CN109193455A - A kind of high pressure inspection mobile robot running gear - Google Patents
A kind of high pressure inspection mobile robot running gear Download PDFInfo
- Publication number
- CN109193455A CN109193455A CN201811173835.1A CN201811173835A CN109193455A CN 109193455 A CN109193455 A CN 109193455A CN 201811173835 A CN201811173835 A CN 201811173835A CN 109193455 A CN109193455 A CN 109193455A
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- frame
- block
- main body
- mobile robot
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- 238000007689 inspection Methods 0.000 title claims abstract description 30
- 230000033001 locomotion Effects 0.000 claims abstract description 35
- 230000005540 biological transmission Effects 0.000 claims abstract description 11
- 238000004140 cleaning Methods 0.000 claims description 17
- 238000013016 damping Methods 0.000 claims description 7
- 239000007788 liquid Substances 0.000 claims 2
- 230000006835 compression Effects 0.000 claims 1
- 238000007906 compression Methods 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract description 6
- 230000004888 barrier function Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000005611 electricity Effects 0.000 description 6
- 239000007787 solid Substances 0.000 description 4
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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Abstract
The invention discloses a kind of high pressure inspection mobile robot running gears, including main body, gripper frame is fixedly connected at the top of the main body, the side wall of the gripper frame is fixedly connected with motor frame, the inside of the motor frame is fixedly connected with first motor, the output shaft of the first motor is fixedly connected with first gear, and the first gear engaged transmission has second gear, and the present invention relates to technical field of electric power detection.The high pressure inspection mobile robot running gear, capstan is reached and secondary guide wheel cooperates, it is slided on high-voltage line, it can intermittently open, be closed for three groups simultaneously, avoiding obstacles, the practicability for improving device, reduces the purpose of labour, has reached and clamped to high-voltage line, second motor drives moving lever movement, to push main body to travel forward, the purpose of the working efficiency of device is improved, some barriers to high-voltage line have been reached, it is cleared up, it is burnt using open fire, clears up the rubbish on surface, improve the purpose of detection efficiency.
Description
Technical field
The present invention relates to technical field of electric power detection, specially a kind of high pressure inspection mobile robot running gear.
Background technique
High-voltage line is commonly referred to as the transmission line of electricity of conveying 10kV (containing 10kV) the above voltage.Electric system most important
Business is to provide the electric power of high quality and high reliability.And power transmission must rely on ultra-high-tension power transmission line, its safety and stability fortune
Row directly affects the reliability of electric system.Therefore, power industry involves the interests of the state and the people, and is that modern society depends on for existence and development
Lifeline.Therefore, it is necessary to inspect periodically to high-voltage line.Currently, high pressure inspection mainly has two kinds of modes: first is that manually patrolling
Inspection, second is that aircraft inspection, both has certain limitation.Therefore a kind of inspection robot is developed, it is defeated along aerial high-voltage
Electric line carries out the full-automatic line inspection device of inspection operation, can livewire work, improve working efficiency, save a large amount of people
Power resource, line walking expense avoid maintenance from having a power failure also relative to wanting much lower for helicopter line walking, ensure that normal confession
Electricity.Some rubbish on route can be cleared up simultaneously, reduce the amount of labour, improve service life.
Summary of the invention
(1) the technical issues of solving
In view of the deficiencies of the prior art, it the present invention provides a kind of high pressure inspection mobile robot running gear, solves
High-voltage line inspection needs artificial progress inspection, time-consuming and laborious, and the problem that safety coefficient is lower.
(2) technical solution
In order to achieve the above object, the present invention is achieved by the following technical programs: a kind of high pressure inspection mobile robot
Running gear, including main body are fixedly connected with gripper frame at the top of the main body, and the side wall of the gripper frame is fixedly connected with electricity
Machine frame, the inside of the motor frame are fixedly connected with first motor, and the output shaft of the first motor is fixedly connected with the first tooth
Wheel, the first gear engaged transmission have second gear, the first rotational lead screw are fixedly connected at the axle center of the second gear,
First rotational lead screw runs through and extends to inside gripper frame, and first rotational lead screw and gripper frame inner wall are rotatablely connected,
The threaded one end that first rotational lead screw is located inside gripper frame is connected with screw slider, the surface difference of the screw slider
It is fixedly connected with first hydraulic cylinder, second hydraulic cylinder, the inner wall bottom of the gripper frame is fixedly connected with fixed block, the fixation
Block is fixedly connected with the first slide bar, and first sliding bar is connected with moving mass, the moving mass and the fixed company of screw slider
It connects, the surface of the gripper frame is provided with sliding groove, and the first hydraulic cylinder, second hydraulic cylinder and sliding groove are slidably connected, institute
It states and is fixedly connected with the second motor on the left of the inner wall of main body, the output end of second motor is fixedly connected with third gear, institute
Stating third gear engaged transmission has the 4th gear, is fixedly connected with the second rotational lead screw at the axle center of the 4th gear, described
Second rotational lead screw and the inner wall of main body are rotatablely connected, and the main body is internally provided with fixed plate, the fixed plate and main body
Inner wall be fixedly connected with the second slide bar, second sliding bar is connected with kinematic mount plate, the kinematic mount plate and
Two rotational lead screws are threadedly coupled, and moving lever is fixedly connected on the right side of the kinematic mount plate, and the moving lever and main body are slided
Connection, one end that the moving lever is located at body exterior are fixedly connected with motion frame, and the inside of the motion frame is fixedly connected with
Third slide bar, the inner wall two sides of the motion frame are fixedly connected with cylinder, and the output end of the cylinder is fixedly connected with grip block,
Holding frame is fixedly connected at the top of the grip block, the side of the main body is fixedly connected with supporting block, and the supporting block is solid
Surely it is connected with support rod, the support rod is fixedly connected with fixed support block far from one end of supporting block, and the one of the supporting block
Side is fixedly connected with third hydraulic cylinder, and the output end of the third hydraulic cylinder is fixedly connected with movement rotating block, and the movement turns
Motion block is slidably connected with support rod, and the movement rotating block is rotatably connected to rotating turret, and the rotating turret is rotatably connected to fixation
Rotating block, the fixed rotating block are fixedly connected with cleaning platform, and the cleaning platform and fixed support block are rotatablely connected.
Preferably, the quantity of the gripper frame is three.
Preferably, it is fixedly connected with limited block in the middle part of first slide bar, the two sides of the limited block are fixedly connected with
Damping spring, the damping spring are fixedly connected far from one end of limited block with moving mass.
Preferably, the output end of the first hydraulic cylinder is fixedly connected with leading wheeling supporting frame, the leading wheeling supporting frame
It is rotatably connected to capstan, the output end of the second hydraulic cylinder is fixedly connected with secondary guide wheel support frame, the pair guide wheel support
Frame is rotatably connected to secondary guide wheel, and the gap of the pair guide wheel and capstan slidably connects high-voltage line.
Preferably, block is fixedly connected in the middle part of the third slide bar.
Preferably, the holding frame is connect with third sliding bar, inside the one end of the holding frame far from third slide bar
It is provided with movable block, the movable block is fixedly connected with supporting rod, and the supporting rod is slidably connected with holding frame, the supporting rod
One end far from movable block is fixedly connected with grip block, and the grip block is fixedly connected by compressed spring with holding frame, described
The surface of grip block is fixedly connected with gripper jaw.
Preferably, the surface of the cleaning platform is provided with bocca.
Preferably, the stroke of the first hydraulic cylinder is twice of the stroke of second hydraulic cylinder.
Preferably, the rotational angle of the cleaning platform is 75 °.
Preferably, the length of the main body is 30cm.
(3) beneficial effect
The present invention provides a kind of high pressure inspection mobile robot running gears.Have it is following the utility model has the advantages that
(1), the high pressure inspection mobile robot running gear is clamped by being fixedly connected with gripper frame at the top of main body
The side wall of frame is fixedly connected with motor frame, and the inside of motor frame is fixedly connected with first motor, and the output shaft of first motor is fixed
It is connected with first gear, first gear engaged transmission has second gear, the first rotation is fixedly connected at the axle center of second gear
Lead screw, the first rotational lead screw run through and extend to inside gripper frame, and the first rotational lead screw and gripper frame inner wall are rotatablely connected, and first
The threaded one end that rotational lead screw is located inside gripper frame is connected with screw slider, and the surface of screw slider has been respectively fixedly connected with
One hydraulic cylinder, second hydraulic cylinder, the inner wall bottom of gripper frame are fixedly connected with fixed block, and it is sliding that fixed block is fixedly connected with first
Bar, the first sliding bar are connected with moving mass, and moving mass is fixedly connected with screw slider, and the surface of gripper frame is provided with sliding
Slot, first hydraulic cylinder, second hydraulic cylinder and sliding groove are slidably connected, and the output end of first hydraulic cylinder is fixedly connected with capstan branch
Support, leading wheeling supporting frame are rotatably connected to capstan, and the output end of second hydraulic cylinder is fixedly connected with secondary guide wheel support frame, secondary
Guide wheel support frame is rotatably connected to secondary guide wheel, and the gap of secondary guide wheel and capstan slidably connects high-voltage line, has reached capstan
Cooperate with secondary guide wheel, slided on high-voltage line, while three groups can intermittently open, be closed, avoiding obstacles, improves device
Practicability, reduce the purpose of labour.
(2), high pressure inspection mobile robot running gear, by being fixedly connected with the second electricity on the left of the inner wall of main body
Machine, the output end of the second motor are fixedly connected with third gear, and third gear engaged transmission has the 4th gear, the axis of the 4th gear
The second rotational lead screw, the inner wall rotation connection of the second rotational lead screw and main body are fixedly connected at the heart, main body is internally provided with
The inner wall of fixed plate, fixed plate and main body is fixedly connected with the second slide bar, and the second sliding bar is connected with kinematic mount plate, movement
Support plate is threadedly coupled with the second rotational lead screw, and moving lever is fixedly connected on the right side of kinematic mount plate, and moving lever and main body are sliding
Dynamic connection, one end that moving lever is located at body exterior are fixedly connected with motion frame, and it is sliding that the inside of motion frame is fixedly connected with third
Bar, the inner wall two sides of motion frame are fixedly connected with cylinder, and the output end of cylinder is fixedly connected with grip block, and the top of grip block is solid
Surely it is connected with holding frame, holding frame is connect with third sliding bar, and holding frame is internally provided with shifting far from one end of third slide bar
Motion block, movable block are fixedly connected with supporting rod, and supporting rod is slidably connected with holding frame, and supporting rod is fixed far from one end of movable block
It is connected with grip block, grip block is fixedly connected by compressed spring with holding frame, and the surface of grip block is fixedly connected with gripper jaw,
Reach and high-voltage line has been clamped, the second motor drives moving lever movement, so that main body be pushed to travel forward, improves device
The purpose of working efficiency.
(3), the high pressure inspection mobile robot running gear, is fixedly connected with supporting block by the side of main body, support
Block is fixedly connected with support rod, and support rod is fixedly connected with fixed support block far from one end of supporting block, and the side of supporting block is solid
Surely it is connected with third hydraulic cylinder, the output end of third hydraulic cylinder is fixedly connected with movement rotating block, moves rotating block and support rod
It is slidably connected, movement rotating block is rotatably connected to rotating turret, and rotating turret is rotatably connected to fixed rotating block, and fixed rotating block is fixed
It is connected with cleaning platform, cleaning platform and fixed support block are rotatablely connected, and the surface for clearing up platform is provided with bocca, reaches
It to some barriers of high-voltage line, is cleared up, is burnt using open fire, clear up the rubbish on surface, improve the purpose of detection efficiency.
Detailed description of the invention
Fig. 1 is overall structure of the present invention；
Fig. 2 is gripper frame external structure schematic diagram of the present invention；
Fig. 3 is gripper frame schematic diagram of internal structure of the present invention；
Fig. 4 is Guiding wheel structure schematic diagram of the present invention；
Fig. 5 is body interior structural schematic diagram of the present invention；
Fig. 6 is motion frame structural schematic diagram of the present invention；
Fig. 7 is present invention cleaning platform structure schematic diagram.
In figure: 1 main body, 2 gripper frames, 3 motor frames, 4 first motors, 5 first gears, 6 second gears, 7 first rotation silks
Thick stick, 8 screw sliders, 9 first hydraulic cylinders, 10 second hydraulic cylinders, 11 fixed blocks, 12 first slide bars, 13 moving mass, 14 limited blocks,
Wheel, 21 second electricity are taught in 15 damping springs, 16 sliding grooves, 17 leading wheeling supporting frames, 18 capstans, 19 secondary guide wheel support frames, 20
Machine, 22 third gears, 23 the 4th gears, 24 second rotational lead screws, 25 fixed plates, 26 second slide bars, 27 kinematic mount plates, 28 fortune
Lever, 29 motion frames, 30 third slide bars, 31 blocks, 32 cylinders, 33 grip blocks, 34 holding frames, 35 movable blocks, 36 supporting rods, 37
Grip block, 38 compressed springs, 39 gripper jaws, 40 high-voltage lines, 41 supporting blocks, 42 support rods, 43 fixed support blocks, 44 thirds are hydraulic
Cylinder, 45 movement rotating blocks, 46 rotating turrets, 47 fixed rotating blocks, 48 cleaning platforms, 49 boccas.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-7 is please referred to, the present invention provides a kind of technical solution: a kind of high pressure inspection mobile robot running gear, packet
Main body 1 is included, the top of main body 1 is fixedly connected with gripper frame 2, and the side wall of gripper frame 2 is fixedly connected with motor frame 3, motor frame 3
Inside is fixedly connected with first motor 4, and the output shaft of first motor 4 is fixedly connected with first gear 5, and the engagement of first gear 5 passes
It is dynamic to have second gear 6, the first rotational lead screw 7 is fixedly connected at the axle center of second gear 6, the first rotational lead screw 7 runs through and prolongs
It extends to inside gripper frame 2, the first rotational lead screw 7 is rotatablely connected with 2 inner wall of gripper frame, and the first rotational lead screw 7 is located in gripper frame 2
The threaded one end in portion is connected with screw slider 8, and it is hydraulic that the surface of screw slider 8 has been respectively fixedly connected with first hydraulic cylinder 9, second
Cylinder 10, the inner wall bottom of gripper frame 2 are fixedly connected with fixed block 11, and fixed block 11 is fixedly connected with the first slide bar 12, and first is sliding
Bar 12 slidably connects moving mass 13, and moving mass 13 is fixedly connected with screw slider 8, and the surface of gripper frame 2 is provided with sliding groove
16, first hydraulic cylinder 9, second hydraulic cylinder 10 and sliding groove 16 are slidably connected, and the second electricity is fixedly connected on the left of the inner wall of main body 1
Machine 21, the output end of the second motor 21 are fixedly connected with third gear 22, and 22 engaged transmission of third gear has the 4th gear 23, the
The second rotational lead screw 24 is fixedly connected at the axle center of four gears 23, the second rotational lead screw 24 and the inner wall of main body 1 are rotatablely connected,
Main body 1 is internally provided with fixed plate 25, and fixed plate 25 and the inner wall of main body 1 are fixedly connected with the second slide bar 26, the second slide bar
26 slidably connect kinematic mount plate 27, and kinematic mount plate 27 is threadedly coupled with the second rotational lead screw 24, kinematic mount plate 27
Right side is fixedly connected with moving lever 28, and moving lever 28 is slidably connected with main body 1, and it is solid that moving lever 28 is located at one end outside main body 1
Surely it is connected with motion frame 29, the inside of motion frame 29 is fixedly connected with third slide bar 30, and the inner wall two sides of motion frame 29 are fixed to be connected
It is connected to cylinder 32, the output end of cylinder 32 is fixedly connected with grip block 33, and the top of grip block 33 is fixedly connected with holding frame 34,
The side of main body 1 is fixedly connected with supporting block 41, and supporting block 41 is fixedly connected with support rod 42, and support rod 42 is far from supporting block 41
One end be fixedly connected with fixed support block 43, the side of supporting block 41 is fixedly connected with third hydraulic cylinder 44, third hydraulic cylinder
44 output end is fixedly connected with movement rotating block 45, and movement rotating block 45 is slidably connected with support rod 42, moves rotating block 45
It is rotatably connected to rotating turret 46, rotating turret 46 is rotatably connected to fixed rotating block 47, and fixed rotating block 47 is fixedly connected with cleaning
Platform 48, cleaning platform 48 and fixed support block 43 are rotatablely connected, and the quantity of gripper frame 2 is three, the middle part of the first slide bar 12
It is fixedly connected with limited block 14, the two sides of limited block 14 are fixedly connected with damping spring 15, and damping spring 15 is far from limited block 14
One end be fixedly connected with moving mass 13, the output end of first hydraulic cylinder 9 is fixedly connected with leading wheeling supporting frame 17, capstan branch
Support 17 is rotatably connected to capstan 18, and the output end of second hydraulic cylinder 10 is fixedly connected with secondary guide wheel support frame 19, secondary guide wheel
Support frame 19 is rotatably connected to secondary guide wheel 20, and the gap of secondary guide wheel 20 and capstan 18 slidably connects high-voltage line 40, reaches
Capstan and secondary guide wheel cooperate, and are slided on high-voltage line, while three groups can intermittently open, be closed, avoiding obstacles mention
The practicability of high device, reduces the purpose of labour, and the middle part of third slide bar 30 is fixedly connected with block 31, holding frame 34 and
Three slide bars 30 are slidably connected, and holding frame 34 is internally provided with movable block 35 far from one end of third slide bar 30, and movable block 35 is fixed
It is connected with supporting rod 36, supporting rod 36 is slidably connected with holding frame 34, and supporting rod 36 is fixedly connected far from one end of movable block 35
There is grip block 37, grip block 37 is fixedly connected by compressed spring 38 with holding frame 34, and the surface of grip block 37 is fixedly connected with
Gripper jaw 39, has reached and has clamped to high-voltage line, and the second motor drives moving lever movement, so that main body is pushed to travel forward,
The purpose of the working efficiency of device is improved, the surface of cleaning platform 48 is provided with bocca 49, has reached to some of high-voltage line
Barrier is cleared up, and is burnt using open fire, and the rubbish on surface is cleared up, and improves the purpose of detection efficiency, first hydraulic cylinder 9
Stroke is twice of the stroke of second hydraulic cylinder 10, and the rotational angle of cleaning platform 48 is 75 °, and the length of main body 1 is
30cm。
In use, first motor 4 works, first gear 5 is driven to rotate, second gear 6 is driven to rotate, drives the first rotation
Lead screw 7 rotates, and screw slider 8 is driven to move, and drives first hydraulic cylinder 9, second hydraulic cylinder 10 to run, adjusts spacing, and then the
One hydraulic cylinder 9, second hydraulic cylinder 10 work, and are cooperated, are clamped to high-voltage line 40, have reached capstan and have matched with secondary guide wheel
It closing, is slided on high-voltage line, while three groups can intermittently open, be closed, avoiding obstacles improve the practicability of device,
The purpose of labour is reduced, the work of the second motor 21 drives third gear 22 to rotate, and drives the rotation of the 4th gear 23, drives the
The rotation of two rotational lead screws 24, drives kinematic mount plate 27 to move, and moving lever 28 is driven to move, and drives motion frame 29 to move, cylinder
32 work, drive grip block 33 to move, and holding frame 34 is driven to move, and drive claw 39 to move, have reached and pressed from both sides to high-voltage line
It holds, the second motor drives moving lever movement, so that main body be pushed to travel forward, improves the purpose of the working efficiency of device, third
Hydraulic cylinder 44 works, and movement conversion block 45 is driven to move, and drives fixed rotating block 47 to move by rotating turret 46, drives cleaning flat
Platform 48 rotates, and drives bocca rotation, has reached some barriers to high-voltage line, cleared up, burnt using open fire, clears up
The rubbish on surface improves the purpose of detection efficiency.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions.By sentence " element limited including one ..., it is not excluded that
There is also other identical elements in the process, method, article or apparatus that includes the element ".
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. a kind of high pressure inspection mobile robot running gear, including main body (1), it is characterised in that: the top of the main body (1)
Be fixedly connected with gripper frame (2), the side wall of the gripper frame (2) is fixedly connected with motor frame (3), the motor frame (3) it is interior
Portion is fixedly connected with first motor (4), and the output shaft of the first motor (4) is fixedly connected with first gear (5), and described first
Gear (5) engaged transmission has second gear (6), is fixedly connected with the first rotational lead screw at the axle center of the second gear (6)
(7), first rotational lead screw (7) runs through and extends to gripper frame (2) inside, first rotational lead screw (7) and gripper frame
(2) inner wall is rotatablely connected, and first rotational lead screw (7) is located at the internal threaded one end of gripper frame (2) and is connected with screw slider
(8), the surface of the screw slider (8) has been respectively fixedly connected with first hydraulic cylinder (9), second hydraulic cylinder (10), the clamping
The inner wall bottom of frame (2) is fixedly connected with fixed block (11), and the fixed block (11) is fixedly connected with the first slide bar (12), described
First slide bar (12) slidably connects moving mass (13), and the moving mass (13) is fixedly connected with screw slider (8), the clamping
The surface of frame (2) is provided with sliding groove (16), and the first hydraulic cylinder (9), second hydraulic cylinder (10) and sliding groove (16) are slided
The inner wall left side of connection, the main body (1) is fixedly connected with the second motor (21), and the output end of second motor (21) is fixed
It is connected with third gear (22), third gear (22) engaged transmission has the 4th gear (23), the 4th gear (23)
It being fixedly connected at axle center the second rotational lead screw (24), the inner wall of second rotational lead screw (24) and main body (1) is rotatablely connected,
The main body (1) is internally provided with fixed plate (25), and the inner wall of the fixed plate (25) and main body (1) is fixedly connected with second
Slide bar (26), second slide bar (26) slidably connect kinematic mount plate (27), the kinematic mount plate (27) with second turn
Dynamic lead screw (24) are threadedly coupled, and are fixedly connected with moving lever (28), the moving lever on the right side of the kinematic mount plate (27)
(28) it is slidably connected with main body (1), the moving lever (28) is located at the external one end of main body (1) and is fixedly connected with motion frame
(29), the inside of the motion frame (29) is fixedly connected with third slide bar (30), and the inner wall two sides of the motion frame (29) are fixed
It is connected with cylinder (32), the output end of the cylinder (32) is fixedly connected with grip block (33), the top of the grip block (33)
It is fixedly connected with holding frame (34), the side of the main body (1) is fixedly connected with supporting block (41), and the supporting block (41) is fixed
It being connected with support rod (42), the support rod (42) is fixedly connected with fixed support block (43) far from the one end of supporting block (41),
The side of the supporting block (41) is fixedly connected with third hydraulic cylinder (44), and the output end of the third hydraulic cylinder (44) is fixed to be connected
It is connected to movement rotating block (45), the movement rotating block (45) is slidably connected with support rod (42), the movement rotating block (45)
It is rotatably connected to rotating turret (46), the rotating turret (46) is rotatably connected to fixed rotating block (47), the fixed rotating block
(47) it is fixedly connected with cleaning platform (48), the cleaning platform (48) and fixed support block (43) are rotatablely connected.
2. a kind of high pressure inspection mobile robot running gear according to claim 1, it is characterised in that: the gripper frame
(2) quantity is three.
3. a kind of high pressure inspection mobile robot running gear according to claim 1, it is characterised in that: described first is sliding
It being fixedly connected in the middle part of bar (12) limited block (14), the two sides of the limited block (14) are fixedly connected with damping spring (15),
The damping spring (15) is fixedly connected far from the one end of limited block (14) with moving mass (13).
4. a kind of high pressure inspection mobile robot running gear according to claim 1, it is characterised in that: first liquid
The output end of cylinder pressure (9) is fixedly connected with leading wheeling supporting frame (17), and the leading wheeling supporting frame (17) is rotatably connected to leading
It takes turns (18), the output end of the second hydraulic cylinder (10) is fixedly connected with secondary guide wheel support frame (19), the pair guide wheel support frame
(19) it is rotatably connected to secondary guide wheel (20), the gap of the pair guide wheel (20) and capstan (18) slidably connects high-voltage line
(40)。
5. a kind of high pressure inspection mobile robot running gear according to claim 1, it is characterised in that: the third is sliding
Block (31) are fixedly connected in the middle part of bar (30).
6. a kind of high pressure inspection mobile robot running gear according to claim 1, it is characterised in that: the holding frame
(34) it is slidably connected with third slide bar (30), the holding frame (34) is internally provided with movement far from the one end of third slide bar (30)
Block (35), the movable block (35) are fixedly connected with supporting rod (36), and the supporting rod (36) is slidably connected with holding frame (34),
The supporting rod (36) is fixedly connected with grip block (37) far from the one end of movable block (35), and the grip block (37) passes through compression
Spring (38) is fixedly connected with holding frame (34), and the surface of the grip block (37) is fixedly connected with gripper jaw (39).
7. a kind of high pressure inspection mobile robot running gear according to claim 1, it is characterised in that: the cleaning is flat
The surface of platform (48) is provided with bocca (49).
8. a kind of high pressure inspection mobile robot running gear according to claim 1, it is characterised in that: first liquid
The stroke of cylinder pressure (9) is twice of the stroke of second hydraulic cylinder (10).
9. a kind of high pressure inspection mobile robot running gear according to claim 1, it is characterised in that: the cleaning is flat
The rotational angle of platform (48) is 75 °.
10. a kind of high pressure inspection mobile robot running gear according to claim 1, it is characterised in that: the main body
(1) length is 30cm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811173835.1A CN109193455B (en) | 2018-10-09 | 2018-10-09 | High-voltage inspection mobile robot walking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811173835.1A CN109193455B (en) | 2018-10-09 | 2018-10-09 | High-voltage inspection mobile robot walking device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109193455A true CN109193455A (en) | 2019-01-11 |
| CN109193455B CN109193455B (en) | 2020-04-21 |
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ID=64947667
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811173835.1A Expired - Fee Related CN109193455B (en) | 2018-10-09 | 2018-10-09 | High-voltage inspection mobile robot walking device |
Country Status (1)
| Country | Link |
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| CN (1) | CN109193455B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112636243A (en) * | 2020-12-09 | 2021-04-09 | 云南电网有限责任公司丽江供电局 | Electrified high-voltage line foreign matter clearing device |
| CN116085537A (en) * | 2023-04-10 | 2023-05-09 | 山东港源管道物流有限公司 | Fixed adjusting device for crude oil pipeline transportation and use method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63134137A (en) * | 1986-11-27 | 1988-06-06 | Tokyo Electric Power Co Inc:The | Nut tightening and removing tool for overhead distribution wire |
| CN102354938A (en) * | 2011-10-17 | 2012-02-15 | 河南省电力公司漯河供电公司 | Transmission line walking device |
| CN203293184U (en) * | 2013-06-20 | 2013-11-20 | 国家电网公司 | Foreign matter cleaning robot for power transmission lines |
| CN107104390A (en) * | 2017-07-07 | 2017-08-29 | 国网湖南省电力公司带电作业中心 | A kind of live detection and cleaning integrated robot |
| CN206976926U (en) * | 2017-05-31 | 2018-02-06 | 武汉理工大学 | The road wheel overturn-preventing guider of aerial high voltage power line insulator cleaning robot |
| CN108512119A (en) * | 2018-05-17 | 2018-09-07 | 安徽工业大学 | A kind of HV Transmission Line Routing Inspection robot |
| CN108512117A (en) * | 2018-05-05 | 2018-09-07 | 张秋达 | A kind of automatic power construction robot |
-
2018
- 2018-10-09 CN CN201811173835.1A patent/CN109193455B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63134137A (en) * | 1986-11-27 | 1988-06-06 | Tokyo Electric Power Co Inc:The | Nut tightening and removing tool for overhead distribution wire |
| CN102354938A (en) * | 2011-10-17 | 2012-02-15 | 河南省电力公司漯河供电公司 | Transmission line walking device |
| CN203293184U (en) * | 2013-06-20 | 2013-11-20 | 国家电网公司 | Foreign matter cleaning robot for power transmission lines |
| CN206976926U (en) * | 2017-05-31 | 2018-02-06 | 武汉理工大学 | The road wheel overturn-preventing guider of aerial high voltage power line insulator cleaning robot |
| CN107104390A (en) * | 2017-07-07 | 2017-08-29 | 国网湖南省电力公司带电作业中心 | A kind of live detection and cleaning integrated robot |
| CN108512117A (en) * | 2018-05-05 | 2018-09-07 | 张秋达 | A kind of automatic power construction robot |
| CN108512119A (en) * | 2018-05-17 | 2018-09-07 | 安徽工业大学 | A kind of HV Transmission Line Routing Inspection robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112636243A (en) * | 2020-12-09 | 2021-04-09 | 云南电网有限责任公司丽江供电局 | Electrified high-voltage line foreign matter clearing device |
| CN112636243B (en) * | 2020-12-09 | 2022-06-21 | 云南电网有限责任公司丽江供电局 | Electrified high-voltage line foreign matter clearing device |
| CN116085537A (en) * | 2023-04-10 | 2023-05-09 | 山东港源管道物流有限公司 | Fixed adjusting device for crude oil pipeline transportation and use method |
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| Publication number | Publication date |
|---|---|
| CN109193455B (en) | 2020-04-21 |
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