CN110048338B - Four arm climbing formula inspection robot mechanical structure - Google Patents
Four arm climbing formula inspection robot mechanical structure Download PDFInfo
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- CN110048338B CN110048338B CN201910421237.XA CN201910421237A CN110048338B CN 110048338 B CN110048338 B CN 110048338B CN 201910421237 A CN201910421237 A CN 201910421237A CN 110048338 B CN110048338 B CN 110048338B
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- 230000009194 climbing Effects 0.000 title claims abstract description 20
- 238000007689 inspection Methods 0.000 title claims description 12
- 238000001514 detection method Methods 0.000 claims abstract description 39
- 239000011810 insulating material Substances 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000018109 developmental process Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000035882 stress Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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- 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
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a mechanical structure of a four-mechanical-arm climbing type line patrol robot, wherein the distance between four mechanical arm groups in the direction vertical to the extending direction of a cable is arranged in an adjustable manner by adopting a width adjusting mechanism, so that the distance between two cables can be well adjusted, and the cable is prevented from being subjected to overlarge tension or straining force; simultaneously, two of them in the four robotic arm group are wobbling setting, like this, can realize its elasticity on the cable through its swing and support the regulation for each circuit gyro wheel atress is unanimous, and simultaneously, be provided with the width detection mechanism that detects two cable widths on the circuit gyro wheel and detect the support detection mechanism of cable to the holding power of circuit gyro wheel, the controller can be according to width detection mechanism and support detection mechanism are right the spatial position of four robotic arm groups carries out feedback control, realizes the automatically regulated and the control to the robot, guarantees the stability of operation.
Description
Technical Field
The invention relates to the technical field of line patrol robot devices, in particular to a four-mechanical-arm climbing type line patrol robot mechanical structure.
Background
With the continuous development of the automatic unmanned detection technology, the inspection robot is applied more and more. However, traditional inspection robot device generally adopts single line mobile robot because structural constraint, adopt a plurality of gyro wheels to support the removal along a cable promptly, this kind of mode not only aggravates the robot to the pressure of cable, moreover, in operation, because gravity supports by a cable entirely, it is serious to cable wearing and tearing, the motion difficulty, moreover, under the great condition of wind-force, make the robot rock very easily, the wearing and tearing of cable have aggravated with ageing, cable circuit fracture problem appears very easily, the influence is patrolled line effect and reliability.
If two cables are simply arranged for supporting, the clamping force or the tension on the cables is too large easily to cause the damage or the stress fatigue of the cables in the moving process of the robot due to the problems of the change of the distance between the cables and the like.
Therefore, the invention provides a four-mechanical-arm climbing type line patrol robot mechanical structure.
Disclosure of Invention
The invention aims to provide a four-mechanical-arm climbing type inspection robot mechanical structure to solve the traditional problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a climbing type line patrol robot mechanical structure with four mechanical arms comprises a line patrol machine body, four mechanical arm groups and line rollers, wherein the line patrol machine body is provided with the four mechanical arm groups which are distributed in a rectangular shape, each mechanical arm of the four mechanical arm groups is provided with the line roller, and the line rollers roll and move along cables; the device is characterized in that the circuit roller and the mechanical arms of the four mechanical arm groups are made of insulating materials;
the distance between the four mechanical arm groups in the direction perpendicular to the extending direction of the cables is arranged in an adjustable mode through a width adjusting mechanism so as to adapt to the distance adjustment between the two cables;
two of the four mechanical arm groups are arranged in a swinging manner so as to realize the elastic support adjustment of the four mechanical arm groups on the cable through the swinging of the four mechanical arm groups;
the circuit roller is provided with a width detection mechanism for detecting the width of the two cables and a support detection mechanism for detecting the support force of the cables on the circuit roller;
the controller can perform feedback adjustment on the spatial positions of the four mechanical arm groups according to the width detection mechanism and the support detection mechanism.
Further, as preferred, four arm groups include first arm, second arm, third arm and fourth arm, wherein, be provided with first arm, second arm, third arm and fourth arm on patrolling the line organism, first arm and fourth arm are arranged relatively in the direction of perpendicular to cable, second arm, third arm are arranged relatively in the direction of perpendicular to cable, first arm, fourth arm all wobbling setting, interval between first arm and the fourth arm, interval adopt between second arm and the third arm width adjustment mechanism synchronous adjustment.
Further, as preferred, the circuit gyro wheel includes first spacing round, the spacing round of second, connecting seat, sliding seat and spring leaf, wherein, one side center fixedly connected with of first spacing round the sliding seat, the sliding seat embedding is connected in the spread groove of connecting seat, just the connecting seat is fixed the center of the spacing round of second, keeping away from of the spacing round of second one side center fixed connection drive of connecting seat the rolling axis of circuit gyro wheel, the sliding seat with be provided with the free gap between the spread groove, just one side of the spacing round of orientation second of sliding seat with be provided with between the connecting groove wall the spring leaf.
Further, as preferred, still be provided with between the lateral wall that is close to first spacing wheel of sliding seat and the connecting groove wall width detection mechanism, still be provided with on the outer wall of connecting seat and support detection mechanism.
Preferably, the width detection means and the support detection means are both pressure sensors.
Further, as preferred, the sliding seat is annular ladder structure, the spread groove is the ring channel, just the sliding seat with axial is spacing each other and has clearance fit between the connecting seat.
Further, as a preferred option, the width adjusting mechanism comprises a limiting slide rail, a lead screw and a second motor, wherein the two sides of the upper end surface of the line patrol machine body are fixedly provided with the limiting slide rails which are arranged in parallel, the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm are respectively arranged on the limiting slide rails, a first connecting plate is fixedly connected between the first mechanical arm and the second mechanical arm, a second connecting plate is fixedly connected between the third mechanical arm and the fourth mechanical arm, two fixing seats are symmetrically and fixedly arranged at the upper end of the line patrol machine body, the lead screw is rotatably connected between the fixing seats, the lead screw is in driving connection with the second motor, the side surfaces of the bottom ends of the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm are respectively and fixedly provided with a limiting slide block, and the limiting slide rails are in sliding connection with the limiting slide rails, the surface of the first connecting plate and the surface of the second connecting plate are both provided with threaded holes, the screw rod penetrates through the first connecting plate and the second connecting plate through the threaded holes, a positive thread is fixedly arranged on the surface of the outer side of one end of the screw rod, a negative thread is fixedly arranged on the surface of the outer side of the other end of the screw rod, and the thread arrangement of the positive thread and the negative thread is opposite.
Further, as preferred, the fixed solar panel that is provided with of side position department of patrolling the line organism, the equal fixed mounting in upper end side position department of first arm, second arm, third arm and fourth arm has first motor, the output fixedly connected with connecting axle of first motor, the drive shaft of the one end fixedly connected with circuit gyro wheel of connecting axle, the inboard fixed surface of circuit gyro wheel is provided with wear-resisting slipmat.
Further, as preferred, the fixed driven gear that is provided with in intermediate position department of lead screw, one side position department fixed mounting that the upper end of patrolling the line organism is close to driven gear has the second motor, the output fixedly connected with driving gear of second motor, the driving gear is connected with the driven gear meshing.
Further, as preferred, the fixed battery that is provided with in inside position department of patrolling the line organism, the output of solar panel and the input electric connection of battery, wear-resisting slipmat is the component that a material is rubber, the antiskid ribbed tile has been seted up to wear-resisting slipmat's surface position department.
Compared with the prior art, the invention has the beneficial effects that:
1. the distance between the four mechanical arm groups in the direction perpendicular to the extending direction of the cable is arranged in an adjustable mode through the width adjusting mechanism, so that the four mechanical arm groups can be well adapted to the distance adjustment between two cables, and the cable is prevented from being subjected to overlarge tension or tensioning force; meanwhile, two of the four mechanical arm groups are arranged in a swinging manner, so that the tightness supporting adjustment of the four mechanical arm groups on the cable can be realized through the swinging of the four mechanical arm groups, the stress of each line roller is consistent, meanwhile, a width detection mechanism for detecting the width of two cables and a supporting detection mechanism for detecting the supporting force of the cables to the line rollers are arranged on the line rollers, and a controller can perform feedback adjustment on the spatial positions of the four mechanical arm groups according to the width detection mechanism and the supporting detection mechanism, so that the automatic adjustment and control of the robot are realized, and the running stability is ensured;
2. the line inspection robot is provided with the solar panel, the solar panel can convert solar energy into electric energy for storage of a storage battery, the cruising performance of the line inspection robot device is improved, the line inspection robot device can carry out continuous inspection, and the sustainable development concept of energy conservation and environmental protection is met.
3. The line patrol robot device is provided with the wear-resistant anti-slip pads and the anti-slip grooves, so that the friction force between the power line and the line roller is increased, the line patrol robot device can move more stably along the power line, and the use safety and reliability of the line patrol robot device are improved.
Drawings
FIG. 1 is a schematic structural diagram of a four-arm climbing type line patrol robot mechanical structure;
FIG. 2 is a schematic diagram of the internal structure of a four-arm climbing type line patrol robot in the mechanical structure;
FIG. 3 is a schematic structural diagram of a first mechanical arm and a second mechanical arm in a four-mechanical-arm climbing type line patrol robot mechanical structure;
fig. 4 is an enlarged view of a portion a in fig. 1.
Fig. 5 is a schematic view of an internal connection structure of a line roller of a four-arm climbing type line patrol robot mechanical structure.
Detailed Description
Referring to fig. 1 to 5, in an embodiment of the present invention, a four-arm climbing type line patrol robot mechanical structure includes a line patrol machine body 14, four arm sets and line rollers 19, wherein the line patrol machine body 14 is provided with the four arm sets distributed in a rectangular shape, each arm of the four arm sets is provided with the line roller 19, and the line rollers roll along a cable; the device is characterized in that the circuit roller and the mechanical arms of the four mechanical arm groups are made of insulating materials;
the distance between the four mechanical arm groups in the direction perpendicular to the extending direction of the cables is arranged in an adjustable mode through a width adjusting mechanism so as to adapt to the distance adjustment between the two cables;
two of the four mechanical arm groups are arranged in a swinging manner so as to realize the elastic support adjustment of the four mechanical arm groups on the cable through the swinging of the four mechanical arm groups; the circuit roller is provided with a width detection mechanism for detecting the width of the two cables and a support detection mechanism for detecting the support force of the cables on the circuit roller; the controller can perform feedback adjustment on the spatial positions of the four mechanical arm groups according to the width detection mechanism and the support detection mechanism.
In the invention, the four-mechanical-arm group comprises a first mechanical arm 1, a second mechanical arm 4, a third mechanical arm 8 and a fourth mechanical arm 9, wherein the line patrol machine body 14 is provided with the first mechanical arm 1, the second mechanical arm 4, the third mechanical arm 8 and the fourth mechanical arm 9, the first mechanical arm 1 and the fourth mechanical arm are oppositely arranged in a direction perpendicular to a cable, the second mechanical arm 4 and the third mechanical arm 8 are oppositely arranged in a direction perpendicular to the cable, the first mechanical arm 1 and the fourth mechanical arm are both arranged in a swinging manner, and the distance between the first mechanical arm 1 and the fourth mechanical arm and the distance between the second mechanical arm 4 and the third mechanical arm 8 are synchronously adjusted by the width adjusting mechanism.
As a preferred embodiment, the line roller 19 includes a first limiting wheel 191, a second limiting wheel 192, a connecting seat 193, a movable seat 194 and a spring piece 195, wherein the movable seat 194 is fixedly connected to the center of one side of the first limiting wheel, the movable seat is embedded in the connecting groove of the connecting seat, the connecting seat is fixed to the center of the second limiting wheel, the center of one side of the second limiting wheel, which is far away from the connecting seat, is fixedly connected to the rolling shaft of the line roller, a movable gap is provided between the movable seat and the connecting groove, and the spring piece is provided between one side of the movable seat, which is toward the second limiting wheel, and the connecting groove wall.
The width detection mechanism is arranged between the side wall of the movable seat, close to the first limiting wheel, and the wall of the connecting groove, and the support detection mechanism is arranged on the outer wall of the connecting seat. The width detection mechanism and the support detection mechanism are both pressure sensors.
As a better embodiment, the movable seat is in an annular stepped structure, the connecting groove is an annular groove, and the movable seat and the connecting seat are axially limited and have clearance fit.
Wherein, the width adjusting mechanism comprises a limiting slide rail 24, a screw rod 13 and a second motor 7, wherein, the two sides of the upper end surface of the line patrol machine body 14 are fixedly provided with the limiting slide rails 24 which are arranged in parallel, the first mechanical arm 1, the second mechanical arm 4, the third mechanical arm 8 and the fourth mechanical arm 9 are respectively arranged on the limiting slide rails, a first connecting plate 3 is fixedly connected between the first mechanical arm 1 and the second mechanical arm 4, a second connecting plate 10 is fixedly connected between the third mechanical arm 8 and the fourth mechanical arm 9, the upper end of the line patrol machine body 14 is symmetrically and fixedly provided with two fixing seats 5, the screw rod 13 is rotatably connected between the fixing seats 5, the screw rod is in driving connection with the second motor, the bottom end side surfaces of the first mechanical arm 1, the second mechanical arm 4, the third mechanical arm 8 and the fourth mechanical arm 9 are all fixedly provided with a limiting slide block 20, the limiting slide block 20 is connected with the limiting slide rail 24 in a sliding mode, threaded holes 21 are formed in the surfaces of the first connecting plate 3 and the second connecting plate 10, the lead screw 13 penetrates through the first connecting plate 3 and the second connecting plate 10 through the threaded holes 21, a positive thread 15 is fixedly arranged on the surface of the outer side of one end of the lead screw 13, a negative thread 16 is fixedly arranged on the surface of the outer side of the other end of the lead screw 13, the positive thread 15 is opposite to the negative thread 16 in spiral texture, the limiting slide block 20 is connected with the limiting slide rail 24 in a sliding mode, and the purpose that the limiting slide block 20 can slide along the limiting slide rail 24 is achieved.
In addition, in the invention, a swing mechanism is further arranged between the first mechanical arm 1 and the fourth mechanical arm 9 and the limit slider, the swing mechanism comprises a swing disc 25 and a swing motor 26, the swing disc is connected between the first mechanical arm 1 or the fourth mechanical arm 9 and the limit slider, and the swing motor drives the first mechanical arm 1 or the fourth mechanical arm 9 to rotate in a fine tuning manner; the fixed solar panel 11 that is provided with of side position department of patrolling line organism 14 has reached and has made solar panel 11 can the solar energy transformation become the electric energy and supply battery 17 to carry out the purpose of saving and use, the equal fixed mounting in upper end side position department of first arm 1, second arm 4, third arm 8 and fourth arm 9 has first motor 2, the output fixedly connected with connecting axle 18 of first motor 2, the drive shaft of the one end fixedly connected with circuit gyro wheel 19 of connecting axle 18, the inboard fixed surface of circuit gyro wheel 19 is provided with wear-resisting slipmat 22.
The fixed driven gear 12 that is provided with in intermediate position department of lead screw 13, one side position department fixed mounting that the upper end of patrolling line organism 14 is close to driven gear 12 has second motor 7, the output fixedly connected with driving gear 6 of second motor 7, driving gear 6 is connected with driven gear 12 meshing. The fixed battery 17 that is provided with in inside position department of patrolling line organism 14, the output of solar panel 11 and the input electric connection of battery 17, wear-resisting slipmat 22 is the component that a material is rubber, antislip groove 23 has been seted up to wear-resisting slipmat 22's surface position department, has reached the purpose of frictional force between reinforcing power line and the circuit gyro wheel 19.
The working principle of the invention is as follows: when the inspection robot mechanical structure is used, the distance between the line rollers 19 is automatically adjusted according to the detection value of the width detection mechanism according to the span size of the power line, the second motor 7 is started, the limit slide block 20 is in sliding connection with the limit slide rail 24, the spiral textures of the positive threads 15 and the negative threads 16 are opposite, the screw rod 13 rotates to drive the first connecting plate 3 and the second connecting plate 10 to synchronously move in opposite directions respectively, the first connecting plate 3 drives the first mechanical arm 1 and the second mechanical arm 4 to move towards one side direction, the second connecting plate 10 drives the third mechanical arm 8 and the fourth mechanical arm 9 to move towards the other side direction, after the distance adjustment among the line rollers 19 is completed, the line rollers 19 of the first mechanical arm 1, the second mechanical arm 4, the third mechanical arm 8 and the fourth mechanical arm 9 are hung on the power line, and the power line is contacted with the bottom end of the inner side of the line rollers 19, open first motor 2, drive circuit gyro wheel 19 and rotate for patrolling line organism 14 and removing along power line, patrolling the fixed solar panel 11 that is provided with in side of line organism 14, solar panel 11 can solar energy transformation for the electric energy supplies battery 17 to save and use. The distance between the four mechanical arm groups in the direction perpendicular to the extending direction of the cable is arranged in an adjustable mode through the width adjusting mechanism, so that the four mechanical arm groups can be well adapted to the distance adjustment between two cables, and the cable is prevented from being subjected to overlarge tension or tensioning force; simultaneously, two of them in the four robotic arm group are wobbling setting, like this, can realize its elasticity on the cable through its swing and support the regulation for each circuit gyro wheel atress is unanimous, and simultaneously, be provided with the width detection mechanism that detects two cable widths on the circuit gyro wheel and detect the support detection mechanism of cable to the holding power of circuit gyro wheel, the controller can be according to width detection mechanism and support detection mechanism are right the spatial position of four robotic arm groups carries out feedback control, realizes the automatically regulated and the control to the robot, guarantees the stability of operation.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention are equivalent to or changed within the technical scope of the present invention.
Claims (8)
1. A climbing type line patrol robot mechanical structure with four mechanical arms comprises a line patrol machine body (14), four mechanical arm groups and line rollers (19), wherein the line patrol machine body (14) is provided with the four mechanical arm groups which are distributed in a rectangular shape, each mechanical arm of the four mechanical arm groups is provided with the line roller (19), and the line rollers roll along a cable; the device is characterized in that the circuit roller and the mechanical arms of the four mechanical arm groups are made of insulating materials;
the distance between the four mechanical arm groups in the direction perpendicular to the extending direction of the cables is arranged in an adjustable mode through a width adjusting mechanism so as to adapt to the distance adjustment between the two cables;
two of the four mechanical arm groups are arranged in a swinging manner so as to realize the elastic support adjustment of the four mechanical arm groups on the cable through the swinging of the four mechanical arm groups;
the circuit roller is provided with a width detection mechanism for detecting the width of the two cables and a support detection mechanism for detecting the support force of the cables on the circuit roller;
the controller can perform feedback adjustment on the spatial positions of the four mechanical arm groups according to the width detection mechanism and the support detection mechanism;
the four mechanical arm group comprises a first mechanical arm (1), a second mechanical arm (4), a third mechanical arm (8) and a fourth mechanical arm (9), wherein the line patrol machine body (14) is provided with the first mechanical arm (1), the second mechanical arm (4), the third mechanical arm (8) and the fourth mechanical arm (9), the first mechanical arm (1) and the fourth mechanical arm are oppositely arranged in the direction perpendicular to the cable, the second mechanical arm (4) and the third mechanical arm (8) are oppositely arranged in the direction perpendicular to the cable, the first mechanical arm (1) and the fourth mechanical arm are both arranged in a swinging mode, the distance between the first mechanical arm (1) and the fourth mechanical arm and the distance between the second mechanical arm (4) and the third mechanical arm (8) are synchronously adjusted through the width adjusting mechanism;
line gyro wheel (19) are including first spacing round (191), the spacing round of second (192), connecting seat (193), sliding seat (194) and spring leaf (195), wherein, the central fixedly connected with in one side of first spacing round sliding seat (194), the sliding seat embedding is connected in the spread groove of connecting seat, just the connecting seat is fixed the center of the spacing round of second, keeping away from of the spacing round of second one side central fixed connection drive of connecting seat the rolling axle of line gyro wheel, the sliding seat with be provided with the free gap between the spread groove, just one side of the spacing round of orientation second of sliding seat with be provided with between the connecting groove wall the spring leaf.
2. The mechanical structure of the four-mechanical-arm climbing inspection robot according to claim 1, wherein the width detection mechanism is further arranged between a side wall of the movable seat close to the first limiting wheel and a wall of the connecting groove, and the support detection mechanism is further arranged on an outer wall of the connecting groove.
3. The mechanical structure of the four-mechanical-arm climbing type line patrol robot according to claim 2, wherein the width detection mechanism and the support detection mechanism are both pressure sensors.
4. The mechanical structure of the four-mechanical-arm climbing inspection robot according to claim 2, wherein the movable seat is in an annular stepped structure, the connecting groove is an annular groove, and the movable seat and the connecting seat are axially limited and have clearance fit.
5. The four-mechanical-arm climbing type line patrol robot mechanical structure according to claim 2, wherein the width adjusting mechanism comprises a limiting slide rail (24), a screw rod (13) and a second motor (7), wherein the limiting slide rails (24) which are arranged in parallel are fixedly arranged on both sides of the upper end surface of the line patrol machine body (14), the first mechanical arm (1), the second mechanical arm (4), the third mechanical arm (8) and the fourth mechanical arm (9) are respectively arranged on the limiting slide rails, a first connecting plate (3) is fixedly connected between the first mechanical arm (1) and the second mechanical arm (4), a second connecting plate (10) is fixedly connected between the third mechanical arm (8) and the fourth mechanical arm (9), two fixing seats (5) are symmetrically and fixedly arranged on the upper end of the line patrol machine body (14), the screw rod (13) is rotatably connected between the fixing seats (5), the lead screw is connected with the second motor drive, the bottom side of first arm (1), second arm (4), third arm (8) and fourth arm (9) is all fixed and is provided with limit slide (20), limit slide (20) and limit slide (24) sliding connection, threaded hole (21) are all seted up on the surface of first connecting plate (3) and second connecting plate (10), lead screw (13) run through in first connecting plate (3) and second connecting plate (10) through threaded hole (21), the one end outside fixed surface of lead screw (13) is provided with positive thread (15), the other end outside fixed surface position department of surface of lead screw (13) is provided with reverse thread (16), the screw arrangement of positive thread (15) and reverse thread (16) is opposite.
6. The four-mechanical-arm climbing type line patrol robot mechanical structure according to claim 5, wherein a swinging mechanism is further arranged between the first mechanical arm (1) and the fourth mechanical arm (9) and the limit slider, the swinging mechanism comprises a swinging disc (25) and a swinging motor (26), the swinging disc is connected between the first mechanical arm (1) or the fourth mechanical arm (9) and the limit slider, and the swinging motor drives the first mechanical arm (1) or the fourth mechanical arm (9) to rotate in a fine adjustment manner; the fixed solar panel (11) that is provided with of side position department of patrolling line organism (14), the equal fixed mounting in upper end side position department of first arm (1), second arm (4), third arm (8) and fourth arm (9) has first motor (2), the output fixedly connected with connecting axle (18) of first motor (2), the drive shaft of the one end fixedly connected with circuit gyro wheel (19) of connecting axle (18), the inboard fixed surface of circuit gyro wheel (19) is provided with wear-resisting slipmat (22).
7. The climbing type line patrol robot mechanical structure with the four mechanical arms according to claim 5, wherein a driven gear (12) is fixedly arranged at the middle position of the screw rod (13), a second motor (7) is fixedly arranged at one side position of the upper end of the line patrol machine body (14) close to the driven gear (12), a driving gear (6) is fixedly connected to the output end of the second motor (7), and the driving gear (6) is meshed with the driven gear (12).
8. The mechanical structure of the four-mechanical-arm climbing line patrol robot as claimed in claim 6, wherein a storage battery (17) is fixedly arranged at an internal position of the line patrol machine body (14), an output end of the solar panel (11) is electrically connected with an input end of the storage battery (17), the wear-resistant and non-slip pad (22) is a rubber component, and a non-slip groove (23) is formed in a surface position of the wear-resistant and non-slip pad (22).
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| CN201910421237.XA CN110048338B (en) | 2019-05-20 | 2019-05-20 | Four arm climbing formula inspection robot mechanical structure |
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| CN201910421237.XA CN110048338B (en) | 2019-05-20 | 2019-05-20 | Four arm climbing formula inspection robot mechanical structure |
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| CN110048338B true CN110048338B (en) | 2020-05-08 |
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| CN201842157U (en) * | 2010-11-02 | 2011-05-25 | 云南电力试验研究院(集团)有限公司 | Electric power inspection running device with dual aerial earth wires |
| CN202964660U (en) * | 2012-12-05 | 2013-06-05 | 山东电力集团公司电力科学研究院 | 500kV bundled conductor routing inspection operation robot platform |
| KR101486009B1 (en) * | 2013-01-29 | 2015-01-28 | 한국과학기술연구원 | Driving Wheel of Robot moving along the wire and Robot having the same |
| 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 |
| CN107553461B (en) * | 2017-09-08 | 2019-11-15 | 国网山东省电力公司电力科学研究院 | The whole-process automatic crusing robot of overhead transmission line ground wire, system and method |
-
2019
- 2019-05-20 CN CN201910421237.XA patent/CN110048338B/en not_active Expired - Fee Related
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Effective date of registration: 20221222 Address after: No.22199-chuangye Park, Tongzhou University, Jiangsu Province Patentee after: JIANGSU DONGNAN PLOTTING TECHNOLOGY Co.,Ltd. Address before: 22011 Department of mechanical engineering, No. 1, Daxue Road, Jiawang District, Xuzhou City, Jiangsu Province Patentee before: JIANGSU College OF SAFETY TECHNOLOGY |
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