CN110103200A - One kind is across barrier turning line climbing robot - Google Patents
One kind is across barrier turning line climbing robot Download PDFInfo
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- CN110103200A CN110103200A CN201910549375.6A CN201910549375A CN110103200A CN 110103200 A CN110103200 A CN 110103200A CN 201910549375 A CN201910549375 A CN 201910549375A CN 110103200 A CN110103200 A CN 110103200A
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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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Abstract
The invention discloses one kind across barrier turning line climbing robot, including machine: robot head, one or more robot section；It is connected between the robot head and robot section and robot section and robot section by rotation angle mechanism, this robot integral hanging is on cable；The robot head includes robot head suspension mobile mechanism and robot head elevating mechanism, and the robot section includes that robot section suspension mobile mechanism and robot section elevating mechanism, the rotation angle mechanism are mounted in robot section elevating mechanism.The present invention uses combination in series lightweight module, every section all can be used as one it is independent climb line unit, it is simple for structure, can need to add and subtract robot joint number according to utilization, easy to operate, quick, use flexibly is changeable, adaptable；The present invention has obstacle detouring and turning function simultaneously, individually or can carry various cable apparatus and works continuously under complex environment；In addition, the every section of line climbing robot of the invention has anti-lost measure, it is highly-safe.
Description
Technical field
The present invention relates to one kind across barrier turning line climbing robot, belongs to cable inspection maintenance intelligentized design application field.
Background technique
During the modernization development of present high speed, various cables throughout.In order to guarantee the operational safety of cable, need
Various inspection maintenances are carried out to it to guarantee the safe operation of cable.Particularly with overhead cable inspection maintenance it is extremely important but
It is again especially difficult.Using manual method low efficiency, security risk is big, therefore various line equipment of climbing are come into being.It is some at present to climb
Line equipment or robot there is a problem of some practical, for example device structure is complicated heavy, complicated for operation, involve great expense, environment
It is poor to adapt to, and so as to cause Difficulty, therefore it is simply light and handy to need to research and develop a kind of equipment, easy to operate, cost relative moderate, ring
Border adapts to strong line climbing robot.
Summary of the invention
To solve the problems mentioned above in the background art, the present invention provides one kind across barrier turning line climbing robot.This
Line climbing robot structure is simple, lightly；It is strong to adapt to environment, not only possesses across barrier function, but also possess turning function, realizes
It automatically creeps, can allow such as vision system, laser scanning system, deicing system etc. carries out the inspection maintenance workers of cable
Make.
To achieve the above object, the invention provides the following technical scheme: it is a kind of across barrier turning line climbing robot, including machine
The number of people, one or more robot section；Lead between the robot head and robot section and robot section and robot section
It crosses rotation angle mechanism to be connected, this robot integral hanging is on cable；The robot head includes robot head suspension movement
Mechanism and robot head elevating mechanism, robot head suspension mobile mechanism are fixedly mounted on the stretching of robot head elevating mechanism
On axis；
The robot section includes robot section suspension mobile mechanism and robot section elevating mechanism, and the robot section suspension moves
Motivation structure is fixedly mounted on robot section elevating mechanism projecting shaft；The rotation angle mechanism is mounted on robot section elevating mechanism
In.
Further, robot head suspension mobile mechanism, robot section suspension mobile mechanism are identical, including the first rolling
Wheel, the second idler wheel, roller wheel shaft, mobile mechanism's rack, positive and negative silk studs, dextrorotation feed screw nut's seat, derotation feed screw nut
Seat, guide rail, first reducing motors, second reducing motors, first bearing, sensor, hook link up with connecting rod；Described first slows down
Motor is fixedly mounted on dextrorotation feed screw nut's seat, and the first idler wheel is fixedly mounted on first reducing motors axis, and the idler wheel turns
Axis is fixedly mounted on derotation feed screw nut's seat, and roller wheel shaft and the second idler wheel are rotatablely installed, the dextrorotation feed screw nut seat and
Derotation feed screw nut's seat is separately mounted on positive and negative silk studs on guide rail, and the guide rail is fixedly mounted on mobile mechanism
In rack, positive and negative silk studs both ends are separately installed with first bearing, and first bearing is respectively and fixedly installed to mobile mechanism's machine
On frame, described positive and negative silk studs one end and second reducing motors axis are affixed, and second reducing motors are fixedly mounted on moving machine
In structure rack, the hook is hingedly mounted in mobile mechanism's rack, and one end and hook connecting rod one end of hook are hinged, the extension
The other end of hook link and dextrorotation feed screw nut seat are hinged, and the sensor is fixedly mounted in mobile mechanism's rack.
Further, the robot head elevating mechanism includes third decelerating motor, first motor mounting base, the first circular cone
Gear, the second conical gear, the first elevating screw, the first rolling bearing units, the first feed screw nut seat, the first projecting shaft, first liter
Descending mechanism rack, the first battery, main control box；The third decelerating motor is fixedly mounted in first motor mounting base, the
One motor mount is fixedly mounted in the first elevating mechanism rack, and the first conical gear and third deceleration motor shaft are affixed, institute
It states first elevating screw one end and the first rolling bearing units is rotatablely connected, the first rolling bearing units and the first elevating mechanism rack are affixed,
The bearing block installation side of first elevating screw is provided with the second conical gear, second conical gear and the first circular cone tooth
Wheel engagement, first projecting shaft and the first feed screw nut seat are affixed, and across the first elevating mechanism rack pilot hole, and described the
One feed screw nut seat setting is constituted on the first elevating screw and together with the first elevating mechanism rack gain to be connected without rotation sliding
It connects, first battery and main control box are fixedly mounted in the first elevating mechanism rack.
Further, the robot section elevating mechanism includes the 4th decelerating motor, the 5th decelerating motor, the second motor peace
Dress seat, third conical gear, the 4th conical gear, the second elevating screw, the second rolling bearing units, the second feed screw nut seat, second
Projecting shaft, the second elevating mechanism rack, the second battery save control cabinet, corner connecting rod, eccentric runner；The 4th deceleration electricity
Machine is fixedly mounted on the second motor mount, and the second motor mount is fixedly mounted in the second elevating mechanism rack, third
Conical gear and the 4th deceleration motor shaft are affixed, and second elevating screw one end and the second rolling bearing units are rotatablely connected, and second
Rolling bearing units and the second elevating mechanism rack are affixed, and the bearing block installation side of second elevating screw is provided with the 4th circular cone tooth
Wheel, the 4th conical gear are engaged with third conical gear, and second projecting shaft and the second feed screw nut seat are affixed, and wear
Cross the second elevating mechanism rack pilot hole, the second feed screw nut seat be arranged on the second elevating screw and with elevating mechanism machine
Frame gain constitutes no rotation together and is slidably connected, and the 5th decelerating motor is fixedly mounted in the second elevating mechanism rack, the
Affixed bias runner in five deceleration motor shafts, the bias runner and corner connecting rod one end are hinged, second battery and control
Case processed is fixedly mounted in the second elevating mechanism rack.
Further, the rotation angle mechanism is four-bar mechanism, by corner connecting rod, eccentric runner, and robot head first
Elevating mechanism rack and robot section the second elevating mechanism rack or Liang Ge robot section the second elevating mechanism rack hingedly form,
By the angle of the 5th decelerating motor driving change machine hingedly between the two.This is preferred embodiment.
The invention has the advantages that: (1) it is of the invention across barrier turning line climbing robot use combination in series lightweight module, every section
It all can be used as individual one and climb line unit, it is simple for structure；(2) it is of the invention across barrier turning line climbing robot can be according to utilization
Need to add and subtract robot joint number, easy to operate, quick, use flexibly is changeable, adaptable；(3) of the invention to be climbed across barrier turning
Line robot has obstacle detouring and turning function simultaneously, can individually or carry different demands equipment continuously make under complex environment
Industry；(4) of the invention to have anti-lost measure across the barrier turning every section of line climbing robot, it is highly-safe.
Detailed description of the invention
Fig. 1 is of the invention across barrier turning line climbing robot overall structure diagram.
Fig. 2 is robot head schematic diagram of the invention.
Fig. 3 is robot section schematic diagram of the invention.
Fig. 4 is suspension mobile mechanism schematic diagram of the invention.
Fig. 5 is robot head elevating mechanism schematic diagram of the invention.
Fig. 6 is robot section elevating mechanism schematic diagram of the invention.
Fig. 7 is the elevating mechanism rack schematic diagram of robot head of the invention, section.
Fig. 8 is of the invention across barrier turning line climbing robot obstacle detouring schematic diagram.
Fig. 9 is of the invention across barrier turning line climbing robot turning schematic diagram.
Drawing reference numeral: robot head 1, robot section 2, robot head hang mobile mechanism 11, robot head elevating mechanism
12, robot section hangs mobile mechanism 13, robot section elevating mechanism 14, the first idler wheel 22, the second idler wheel 21, roller wheel shaft
23, mobile mechanism's rack 29, positive and negative silk studs 213, dextrorotation feed screw nut seat 26, derotation feed screw nut seat 27, guide rail
212, first reducing motors 25, second reducing motors 24, first bearing 28, sensor 214, hook 210, hook connecting rod 211, the
Three decelerating motors 313, first motor mounting base 315, the first conical gear 311, the second conical gear 310, the first elevating screw
36, the first rolling bearing units 39, the first feed screw nut seat 34, the first projecting shaft 31, the first elevating mechanism rack 32, the first battery
38, main control box 312, the 4th decelerating motor 413, the 5th decelerating motor 414, the second motor mount 415, third conical gear
411, the 4th conical gear 410, the second elevating screw 46, the second rolling bearing units 49, the second feed screw nut seat 44, the second projecting shaft
41, the second elevating mechanism rack 47, the second battery 48 saves control cabinet 412, corner connecting rod 416, eccentric runner 43.
Specific embodiment
The invention will be further described combined with specific embodiments below, in the illustrative examples and explanation of the invention
For explaining the present invention, but it is not as a limitation of the invention.
FIG. 1 to FIG. 9 is please referred to, the invention provides the following technical scheme: a kind of across barrier turning line climbing robot, including machine
The number of people 1, one or more robot section 2；The robot head 1 and robot section 2 and robot section 2 and robot section 2
Between be connected by rotation angle mechanism, this robot integral hanging is on cable；The robot head 1 includes robot head
Mobile mechanism 11 and robot head elevating mechanism 12 are hung, robot head suspension mobile mechanism 11 is fixedly mounted on robot
On head 12 projecting shaft of elevating mechanism；The robot section 2 includes robot section suspension mobile mechanism 13 and robot section elevator
Structure 14, robot section suspension mobile mechanism 13 are fixedly mounted on 14 projecting shaft of robot section elevating mechanism；The corner
Mechanism is mounted in robot section elevating mechanism 14.
Further, robot head suspension mobile mechanism 11, robot section suspension mobile mechanism 13 are identical, including the
One idler wheel 22, the second idler wheel 21, roller wheel shaft 23, mobile mechanism's rack 29, positive and negative silk studs 213, dextrorotation feed screw nut
Seat 26, derotation feed screw nut seat 27, guide rail 212, first reducing motors 25, second reducing motors 24, first bearing 28, sensor
214, hook 210 links up with connecting rod 211；The first reducing motors 25 are mounted on dextrorotation feed screw nut seat 26, the first idler wheel 22
It is fixedly mounted on 25 axis of first reducing motors, the roller wheel shaft 23 is fixedly mounted on derotation feed screw nut seat 27, idler wheel
Shaft 23 and the second idler wheel 21 are rotatablely installed, and the dextrorotation feed screw nut seat 26 and derotation feed screw nut seat 27 are separately mounted to just
On anti-silk studs 213 and on guide rail 212, the guide rail 212 is fixedly mounted in mobile mechanism's rack 29, and positive and negative silk is double
213 both ends of header stud are separately installed with first bearing 28, and first bearing 28 is respectively and fixedly installed in mobile mechanism's rack 29, institute
It states positive and negative 213 one end of silk studs and 24 axis of second reducing motors is affixed, second reducing motors 24 are fixedly mounted on moving machine
In structure rack 29, the hook 210 is hingedly mounted in mobile mechanism's rack 29, links up with 210 one end and hook connecting rod 211 1
End is hinged, and the other end and dextrorotation feed screw nut seat 26 of the hook connecting rod 211 are hinged, and the sensor 214 is fixedly mounted on
In mobile mechanism's rack 29.
Further, the robot head elevating mechanism 12 include third decelerating motor 313, first motor mounting base 315,
First conical gear 311, the second conical gear 310, the first elevating screw 36, the first rolling bearing units 39, the first feed screw nut seat
34, the first projecting shaft 31, the first elevating mechanism rack 32, the first battery 38, main control box 312；The third decelerating motor
313 are fixedly mounted in first motor mounting base 315, and first motor mounting base 315 is fixedly mounted on the first elevating mechanism rack
On 32, the first conical gear 311 and 313 axis of third decelerating motor are affixed, and described first elevating screw, 36 one end is usherd to seat with first
Bearing 39 is rotatablely connected, and the first rolling bearing units 39 and the first elevating mechanism rack 32 are affixed, the axis of first elevating screw 36
It holds seat installation side and is provided with the second conical gear 310, second conical gear 310 is engaged with the first conical gear 311, described
First projecting shaft 31 and the first feed screw nut seat 34 are affixed, and pass through the pilot hole of the first elevating mechanism rack 32, and described first
Feed screw nut's seat 34 is arranged on the first elevating screw 36 and constitutes no rotation together with the gain of the first elevating mechanism rack 32
It is slidably connected, first battery 38 and main control box 312 are fixedly mounted in the first elevating mechanism rack 32.
Further, the robot section elevating mechanism 14 includes the 4th decelerating motor 413, the 5th decelerating motor 414, and the
Two motor mounts 415, third conical gear 411, the 4th conical gear 410, the second elevating screw 46, the second rolling bearing units
49, the second feed screw nut seat 44, the second projecting shaft 41, the second elevating mechanism rack 47, the second battery 48, section control cabinet 412,
Corner connecting rod 416, eccentric runner 43；4th decelerating motor 413 is fixedly mounted on the second motor mount 415, and second
Motor mount 415 is fixedly mounted in the second elevating mechanism rack 47, third conical gear 411 and the 4th decelerating motor 413
Axis is affixed, and described second elevating screw, 46 one end and the second rolling bearing units 49 are rotatablely connected, the second rolling bearing units 49 and second liter
Descending mechanism rack 47 is affixed, and the bearing block of second elevating screw 46 installation side is provided with the 4th conical gear 410, and described the
Four conical gears 410 are engaged with third conical gear 411, and second projecting shaft 41 and the second feed screw nut seat (44) are affixed,
And the pilot hole of the second elevating mechanism rack (47) is passed through, the second feed screw nut seat (44) is arranged in the second elevating screw 46
It above and constitutes no rotation together with the gain of the second elevating mechanism rack 47 to be slidably connected, the 5th decelerating motor 414 is fixed
Be mounted in the second elevating mechanism rack 47, affixed bias runner 43 on 414 axis of the 5th decelerating motor, the bias runner 43 with
Second corner connecting rod, 42 one end is hinged, and second battery 48 and control cabinet 412 are fixedly mounted on the second elevating mechanism rack
On 47.
Further, the rotation angle mechanism is four-bar mechanism, by corner connecting rod 416, eccentric runner 43, and robot head
First elevating mechanism rack 32 and the second elevating mechanism of robot section rack 47 or Liang Ge robot section the second elevating mechanism rack
47 hingedly form, by the angle of the 5th decelerating motor 414 driving change machine hingedly between the two.
The working principle of the invention: firstly, artificial or means of transport will be entirely across the hook 210 for hindering turning line climbing robot
It is hung on cable, starting drives positive and negative 213 turns of silk studs across barrier turning line climbing robot, the rotation of second reducing motors 24
It is dynamic, to make left-handed feed screw nut's seat 26 and the first idler wheel 22 and the second rolling on dextrorotation feed screw nut's 27 liang of feed screw nut's seats of seat
Cable is drawn close and clamped to wheel 21, while dextrorotation feed screw nut seat 26 drives hook 210 to be detached from cable by hook connecting rod 211, the
One decelerating motor 25 drives the rotation of the first idler wheel 22, entirely climbs line machine across barrier turning by the frictional force drives of cable and idler wheel
People is mobile with cable.
Secondly, robot head first sensor 214 detects barrier across barrier turning line climbing robot in cable moving process
Hinder object, all robot first reducing motors 25 stop operating, and robot stops, and robot head hangs the second of mobile mechanism 11
Decelerating motor 24, which reversely rotates, drives the positive and negative reversion of silk studs 213 rotation, to make left-handed feed screw nut's seat 26 and dextrorotation
The first idler wheel 22 and the second idler wheel 21 opening on feed screw nut's 27 liang of feed screw nut's seats of seat, the of robot head elevating mechanism 12
Three decelerating motors 313 starting rotation drives the first lifting by the first conical gear 311 and 310 engaged transmission of the second conical gear
Screw rod 36 rotates, to drive the first projecting shaft 31 decline on the first feed screw nut seat 34, therefore is fixed on the first projecting shaft
Robot head suspension mobile mechanism 11 on 31 declines, and after avoiding obstacles, entirely moves on across barrier turning line climbing robot；
When first robot section sensor 214 detects barrier, all first reducing motors 25 stop operating again, turn across barrier
Line climbing robot stops again, and the second reducing motors 24 that robot section hangs mobile mechanism 11, which reversely rotate, drives positive and negative silk double
The reversion rotation of header stud 213, to make the on left-handed feed screw nut seat 26 and dextrorotation feed screw nut's 27 liang of feed screw nut's seats of seat
One idler wheel 22 and the second idler wheel 21 open, and the 4th decelerating motor 413 starting rotation of robot section elevating mechanism 14 passes through third
Conical gear 411 and 410 engaged transmission of the 4th conical gear drive the rotation of the second elevating screw 46, to drive the second screw rod spiral shell
The second projecting shaft 41 decline in base 46, therefore and it is fixed on the suspension of the robot head on the second projecting shaft 41 mobile mechanism 11
Decline, after avoiding obstacles, is entirely moved on across barrier turning line climbing robot；Subsequent robot's section successively carries out first machine
The movement of device people section, until whole robot section across obstacles；Another side, after clearing the jumps, robot head 1 and machine
All successively antikinesis avoidance acts people's section 2, makes to hang the first idler wheel 22 and the second idler wheel 21 after mobile mechanism 11 rises and draws close
Clamp cable.
Secondly, the 5th decelerating motor 414 in the first robot section drives when needing to turn across barrier turning line climbing robot
Dynamic to drive eccentric runner 43, eccentric runner 43 drives corner connecting rod 416, and corner connecting rod 416 drives the first elevator of robot head
Structure rack 32 rotates, as the advance of robot constantly changes the first elevating mechanism of robot head rack 32 and robot section second
The hinge angle of elevating mechanism rack 47, to complete to turn；Subsequent robot section 2 is successively completed between adjacent in this way
Turning motion, until being fully completed.
Again, the compound motion across barrier turning is realized in combination with the function across barrier and turning across barrier turning line climbing robot,
It can carry out simultaneously across barrier and turning.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (5)
1. one kind is across barrier turning line climbing robot, it is characterised in that: a kind of across barrier turning line climbing robot, including robot head
(1), one or more robot section (2)；The robot head (1) and robot section (2) and robot section (2) and machine
People, which saves, to be connected between (2) by rotation angle mechanism, this robot integral hanging is on cable；The robot head (1) includes
Robot head hangs mobile mechanism (11) and robot head elevating mechanism (12), and robot head suspension mobile mechanism (11) is solid
Dingan County is on robot head elevating mechanism (12) projecting shaft；The robot section (2) includes robot section suspension mobile mechanism
(13) and robot section elevating mechanism (14), robot section suspension mobile mechanism (13) are fixedly mounted on the lifting of robot section
On mechanism (14) projecting shaft；The rotation angle mechanism is mounted in robot section elevating mechanism (14).
2. as described in claim 1 across barrier turning line climbing robot, it is characterised in that: the robot head hangs mobile mechanism
(11), robot section suspension mobile mechanism (13) is identical, including the first idler wheel (22), the second idler wheel (21), roller wheel shaft (23),
Mobile mechanism's rack (29), positive and negative silk studs (213), dextrorotation feed screw nut's seat (26), derotation feed screw nut's seat (27) are led
Rail (212), first reducing motors (25), second reducing motors (24), first bearing (28), sensor (214) are linked up with (210),
It links up with connecting rod (211)；The first reducing motors (25) are mounted on dextrorotation feed screw nut's seat (26), and the first idler wheel (22) is fixed
It is mounted on first reducing motors (25) axis, the roller wheel shaft (23) is fixedly mounted on derotation feed screw nut's seat (27), rolling
It takes turns shaft (23) and the second idler wheel (21) to be rotatablely installed, the dextrorotation feed screw nut seat (26) and derotation feed screw nut's seat (27) point
It is not mounted on positive and negative silk studs (213) on guide rail (212), the guide rail (212) is fixedly mounted on mobile mechanism's machine
On frame (29), positive and negative silk studs (213) both ends are separately installed with first bearing (28), and first bearing (28) is fixed respectively to pacify
On mobile mechanism's rack (29), described positive and negative silk studs (213) one end and second reducing motors (24) axis are affixed, the
Two decelerating motors (24) are fixedly mounted on mobile mechanism's rack (29), and the hook (210) is hingedly mounted on mobile mechanism's machine
On frame (29), one end and hook connecting rod (211) one end for linking up with (210) are hinged, the other end of hook connecting rod (211) and the right side
Revolve feed screw nut's seat (26) hingedly, the sensor (214) is fixedly mounted on mobile mechanism's rack (29).
3. as described in claim 1 across barrier turning line climbing robot, it is characterised in that: robot head elevating mechanism (12) packet
It includes third decelerating motor (313), first motor mounting base (315), the first conical gear (311), the second conical gear (310),
First elevating screw (36), the first rolling bearing units (39), the first feed screw nut seat (34), the first projecting shaft (31), the first lifting
Mechanism rack (32), the first battery (38), main control box (312)；The third decelerating motor (313) is fixedly mounted on first
On motor mount (315), first motor mounting base (315), which is fixedly mounted, to be risen in the first descending mechanism rack (32), the first circle
Bevel gear (311) and third decelerating motor (313) axis are affixed, and institute first states elevating screw (36) one end and the first rolling bearing units
(39) it is rotatablely connected, the first rolling bearing units (39) and the first elevating mechanism rack (32) are affixed, first elevating screw (36)
The installation side of bearing block is provided with the second conical gear (310), second conical gear (310) and the first conical gear
(311) it engages, first projecting shaft (31) and the first feed screw nut seat (34) are affixed, and pass through the first elevating mechanism rack
(32) pilot hole, first feed screw nut seat (34) setting in the first lifting silk (36) and with the first elevating mechanism rack
(32) gain constitutes no rotation together and is slidably connected, and first battery (38) and main control box (312) are fixedly mounted on
In one elevating mechanism rack (32).
4. as described in claim 1 across barrier turning line climbing robot, it is characterised in that: robot section elevating mechanism (14) packet
Include the 4th decelerating motor (413), the 5th decelerating motor (414), the second motor mount (415), third conical gear (411),
4th conical gear (410), the second elevating screw (46), the second rolling bearing units (49), the second feed screw nut seat (44), second stretches
Shaft (41), the second elevating mechanism rack (47), the second battery (48) save control cabinet (412), corner connecting rod (416), eccentric
Runner (43)；4th decelerating motor (413) is fixedly mounted on the second motor mount (415), the second motor mount
(415) it being fixedly mounted on elevating mechanism rack (47), third conical gear (411) and the 4th decelerating motor (413) axis are affixed,
Described second elevating screw (46) one end and the second rolling bearing units (49) are rotatablely connected, the second rolling bearing units (49) and the second lifting
Mechanism rack (47) is affixed, and the bearing block installation side of second elevating screw (46) is provided with the 4th conical gear (410), institute
It states the 4th conical gear (410) to engage with third conical gear (411), second projecting shaft (41) and the second feed screw nut seat
(44) affixed, and second elevating mechanism rack (47) pilot hole is passed through, the second feed screw nut seat (44) is arranged at second liter
It in drop screw rod (46) and constitutes no rotation together with second elevating mechanism rack (47) gain to be slidably connected, the 5th deceleration electricity
Machine (414) is fixedly mounted in the second elevating mechanism rack (47), affixed bias runner on the 5th decelerating motor (414) axis
(43), the eccentric runner (43) and second corner connecting rod (42) one end are hinged, second battery (48) and control cabinet
(412) it is fixedly mounted in the second elevating mechanism rack (47).
5. as described in claim 1 across barrier turning line climbing robot, it is characterised in that: the rotation angle mechanism is four-bar mechanism,
By corner connecting rod (416), eccentric runner (43), robot head the first elevating mechanism rack (32) and robot section second are gone up and down
Mechanism rack (47) or section robot, Liang Ge robot section the second elevating mechanism rack (47) hingedly form, by the 5th decelerating motor
(414) angle of driving change machine hingedly between the two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910549375.6A CN110103200A (en) | 2019-06-24 | 2019-06-24 | One kind is across barrier turning line climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910549375.6A CN110103200A (en) | 2019-06-24 | 2019-06-24 | One kind is across barrier turning line climbing robot |
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| CN110103200A true CN110103200A (en) | 2019-08-09 |
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| CN201910549375.6A Pending CN110103200A (en) | 2019-06-24 | 2019-06-24 | One kind is across barrier turning line climbing robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111106570A (en) * | 2020-02-25 | 2020-05-05 | 燕山大学 | Deicing obstacle-surmounting robot for high-voltage line |
| CN113238126A (en) * | 2021-05-06 | 2021-08-10 | 中国科学院沈阳自动化研究所 | Peristaltic insulator string degradation detection robot |
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| CN1658460A (en) * | 2005-03-18 | 2005-08-24 | 山东大学 | Robot of autonomous moving along 110KV transmission line and its working method |
| CN102941570A (en) * | 2012-12-05 | 2013-02-27 | 山东电力集团公司电力科学研究院 | Patrol robot for power transmission lines |
| CN104308829A (en) * | 2014-10-21 | 2015-01-28 | 山东鲁能智能技术有限公司 | Turning device applicable to three-dimensional track path running and realization method of turning device |
| CN105514864A (en) * | 2015-12-11 | 2016-04-20 | 沈阳航空航天大学 | High-voltage line inspection robot with wheel mechanisms |
| CN106142049A (en) * | 2016-08-18 | 2016-11-23 | 国网湖南省电力公司带电作业中心 | Hot line robot |
| CN107639622A (en) * | 2017-09-15 | 2018-01-30 | 深圳市朗驰欣创科技股份有限公司 | Rail polling robot running gear |
| CN208773559U (en) * | 2018-07-27 | 2019-04-23 | 广东大仓机器人科技有限公司 | Using the component of telescoping tube control V-type pulley rotation and upper and lower displacement |
| CN109773746A (en) * | 2019-03-21 | 2019-05-21 | 深圳昱拓智能有限公司 | Rail mounted robot and its rail mounted running gear, system and flexible guiding mechanism |
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| CN111106570A (en) * | 2020-02-25 | 2020-05-05 | 燕山大学 | Deicing obstacle-surmounting robot for high-voltage line |
| CN111106570B (en) * | 2020-02-25 | 2020-11-06 | 燕山大学 | Deicing obstacle-surmounting robot for high-voltage line |
| CN113238126A (en) * | 2021-05-06 | 2021-08-10 | 中国科学院沈阳自动化研究所 | Peristaltic insulator string degradation detection robot |
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