CN110370247A - A kind of travelling robot walking device - Google Patents
A kind of travelling robot walking device Download PDFInfo
- Publication number
- CN110370247A CN110370247A CN201910770965.1A CN201910770965A CN110370247A CN 110370247 A CN110370247 A CN 110370247A CN 201910770965 A CN201910770965 A CN 201910770965A CN 110370247 A CN110370247 A CN 110370247A
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- Prior art keywords
- runner
- fixed
- driven
- active runner
- movable stand
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- 230000007246 mechanism Effects 0.000 claims abstract description 18
- 238000007689 inspection Methods 0.000 abstract description 14
- 230000005540 biological transmission Effects 0.000 abstract description 5
- 230000006872 improvement Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 239000000837 restrainer Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 241000237858 Gastropoda Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000013475 authorization Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of travelling robot walking devices, it is related to inspection robot technical field, including movable stand, dual-axle motor is fixed on movable stand, two connecting plates are vertically fixed on the movable stand, the driven runner and active runner clamped up and down to cable is equipped on each connecting plate, connecting plate is equipped with the lifting assembly for adjusting driven shaft lengthwise position, connects limited position mechanism between the driven runner and active runner；The present invention can drive active runner to rotate by the driving mechanism of setting, active runner realizes that the present apparatus is moved along cable with cable frictional drive, the driven runner being arranged is by lifting assembly and active runner to cable clamp, realize the steady movement of the present apparatus, and the position-limit mechanism being arranged can carry out the direction orthogonal with direction of travel to driven runner and active runner and limit, the close transmission for guaranteeing active runner and cable, greatly improves the smooth running of inspection robot.
Description
Technical field
The present invention relates to inspection robot technical field, specifically a kind of travelling robot walking device.
Background technique
Inspection robot is using mobile robot as carrier, with visible light camera, infrared thermal imager, other detections
Instrument is mainly used for the machine to transmission line of electricity and its autonomous inspection of line corridor, inspection image and data as load system
Human body is automatically stored and the supply, backstage inspection in real time online of long range radio transmissions, ground remote wireless monitoring and remote control, electric energy
The functions such as job management and analyzing and diagnosing.
Authorization Notice No. is that the patent of CN207542678U discloses a kind of inspection robot along conducting wire walking, including patrols
Examine robot platform, crusing robot running gear and inspection component；Crusing robot running gear along conducting wire walk and with institute
The crusing robot platform connection stated；Inspection component is set on the crusing robot platform；Crusing robot walking dress
It sets and component and is set to the retinue of crusing robot platform rear end including being set to actively walking for crusing robot platform front end
Component；Inspection component, which is set to, actively walks between component and retinue component；Including being set to crusing robot platform two sides
Work jibs and the photographic device being arranged at the top of work jibs.Although the device is able to achieve the automatic detecting to cable, but make
It is bad with the running gear modulability of the device in the process, cause the walking process in inspection robot not stable enough, for this purpose, existing
A kind of travelling robot walking device is provided, to solve the above technical problems.
Summary of the invention
It is mentioned above in the background art to solve the purpose of the present invention is to provide a kind of travelling robot walking device
Problem.
To achieve the above object, the invention provides the following technical scheme:
A kind of travelling robot walking device, including movable stand, are fixed with dual-axle motor on movable stand, vertical on the movable stand
It is fixed there are two connecting plate, be equipped with the driven runner and active runner clamped up and down to cable, the shifting on each connecting plate
Moving frame is equipped with the driving mechanism for driving active runner to rotate, and is coaxially fixed with driven shaft on driven runner, on connecting plate
It offers and slides perforative sliding slot for driven shaft, the connecting plate is equipped with the lifting group for adjusting driven shaft lengthwise position
Part connects limited position mechanism between the driven runner and active runner.
As an improvement of the present invention: the driving mechanism includes and the co-axially fixed snail of dual-axle motor output shaft
Bar, engagement is connected with worm gear on worm screw, is coaxially fixed with drive shaft between worm gear and active runner.
As an improvement of the present invention: the lifting assembly includes that sliding is embedded in sliding slot and supports with driven shaft
The upper arc block and lower arc block connect is threaded with the longitudinal screw mandrel with connecting plate pivot joint on upper arc block, and longitudinal screw mandrel upper end is fixed
There is handwheel I, is fixedly connected with limit spring between lower arc block and connecting plate.
As an improvement of the present invention: the position-limit mechanism includes the casing being arranged on the driving shaft, on casing
It is vertically fixed spacing collar, guide post is slidably fitted on spacing collar, guide post upper end is fixed with coaxially connected with driven shaft
Adjusting set block.
As an improvement of the present invention: reset spring is fixed between described sleeve pipe and guide post.
As an improvement of the present invention: sliding is embedded with the inserting column being laterally arranged, inserting column on the adjusting set block
It is embedded and connect with driven shaft sliding, the cross lead screw being threadedly coupled with inserting column is articulated on adjusting set block, cross lead screw end is solid
Surely there is handwheel II.
As an improvement of the present invention: the movable stand bottom is coaxially fixed with the screw thread driven by servo motor
Equal screw thread is socketed with thread bush block, thread bush block on oppositely oriented threaded rod I and threaded rod II, threaded rod I and threaded rod II
Bottom is vertically fixed grip block.
Compared with prior art, the beneficial effects of the present invention are:
The present invention can drive active runner to rotate by the driving mechanism of setting, and active runner and cable frictional drive are realized
The present apparatus is moved along cable, and the driven runner of setting, to cable clamp, realizes this by lifting assembly and active runner
The steady movement of device, and the position-limit mechanism being arranged can carry out the direction orthogonal with direction of travel to driven runner and active runner
It is limited, guarantees the close transmission of active runner and cable, greatly improve the smooth running of inspection robot.
Detailed description of the invention
Fig. 1 is schematic diagram of internal structure of the invention；
Fig. 2 is the enlarged diagram in the portion A in Fig. 1；
Fig. 3 is the partial structural diagram of lifting assembly in the present invention；
Fig. 4 is the partial structural diagram of position-limit mechanism in the present invention；
Fig. 5 is the connection schematic perspective view of movable stand, threaded rod I and threaded rod II in the present invention.
In figure: 1- movable stand, 2- worm screw, 3- worm gear, 4- active runner, 5- longitudinal screw mandrel, 6- handwheel II, 7- connecting plate,
The driven runner of 8-, 9- cable, 10- spacing collar, 11- servo motor, 12- dual-axle motor, 13- casing, 14- drive shaft, 15- spiral shell
Rasp bar I, 16- threaded rod II, 17- threaded rod II, 18- thread bush block, 19- handwheel II, 20- adjusting set block, 21- bevel gear III,
Arc block, 26- cross lead screw, 27- guide post, 28- reset spring, 29- under the upper arc block of 22-, 23- driven shaft, 24- limit spring, 25-
Sliding slot, 30- inserting column.
Specific embodiment
The technical solution of the patent is explained in further detail With reference to embodiment:
Embodiment 1
Fig. 1-5, a kind of travelling robot walking device, including movable stand 1 are please referred to, is fixed with dual-axle motor 12 on movable stand 1,
It is vertically fixed two connecting plates 7 on the movable stand 1, the slave turn clamped to about 9 cable is equipped on each connecting plate 7
Wheel 8 and active runner 4, the movable stand 1 are equipped with the driving mechanism for driving active runner 4 to rotate, same on driven runner 8
Axis is fixed with driven shaft 23, offers on connecting plate 7 and slides perforative sliding slot 29 for driven shaft 23, and the connecting plate 7 is equipped with
For adjusting the lifting assembly of 23 lengthwise position of driven shaft, position restrainer is connected between the driven runner 8 and active runner 4
Structure.
Driven runner 8 and active runner 4 in the present apparatus two sides of getting off from above clamp cable 9, when the drive of setting
When motivation structure drives active runner 4 to rotate, the rubbing action of active runner 4 and cable 9 realizes that the present apparatus carries out position along cable 9
Set movement.
Specifically, driving mechanism include with the co-axially fixed worm screw 2 of 12 output shaft of dual-axle motor, connection is engaged on worm screw 2
There is worm gear 3, drive shaft 14 is coaxially fixed between worm gear 3 and active runner 4, dual-axle motor 12 drives worm screw 2 to rotate, worm screw 2
The worm gear 3 being engaged with is driven to rotate, worm gear 3 drives active runner 4 to rotate by drive shaft 14, and then realizes the shifting of the present apparatus
It is dynamic.
In order to adapt to the cable 9 of different-diameter, the mobile stationarity of the present apparatus is promoted, the present apparatus is still provided with lifting group
Part comprising slide the upper arc block 22 and lower arc block 25 for being embedded in sliding slot 29 and abutting with driven shaft 23, spiral shell on upper arc block 22
Line is connected with the longitudinal screw mandrel 5 being pivotally connected with connecting plate 7, and 5 upper end of longitudinal screw mandrel is fixed with handwheel I6, lower arc block 25 and connecting plate 7
Between be fixedly connected with limit spring 24.
By above-mentioned setting, rotation hand wheel I6 can drive longitudinal screw mandrel 5 to rotate, and the drive of longitudinal screw mandrel 5 is threadedly coupled therewith
Upper arc block 22 carry out upper and lower position adjusting, upper arc block 22 and lower arc block 25 clamp driven shaft 23, in limit spring 24
Elastic reaction under carry out the slidable adjustment of vertical direction, i.e., driven runner 8 has the spacing between active runner 4 can be according to cable
9 outer diameter carries out adaptability adjusting, guarantees the stable drive effect of active runner 4 and cable 9.
Embodiment 2
Stablize in order to further enhance the walking of this running gear, on the basis of embodiment 1, the present apparatus is also provided with position restrainer
Structure specifically includes the casing 13 being set in drive shaft 14, is vertically fixed spacing collar 10 on casing 13, on spacing collar 10
It is slidably fitted with guide post 27,27 upper end of guide post is fixed with the adjusting set block 20 coaxially connected with driven shaft 23, casing 13 and guide post
Reset spring 28 is fixed between 27.
After this running gear is hung on cable 9, rotary spacing sleeve 10 makes the adjusting set block 20 connected thereon
It is corresponding with 23 center of driven shaft, and sliding is embedded with the inserting column 30 being laterally arranged, inserting column 30 and driven shaft 23 on adjusting set block 20
Sliding is embedded connection, and the cross lead screw 26 being threadedly coupled with inserting column 30 is articulated on adjusting set block 20, and 26 end of cross lead screw is solid
Surely there is handwheel II19.
Screwing handwheel II19 drives cross lead screw 26 to rotate, cross lead screw 26 drive the inserting column 30 that is threadedly coupled therewith along
20 transverse shifting of adjusting set block, until the extension of inserting column 30 is plugged into inside driven shaft 23, driven shaft 23 and the rotation of driven shaft 23 connect
It connects, the left and right sides of driven runner 8 and active runner 4 is limited by lifting assembly at this time, can effectively be avoided in walking process, cable
9 greatly improve the stability of device to slippage from side on driven runner 8 and active runner 4.
It clamps in order to facilitate detection device of the present apparatus to inspection robot, is coaxially fixed in 1 bottom of movable stand
On the thread rotary orientation driven by servo motor 11 opposite threaded rod I15 and threaded rod II16, threaded rod I15 and threaded rod II16
Equal screw thread is socketed with thread bush block 18, and 18 bottom of thread bush block is vertically fixed grip block 17.
The servo motor 11 of setting can drive threaded rod I15 and threaded rod II16 to rotate simultaneously, threaded rod I15 and threaded rod
II16 drives thread bush block 18 thereon to move toward one another simultaneously, and then the grip block 17 for driving bottom fixed moves toward one another, finally
Realization grips effect to detection device.
In conclusion the present invention can by the driving mechanism of setting drive active runner 4 rotate, active runner 4 with
9 frictional drive of cable realizes that the present apparatus is moved along cable 9, and the driven runner 8 of setting turns by lifting assembly and actively
It takes turns 4 pairs of cables 9 to clamp, realizes the steady movement of the present apparatus, and the position-limit mechanism being arranged can be to driven runner 8 and active runner 4
It carries out the direction orthogonal with direction of travel to be limited, guarantees the close transmission of active runner 4 and cable 9, greatly improve and patrol
The smooth running of line robot.
It should be strongly noted that although this specification is described in terms of embodiments, but not each embodiment
It only contains an independent technical solution, this description of the specification is merely for the sake of clarity, those skilled in the art
It should consider the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms art technology
The other embodiments that personnel are understood that, the preferred embodiment of the technical program above described embodiment only expresses,
Describe more specific and detailed, but it cannot be understood as the limitations to the technical program the scope of the patents.It should be understood that
It is that for those of ordinary skill in the art, without departing from the inventive concept of the premise, several changes can also be made
Property, improvement and substitution, these belong to the protection scope of the technical program.The protection scope of the technical program patent should be with appended
Subject to claim.
Claims (7)
1. a kind of travelling robot walking device, including movable stand (1), it is fixed with dual-axle motor (12) on movable stand (1), it is special
Sign is, two connecting plates (7) are vertically fixed on the movable stand (1), are equipped on each connecting plate (7) to cable (9)
The driven runner (8) and active runner (4) clamped up and down, the movable stand (1) are equipped with for driving active runner (4) to rotate
Driving mechanism, be coaxially fixed with driven shaft (23) on driven runner (8), offered on connecting plate (7) sliding for driven shaft (23)
It moves perforative sliding slot (29), the connecting plate (7) is equipped with the lifting assembly for adjusting driven shaft (23) lengthwise position, described
Limited position mechanism is connected between driven runner (8) and active runner (4).
2. travelling robot walking device according to claim 1, which is characterized in that the driving mechanism includes and twin shaft
The co-axially fixed worm screw of motor (12) output shaft (2) engages on worm screw (2) and is connected with worm gear (3), worm gear (3) and active runner
(4) drive shaft (14) are coaxially fixed between.
3. travelling robot walking device according to claim 1, which is characterized in that the lifting assembly includes that sliding is embedding
It is located at the upper arc block (22) and lower arc block (25) abutted in sliding slot (29) and with driven shaft (23), is threadedly coupled on upper arc block (22)
Have with connecting plate (7) pivot joint longitudinal screw mandrel (5), longitudinal screw mandrel (5) upper end is fixed with handwheel I(6), lower arc block (25) with connect
Limit spring (24) are fixedly connected between plate (7).
4. travelling robot walking device according to claim 2, which is characterized in that the position-limit mechanism includes being set in
Casing (13) in drive shaft (14) is vertically fixed spacing collar (10) on casing (13), and peace is slided on spacing collar (10)
Equipped with guide post (27), guide post (27) upper end is fixed with and driven shaft (23) coaxially connected adjusting set block (20).
5. travelling robot walking device according to claim 4, which is characterized in that described sleeve pipe (13) and guide post (27)
Between be fixed with reset spring (28).
6. travelling robot walking device according to claim 4, which is characterized in that slided on the adjusting set block (20)
It is embedded with the inserting column (30) being laterally arranged, inserting column (30) is embedded with driven shaft (23) sliding and connect, and adjusting set block is pivotally connected on (20)
There is the cross lead screw (26) being threadedly coupled with inserting column (30), cross lead screw (26) end is fixed with handwheel II(19).
7. travelling robot walking device according to claim 1, which is characterized in that movable stand (1) bottom is coaxial
It is fixed with the threaded rod I(15 opposite by the thread rotary orientation of servo motor (11) driving) and threaded rod II(16), threaded rod I(15)
It is socketed with thread bush block (18) with screw thread equal on threaded rod II(16), thread bush block (18) bottom is vertically fixed grip block
(17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910770965.1A CN110370247B (en) | 2019-08-20 | 2019-08-20 | Line inspection robot running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910770965.1A CN110370247B (en) | 2019-08-20 | 2019-08-20 | Line inspection robot running gear |
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| Publication Number | Publication Date |
|---|---|
| CN110370247A true CN110370247A (en) | 2019-10-25 |
| CN110370247B CN110370247B (en) | 2024-05-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910770965.1A Active CN110370247B (en) | 2019-08-20 | 2019-08-20 | Line inspection robot running gear |
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| Country | Link |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111761594A (en) * | 2020-09-02 | 2020-10-13 | 天津市普迅电力信息技术有限公司 | Robot driving system for urban comprehensive pipe gallery |
| CN112659142A (en) * | 2020-12-14 | 2021-04-16 | 安徽普华灵动机器人科技有限公司 | Inspection robot capable of stably cruising |
| CN112873245A (en) * | 2021-03-25 | 2021-06-01 | 深圳亿嘉和科技研发有限公司 | Overhead line three-arm inspection robot |
| CN112873169A (en) * | 2021-01-22 | 2021-06-01 | 青岛共享智能制造有限公司 | Be applied to colliery both arms tunnel in pit and patrol and examine robot |
| CN113746026A (en) * | 2021-09-10 | 2021-12-03 | 国网辽宁省电力有限公司抚顺供电公司 | High wire driving for power maintenance of security |
| CN114243569A (en) * | 2022-02-24 | 2022-03-25 | 山东广域科技有限责任公司 | Transmission line trouble shooting device |
| CN115085086A (en) * | 2022-07-25 | 2022-09-20 | 广东电网有限责任公司 | High-efficient portable electric wire netting work robot of light weight support for installation |
| CN116054023A (en) * | 2023-03-31 | 2023-05-02 | 国网山东省电力公司阳谷县供电公司 | High-voltage line partial discharge intelligent inspection device |
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| CN209071950U (en) * | 2018-11-30 | 2019-07-05 | 华北电力大学（保定） | A kind of liftable high-voltage line crusing robot with GPS navigation function |
| CN210256117U (en) * | 2019-08-20 | 2020-04-07 | 包头长安永磁电机有限公司 | Walking device of inspection robot |
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| CN201504053U (en) * | 2009-10-13 | 2010-06-09 | 中国科学院沈阳自动化研究所 | Pitch variable wheel arm composite inspection robot mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111761594A (en) * | 2020-09-02 | 2020-10-13 | 天津市普迅电力信息技术有限公司 | Robot driving system for urban comprehensive pipe gallery |
| CN112659142A (en) * | 2020-12-14 | 2021-04-16 | 安徽普华灵动机器人科技有限公司 | Inspection robot capable of stably cruising |
| CN112659142B (en) * | 2020-12-14 | 2023-10-13 | 广州国巡机器人科技有限公司 | Stable cruising inspection robot |
| CN112873169A (en) * | 2021-01-22 | 2021-06-01 | 青岛共享智能制造有限公司 | Be applied to colliery both arms tunnel in pit and patrol and examine robot |
| CN112873245A (en) * | 2021-03-25 | 2021-06-01 | 深圳亿嘉和科技研发有限公司 | Overhead line three-arm inspection robot |
| CN113746026A (en) * | 2021-09-10 | 2021-12-03 | 国网辽宁省电力有限公司抚顺供电公司 | High wire driving for power maintenance of security |
| CN114243569A (en) * | 2022-02-24 | 2022-03-25 | 山东广域科技有限责任公司 | Transmission line trouble shooting device |
| CN115085086A (en) * | 2022-07-25 | 2022-09-20 | 广东电网有限责任公司 | High-efficient portable electric wire netting work robot of light weight support for installation |
| CN116054023A (en) * | 2023-03-31 | 2023-05-02 | 国网山东省电力公司阳谷县供电公司 | High-voltage line partial discharge intelligent inspection device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110370247B (en) | 2024-05-17 |
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