. During inspection operation, the driving assembly drives the travelling wheel 100 to rotate, and the robot body 200 moves along the ground wire along with the travelling wheel 100 under the action of friction force between the travelling wheel 100 and the ground wire.
The travelling wheel 100 comprises a wheel body 110 and a protective sleeve 120, wherein the wheel body 110 comprises a wheel shaft 111 and two side wheel covers 112, a line containing space 101 is formed by the protruding parts of the two side wheel covers 112 and the outer periphery of the wheel shaft 111, and the line containing space 101 is used for containing a ground wire so that the travelling wheel 100 can walk by taking the ground wire as a path.
The protecting sleeve 120 is sleeved on the wheel axle 111, and the protecting sleeve 120 is positioned between the wheel body 110 and the ground wire, so that the outer surface of the wheel body 110 can be protected from being worn in the walking process, and the walking efficiency of the inspection robot 10 is ensured. In addition, when the protective cover 120 is worn to a certain extent, a new protective cover 120 can be replaced to further ensure the walking efficiency of the inspection robot 10. Because the protective cover 120 is made of thermal shrinkage materials, a heat source can be close to the protective cover 120, so that the protective cover 120 is tightly attached to the wheel axle 111 after being heated, thereby realizing quick sleeving of the protective cover 120, saving the manufacturing time and improving the product quality.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (9)
1. A road wheel, comprising:
The wheel body comprises a wheel shaft and two side wheel covers, the two side wheel covers are oppositely arranged on the wheel shaft at intervals, the two side wheel covers protrude out of the wheel shaft in the radial direction of the wheel shaft, and the parts of the two side wheel covers protruding out of the wheel shaft and the outer periphery of the wheel shaft enclose a containing line space together; at least one of the side wheel covers is detachably connected with the wheel axle;
The protective sleeve is sleeved on the wheel shaft, is tubular and made of a heat-shrinkable material, and is provided with anti-slip protrusions or anti-slip textures;
The wheel axle is provided with two annular bulges, the two annular bulges are oppositely arranged at intervals, the two annular bulges are positioned between the two side wheel covers, a first through hole is formed in the side wheel cover detachably connected with the wheel axle, a second through hole corresponding to the first through hole is formed in the annular bulge adjacent to the side wheel cover, and the fastener penetrates through the first through hole and the second through hole so as to detachably connect the side wheel cover to the wheel axle.
2. A method of manufacturing a road wheel, for manufacturing the road wheel of claim 1, comprising the steps of:
the wheel body comprises a wheel shaft and two side wheel covers, wherein the two side wheel covers are arranged on the wheel shaft at intervals and protrude out of the wheel shaft in the radial direction of the wheel shaft, and the parts, protruding out of the wheel shaft, of the two side wheel covers and the outer periphery of the wheel shaft jointly enclose a line containing space;
the wheel axle is sleeved with a protective sleeve which is tubular and made of a heat-shrinkable material;
The heat source is close to the protective sleeve, so that the protective sleeve is heated and then is clung to the wheel shaft, and a travelling wheel with the protective sleeve is manufactured;
detaching at least one of said side wheel covers from said axle;
Sleeving a protective sleeve on the wheel shaft;
The detached side wheel cover is mounted on the wheel axle.
3. The method of manufacturing a road wheel according to claim 2, wherein the heat source is an alcohol burner, a hot air blower or a blast burner.
4. The inspection robot is characterized by comprising:
the robot body comprises a driving assembly; and
The road wheel of claim 1, rotatably disposed on the robot body, the road wheel capable of being clamped to a ground line, so that the robot body is suspended on the ground line through the road wheel, and the driving assembly is used for driving the road wheel to rotate.
5. The inspection robot according to claim 4, wherein the wheel axle extends through one of the side wheel covers in an axial direction thereof to form a mating portion, and the driving assembly comprises a power source and a transmission unit, wherein the power source is used for driving the wheel axle to rotate through the transmission unit, so as to drive the travelling wheel to rotate.
6. The inspection robot according to claim 5, wherein the power source is a motor, the transmission unit comprises a driving sprocket, a driven sprocket and a chain, the driving sprocket is arranged on an output shaft of the motor, the driven sprocket is arranged on the matching part, the driving sprocket and the driven sprocket are both positioned between the chains, and the motor is used for driving the driving sprocket to rotate so that the chains drive the travelling wheels to rotate through the driven sprocket; or alternatively
The power source is the motor, the drive unit includes driving pulley, driven pulley and belt, the driving pulley set up in on the output shaft of motor, driven pulley set up in on the cooperation portion, the driving pulley with driven pulley all is located between the belt, the motor is used for driving the driving pulley rotates, so that the belt passes through driven pulley drives the walking wheel rotates.
7. The inspection robot according to any one of claims 4 to 6, further comprising a support frame, wherein the driving assembly and the travelling wheels are arranged on the support frame, the support frame comprises a first support rod, and two ends of the first support rod are respectively provided with one travelling wheel.
8. The inspection robot of claim 7, wherein the support frame further comprises a second support bar, and the drive assembly, the road wheels, and the first support bar are all disposed on the second support bar.
9. The inspection robot of any one of claims 4 to 6, further comprising a camera and a controller, wherein the camera is electrically connected to the robot body, the robot body is communicatively connected to the controller, the camera is used for photographing the protective cover, and the controller is provided with a display screen, and the display screen is used for displaying pictures photographed by the camera.
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| CN201810326969.6A CN108649480B (en) | 2018-04-12 | 2018-04-12 | Inspection robot, travelling wheel and manufacturing method thereof |
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| CN201810326969.6A CN108649480B (en) | 2018-04-12 | 2018-04-12 | Inspection robot, travelling wheel and manufacturing method thereof |
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| CN108649480A (en) | 2018-10-12 |
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Effective date of registration: 20201021 Address after: 510620 Tianhe District, Guangzhou, Tianhe South Road, No. two, No. 2, No. Applicant after: Guangzhou Power Supply Bureau of Guangdong Power Grid Co.,Ltd. Address before: 510620 Tianhe District, Guangzhou, Tianhe South Road, No. two, No. 2, No. Applicant before: GUANGZHOU POWER SUPPLY Co.,Ltd. |
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