CN109698476B - Claw part wire holding mechanism of high-voltage transmission line inspection robot - Google Patents
Claw part wire holding mechanism of high-voltage transmission line inspection robot Download PDFInfo
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- CN109698476B CN109698476B CN201910149475.XA CN201910149475A CN109698476B CN 109698476 B CN109698476 B CN 109698476B CN 201910149475 A CN201910149475 A CN 201910149475A CN 109698476 B CN109698476 B CN 109698476B
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- screw
- fixing frame
- claw
- holding mechanism
- wire holding
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- 210000000078 claw Anatomy 0.000 title claims abstract description 71
- 230000007246 mechanism Effects 0.000 title claims abstract description 55
- 238000007689 inspection Methods 0.000 title claims abstract description 26
- 230000005540 biological transmission Effects 0.000 title claims abstract description 21
- 230000005611 electricity Effects 0.000 claims abstract description 7
- 239000000725 suspension Substances 0.000 claims description 8
- 230000009471 action Effects 0.000 abstract description 16
- 238000009434 installation Methods 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 5
- 238000005096 rolling process Methods 0.000 description 3
- 208000025274 Lightning injury Diseases 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000009545 invasion Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 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
Abstract
The invention discloses a claw part wire holding mechanism of a high-voltage transmission line inspection robot, which comprises a fixing frame, wherein a hub motor is arranged in the middle of the fixing frame, an output shaft of the hub motor is in transmission connection with a driving wheel, supporting wheels are symmetrically arranged at the lower part of the fixing frame, limiting wheels and limiting claws are respectively arranged on the outer walls of two sides of the fixing frame, and a current electricity taking device is arranged on the outer wall of the front surface of the fixing frame. The invention can solve the problem that the claw part wire locking mechanism in the prior art is difficult to effectively finish the actions of separating wires, grabbing wires, locking wires and the like, and has the advantages of simple structure, high efficiency and strong reliability.
Description
Technical Field
The invention relates to the technical field of power related robots, in particular to a claw wire holding mechanism of a high-voltage transmission line inspection robot.
Background
Currently, high-voltage and ultra-high-voltage overhead power lines are the main way to transmit and distribute power over long distances, and power lines are an important component of power systems. The circuit is exposed in natural environment for a long time, so that the circuit is required to bear not only normal mechanical load and internal pressure of electric load, but also external invasion such as pollution, lightning stroke, strong wind, landslide, subsidence, bird damage and the like. The above factors cause relatively large damage to the power line, so the power line needs to be inspected frequently, and if the power line is damaged, the power line needs to be replaced in time. In order to enable autonomous inspection of the power line, research on inspection robots is now increasing; however, most existing inspection robots can only guarantee to advance along the line, and when encountering an obstacle and needing to cross, the operation required by obstacle crossing is difficult to complete.
The realization of obstacle crossing function mainly needs the claw portion wire holding mechanism of inspection robot to reliably accomplish a series of actions such as breaking away from the electric wire, snatching the electric wire, locking the electric wire, but current claw portion wire holding mechanism is difficult to effectively accomplish these actions, snatchs the action and easily has the problem that can't effectively snatch the electric wire generally, and locking the action then has the friction inadequately, can't guarantee the fixed position of whole robot.
Disclosure of Invention
The invention provides the claw wire holding mechanism of the high-voltage transmission line inspection robot, which solves the problems that the claw wire holding mechanism is difficult to effectively finish the actions of separating wires, grabbing wires, locking wires and the like in the prior art.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides a high tension transmission line inspection robot's claw portion holds line mechanism, it includes the mount, and the mount middle part is provided with in-wheel motor, and in-wheel motor's output shaft is connected with the action wheel transmission, and the lower part symmetry of mount is provided with the supporting wheel, is provided with spacing wheel and spacing claw on the both sides outer wall of mount respectively, is provided with the electric installation of getting on the front outer wall of mount.
In the above technical scheme, preferably, the driving wheel is movably connected with the fixing frame through a connecting flange.
In the above technical scheme, preferably, the side outer wall of the fixing frame is hinged with a limit screw motor, and the limit screw motors on two sides are respectively connected with the limit claw and the limit wheel in a transmission way through connecting screws.
In the above technical scheme, preferably, the limit screw motor is in transmission connection with the screw bracket, and the screw bracket is movably connected with the side wall of the fixing frame.
In the above technical scheme, preferably, the upper part and the lower part of the screw rod bracket are respectively connected with the fixing frame through suspension springs.
In the above technical scheme, preferably, the upper part and the lower part of the screw rod bracket are respectively connected with the fixing frame through suspension springs.
In the above technical scheme, preferably, the output end of the limit screw motor is connected with the connecting screw rod through a coupler.
In the above technical scheme, preferably, the output end of the limit screw motor is connected with the connecting screw rod through a coupler.
In the above technical scheme, preferably, the connecting screw sleeve is provided with screw nuts, and the screw nuts on two sides are respectively hinged with the limiting claw and the end part of the limiting wheel.
In the above technical scheme, preferably, the supporting wheel is connected with the side wall of the fixing frame through a supporting spring.
In the above technical scheme, preferably, the external four corners of the fixing frame are respectively provided with a box body connecting corner piece.
The claw wire holding mechanism of the high-voltage transmission line inspection robot provided by the invention has the main beneficial effects that:
according to the invention, the driving wheel is arranged on the claw part wire holding mechanism, so that most electric wire obstacles can be directly rolled and obstacle crossing efficiency is improved; the supporting wheels are arranged on the fixing frame and are matched with the driving wheel to jointly play a role of supporting the claw wire holding mechanism; through setting up the in-wheel motor, in order to drive the claw to hold the movement of the line mechanism along electric wire; through setting up the spacing claw, make spacing claw and supporting wheel, action wheel cooperation, constitute jaw formula clamp structure, realize the locking operation to the electric wire from upper and lower two directions.
Through the arrangement of the limiting wheels, the limiting wheels are matched with the supporting wheels and the driving wheels, so that the reliability of wire clamping operation is ensured, and meanwhile, the claw wire holding mechanism can perform relative movement more effectively; through setting up electric installation is got to electric installation, because electric installation is got to electric installation's internal diameter is greater than the electric wire diameter, can effectively improve the scope that can snatch the electric wire, and through spacing wheel and backing wheel, action wheel cooperation, at first make the electric wire be located electric installation's centre gripping scope is got to electric installation to electric current, snatch again, reliability when effectively guaranteeing to snatch the electric wire.
The thickness of the actual electric wire has obvious change under the line inspection state, and the supporting springs are arranged at the two ends of the supporting wheels, so that the supporting springs can be better matched with the electric wire by utilizing the hanging structure, and the clamping force is provided, so that the robot can climb the electric wire with a large elevation angle.
Through setting up mechanisms such as lead screw support and suspension spring, utilize spacing lead screw motor to adjust the removal of spacing claw and spacing wheel through screw drive to guarantee that it transmits enough big moment of torsion, improve claw portion and hold the stability and the reliability of line mechanism action.
Drawings
Fig. 1 is a schematic structural view of a claw wire holding mechanism of the present invention.
Fig. 2 is a schematic view of another angle of the claw wire holding mechanism of the present invention.
Wherein, 1, a claw part wire holding mechanism, 11, a fixing frame, 111, a box body connecting corner piece, 112, a connecting flange, 12, a driving wheel, 13, a hub motor, 14, a supporting wheel, 141, a supporting spring, 15 and a current electricity taking device, 16, limit claws, 161, limit screw motors, 162, limit wheels, 163, suspension springs, 164, screw supports, 165, screw nuts, 166, connecting screws, 167, couplings, 168 and screw motor bases.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
as shown in fig. 1, the structure diagram of the claw wire holding mechanism of the high-voltage transmission line inspection robot is shown.
The claw wire holding mechanism of the high-voltage transmission line inspection robot comprises a fixed frame 11, wherein a driving wheel 12, a limiting wheel 162 and a limiting claw 16 are respectively arranged on the fixed frame 11, and a hub motor 13 connected with a wheel shaft of the driving wheel 12 is arranged on the fixed frame 11 so as to drive the driving wheel 12 to rotate; the outer side of the fixed frame 11 is provided with a current electricity taking device 15; the current electricity taking device 15 is arranged on the front outer wall of the fixing frame 11.
Preferably, the driving wheel 12 and the limiting wheel 162 are concave wheels, so as to increase the contact area with the electric wire, and improve the friction force of the claw wire holding mechanism, so as to prevent slipping in the movement process.
Specifically, the driving wheel 12 is movably connected with the fixed frame 11 through the connecting flange 112 so as to facilitate the movement thereof; two supporting wheels 14 are arranged in parallel at the lower part of the fixed frame 11; preferably, both ends of the central shaft of the supporting wheel 14 are connected to the lower portion of the fixing frame 11 through supporting springs 141.
By providing the supporting wheels 14 on the fixing frame 11 and the supporting springs 141 at both ends of the supporting wheels 14, the supporting wheels can be better matched with the electric wires by using the hanging structure, and the clamping force is provided, so that the robot can climb the electric wires with a large elevation angle.
Preferably, as shown in fig. 2, upper and lower parts of the screw bracket 164 engaged with the limit wheel 162 are respectively connected to the fixing frame 11 through suspension springs 163. The screw rod bracket 164 matched with the limiting wheel 162 is provided with the suspension spring 163 to be matched with the fixed frame 11, so that the thickness of the clamping of the limiting wheel 162 can be finely adjusted according to different thickness of the electric wire; meanwhile, when the thickness of the electric wire is changed, the continuous holding of the electric wire by the limiting wheel 162 can be ensured through the movement of the suspension spring 163, so that the reliability of the electric wire is improved.
A screw motor seat 168 is arranged at the lower part of the limiting screw motor 161, and the screw motor seat 168 is hinged with the screw bracket 164; the output end of the limit screw motor 161 is connected with the connecting screw 166 through a coupler 167; the connecting screw 166 is sleeved with a screw nut 165, and the screw nuts 165 on two sides are respectively hinged with the ends of the limit claw 16 and the limit wheel 162.
Through the work of spacing lead screw motor 161, under the lever principle effect, promote lead screw nut 165 along connecting screw 166 reciprocates, make spacing claw 16 and spacing wheel 162 rotate relatively around the connecting portion of mount 11 and spacing claw 16 and spacing wheel 162 to realize embracing the line and unclamping the action, for ordinary motor output, through lead screw thread isotructure, can effectively promote the moment of torsion of its output, guarantee the reliability of actions such as centre gripping, cohesion.
Optionally, the outer four corners of the fixing frame 11 are respectively provided with a box body connecting corner piece 111, so as to ensure the stability of the structure of the fixing frame 11.
The following is the working principle of the claw part wire holding mechanism provided by the invention:
in actual work, the inspection robot is generally provided with two claw wire holding mechanisms 1, and the two claw wire holding mechanisms are arranged symmetrically. Line inspection robots may encounter three conditions: firstly, normally walking without barriers; secondly, when there is an obstacle in front, such as a damper, a tension clamp and other small-sized obstacles, the obstacle is not rolled off line and is surmounted; thirdly, when the front is provided with an obstacle such as a jumper wire and the like which cannot be rolled, the obstacle crossing end goes off-line and gets over the obstacle.
For normal walking without obstacle: the claw part wire holding mechanism 1 is in a normal working state. At this time, the wheel hub motor 13 is operated to drive the whole mechanism to advance, the limit screw motor 161 of the claw wire holding mechanism 1 rotates to enable the limit wheel 162 to clamp the electric wire with the driving wheel 12, the claw wire holding mechanism 1 enables the support wheel 14, the limit wheel 162 and the driving wheel 12 to tightly cling to the electric wire and provide friction force under the action of gravity, and at this time, the limit claw 16 is in a loosening state, so that the inspection robot normally walks.
For the front obstacle, for example, when small obstacles such as a damper, a tension clamp and the like are present, the obstacle is surmounted by rolling without off line: that is, the claw section wire holding mechanism 1 is required to perform the operations of gripping the electric wire and separating the electric wire.
The obstacle surmounting action to be performed by the claw wire holding mechanism 1 is specifically as follows: when the inspection robot recognizes that a rolling obstacle exists in front, the claw part wire holding mechanism 1 needs to perform actions of loosening and grabbing and then directly rolling. The limiting screw motor 161 rotates to enable the limiting wheel 162 and the limiting claw 16 to be loosened, and the steering engine of the current electricity taking device 15 rotates to drive the two magnetic cores to be opened, so that the electric wires are separated, and the hub motor 13 of the claw wire holding mechanism 1 drives the driving wheel 12 to drive the claw wire holding mechanism 1 to roll over an obstacle.
Meanwhile, one of the claw wire holding mechanisms 1 on the inspection robot is required to clamp the electric wire, and the claw wire holding mechanism 1 on the rear side is general. The two limit screw motors 161 rotate to enable the limit wheels 162 and the limit claws 16 to clamp the electric wires so as to maintain the mechanism stable, namely, to perform the action of clamping the electric wires. The wire is pressed by the wheel hub motor 13 which is matched with the claw wire holding mechanism 1 to move horizontally.
For the front obstacle, such as a jumper wire and other non-crushable obstacle, the obstacle crossing end goes offline to cross the obstacle: the claw-type wire locking mechanism 1 is required to perform the operations of releasing the wire and locking the wire.
First is the act of disengaging the wire. When an uncrushable obstacle exists in the front, a limit screw motor 161 of a claw wire holding mechanism 1 on the upper front side of the inspection robot drives a limit wheel 162 and a limit claw 16 to be opened, a steering engine of a current electricity taking device 15 rotates to drive two magnetic cores to be opened, and meanwhile, the limit screw motor 161 of the claw wire holding mechanism 1 on the rear side rotates to enable the limit wheel 162 and the limit claw 16 to clamp a wire so as to maintain the mechanism stable; the motor drive of the inspection robot causes the front-side claw wire holding mechanism 1 to separate from the wire, thereby overcoming the obstacle.
After the front claw wire holding mechanism 1 passes over the obstacle, the front claw wire holding mechanism 1 is required to perform the wire locking operation. The driving wheel 12 hooks the electric wire, and the limiting screw motor 161 of the front claw wire holding mechanism 1 drives the limiting wheel 162 and the limiting claw 16 to rotate inwards to hold the electric wire, so that the rear claw wire holding mechanism 1 can move conveniently; the line crossing mode of the rear claw line holding mechanism 1 is the same as that of the front arm line crossing mode of the front claw line holding mechanism 1.
The above description of the embodiments of the present invention has been provided to facilitate understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and that all the inventions using the inventive concept are to be protected as long as various changes are within the spirit and scope of the present invention as defined and defined by the appended claims to those skilled in the art.
Claims (5)
1. The claw wire holding mechanism of the high-voltage transmission line inspection robot is characterized by comprising a fixing frame (11), wherein a hub motor (13) is arranged in the middle of the fixing frame (11), an output shaft of the hub motor (13) is in transmission connection with a driving wheel (12), supporting wheels (14) are symmetrically arranged at the lower part of the fixing frame (11), limit wheels (162) and limit claws (16) are respectively arranged on the outer walls of the two sides of the fixing frame (11), and a current electricity taking device (15) is arranged on the outer wall of the front face of the fixing frame (11);
a limit screw motor (161) is hinged on the outer wall of the side face of the fixing frame (11), and the limit screw motors (161) on two sides are respectively connected with the limit claw (16) and the limit wheel (162) in a transmission way through a connecting screw (166);
the limiting screw motor (161) is in transmission connection with the screw bracket (164), and the screw bracket (164) is movably connected with the side wall of the fixing frame (11);
the upper part and the lower part of the screw rod bracket (164) are respectively connected with the fixed frame (11) through a suspension spring (163);
the output end of the limit screw motor (161) is connected with a connecting screw (166) through a coupler (167);
the connecting screw (166) is sleeved with a screw nut (165), and the screw nuts (165) on two sides are respectively hinged with the ends of the limiting claw (16) and the limiting wheel (162).
2. The claw wire holding mechanism of the high-voltage transmission line inspection robot according to claim 1, wherein the driving wheel (12) is movably connected with the fixing frame (11) through a connecting flange (112).
3. The claw wire holding mechanism of the high-voltage transmission line inspection robot according to claim 1, wherein a screw motor seat (168) is arranged at the lower part of the limiting screw motor (161), and the screw motor seat (168) is hinged with a screw bracket (164).
4. The claw wire holding mechanism of the high-voltage transmission line inspection robot according to claim 1, wherein the supporting wheel (14) is connected with the side wall of the fixed frame (11) through a supporting spring (141).
5. The claw wire holding mechanism of the high-voltage transmission line inspection robot according to claim 1, wherein box connecting corner pieces (111) are respectively arranged at the outer four corners of the fixing frame (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910149475.XA CN109698476B (en) | 2019-02-28 | 2019-02-28 | Claw part wire holding mechanism of high-voltage transmission line inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910149475.XA CN109698476B (en) | 2019-02-28 | 2019-02-28 | Claw part wire holding mechanism of high-voltage transmission line inspection robot |
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| CN109698476A CN109698476A (en) | 2019-04-30 |
| CN109698476B true CN109698476B (en) | 2023-12-01 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110829266B (en) * | 2019-11-26 | 2021-09-24 | 长沙理工大学 | Power transmission line online electricity taking rolling obstacle crossing robot and application method thereof |
| CN112454321B (en) * | 2020-11-17 | 2022-04-01 | 贵州电网有限责任公司 | Walking claw with hold stockbridge damper function |
| CN112448313B (en) * | 2020-11-17 | 2022-05-03 | 贵州电网有限责任公司 | Walking claw of high-voltage transmission and guide line inspection robot |
| CN112454319B (en) * | 2020-11-17 | 2022-11-11 | 贵州电网有限责任公司 | Walking claw brake device of high-voltage transmission and guide line inspection robot |
| CN115117782A (en) * | 2022-07-11 | 2022-09-27 | 重庆小目科技有限责任公司 | Clamping device of crawler-type overhead transmission line inspection robot |
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