CN110370247B - Line inspection robot running gear - Google Patents
Line inspection robot running gear Download PDFInfo
- Publication number
- CN110370247B CN110370247B CN201910770965.1A CN201910770965A CN110370247B CN 110370247 B CN110370247 B CN 110370247B CN 201910770965 A CN201910770965 A CN 201910770965A CN 110370247 B CN110370247 B CN 110370247B
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- rotating wheel
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- fixed
- screw rod
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- 238000007689 inspection Methods 0.000 title claims abstract description 36
- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 230000000712 assembly Effects 0.000 claims abstract description 3
- 238000000429 assembly Methods 0.000 claims abstract description 3
- 238000000034 method Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 3
- 230000006872 improvement Effects 0.000 description 7
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a walking device of a line inspection robot, which relates to the technical field of line inspection robots and comprises a movable frame, wherein a double-shaft motor is fixed on the movable frame, two connecting plates are vertically fixed on the movable frame, each connecting plate is provided with a driven rotating wheel and a driving rotating wheel which are used for clamping a cable up and down, the connecting plates are provided with lifting assemblies used for adjusting the longitudinal positions of driven shafts, and a limiting mechanism is connected between the driven rotating wheel and the driving rotating wheel; according to the invention, the driving rotating wheel is driven to rotate through the arranged driving mechanism, the driving rotating wheel and the cable are in friction transmission to realize that the device moves along the cable, the driven rotating wheel is clamped with the driving rotating wheel through the lifting component to realize stable movement of the device, the driven rotating wheel and the driving rotating wheel can be limited in the direction orthogonal to the walking direction through the arranged limiting mechanism, the tight transmission of the driving rotating wheel and the cable is ensured, and the walking stability of the line inspection robot is greatly improved.
Description
Technical Field
The invention relates to the technical field of line inspection robots, in particular to a walking device of a line inspection robot.
Background
The line inspection robot takes a mobile robot as a carrier, takes a visible light camera, an infrared thermal imager and other detection instruments as a load system, and is mainly used for automatically storing and remotely wirelessly transmitting a robot body for automatically inspecting a power transmission line and a line corridor thereof, inspecting images and data, remotely and wirelessly monitoring and controlling the ground, carrying out online real-time supply of electric energy, managing and analyzing and diagnosing background inspection operation and the like.
The patent with the authorized bulletin number of CN207542678U discloses a line inspection robot walking along a lead, which comprises an inspection robot platform, an inspection robot walking device and an inspection assembly; the inspection robot walking device walks along the lead and is connected with the inspection robot platform; the inspection assembly is arranged on the inspection robot platform; the walking device of the inspection robot comprises an active walking component arranged at the front end of the inspection robot platform and a follower component arranged at the rear end of the inspection robot platform; the inspection assembly is arranged between the active walking assembly and the following assembly; the inspection robot comprises an operation arm arranged on two sides of an inspection robot platform and a camera device arranged on the top of the operation arm. Although the device can realize the automatic inspection of the cable, the travelling part of the device is poor in adjustability in the use process, so that the travelling process of the inspection robot is not stable enough, and therefore, the travelling device of the inspection robot is provided at present so as to solve the technical problems.
Disclosure of Invention
The invention aims to provide a walking device of a line inspection robot, which aims to solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions:
The utility model provides a line inspection robot walking device, is fixed with biax motor including removing the frame on removing the frame, it is fixed with two connecting plates to remove to erect on the frame, all is equipped with driven runner and the initiative runner of centre gripping about the cable on every connecting plate, remove to put up and be equipped with and be used for driving initiative runner pivoted actuating mechanism, coaxial driven shaft that is fixed with on the driven runner, offered the spout that supplies the driven shaft to run through in the connecting plate, be equipped with the lifting unit who is used for adjusting driven shaft longitudinal position on the connecting plate, be connected with stop gear between driven runner and the initiative runner.
As an improvement scheme of the invention: the driving mechanism comprises a worm coaxially fixed with the output shaft of the double-shaft motor, a worm wheel is connected to the worm in a meshed mode, and a driving shaft is coaxially fixed between the worm wheel and the driving rotating wheel.
As an improvement scheme of the invention: the lifting assembly comprises an upper arc block and a lower arc block which are embedded in the sliding groove in a sliding manner and are abutted against the driven shaft, a longitudinal screw rod pivoted with the connecting plate is connected to the upper arc block in a threaded manner, a hand wheel I is fixed at the upper end of the longitudinal screw rod, and a limiting spring is fixedly connected between the lower arc block and the connecting plate.
As an improvement scheme of the invention: the limiting mechanism comprises a sleeve sleeved on the driving shaft, a limiting sleeve is vertically fixed on the sleeve, a guide post is slidably mounted on the limiting sleeve, and an adjusting sleeve block coaxially connected with the driven shaft is fixed at the upper end of the guide post.
As an improvement scheme of the invention: and a reset spring is fixed between the sleeve and the guide post.
As an improvement scheme of the invention: the adjusting sleeve block is provided with a transversely arranged inserted column in a sliding embedded mode, the inserted column is connected with the driven shaft in a sliding embedded mode, the adjusting sleeve block is pivoted with a transverse screw rod in threaded connection with the inserted column, and the end portion of the transverse screw rod is fixedly provided with a hand wheel II.
As an improvement scheme of the invention: the movable frame bottom is coaxially fixed with a threaded rod I and a threaded rod II which are driven by a servo motor and have opposite screw threads, the threaded rod I and the threaded rod II are respectively in threaded sleeve joint with a threaded sleeve block, and the bottom of the threaded sleeve block is vertically fixed with a clamping plate.
Compared with the prior art, the invention has the beneficial effects that:
According to the invention, the driving rotating wheel is driven to rotate through the arranged driving mechanism, the driving rotating wheel and the cable are in friction transmission to realize that the device moves along the cable, the driven rotating wheel is clamped with the driving rotating wheel through the lifting component to realize stable movement of the device, the driven rotating wheel and the driving rotating wheel can be limited in the direction orthogonal to the walking direction through the arranged limiting mechanism, the tight transmission of the driving rotating wheel and the cable is ensured, and the walking stability of the line inspection robot is greatly improved.
Drawings
FIG. 1 is a schematic view of the internal structure of the present invention;
FIG. 2 is an enlarged schematic view of portion A of FIG. 1;
FIG. 3 is a schematic view of a part of the lifting assembly according to the present invention;
FIG. 4 is a schematic view of a part of the limiting mechanism according to the present invention;
fig. 5 is a schematic view showing the connection structure of the movable frame, the threaded rod I and the threaded rod II in the present invention.
In the figure: 1-movable frame, 2-worm, 3-worm wheel, 4-driving rotating wheel, 5-longitudinal screw rod, 6-hand wheel II, 7-connecting plate, 8-driven rotating wheel, 9-cable, 10-limit sleeve, 11-servo motor, 12-double-shaft motor, 13-sleeve, 14-driving shaft, 15-threaded rod I, 16-threaded rod II, 17-threaded rod II, 18-threaded sleeve block, 19-hand wheel II, 20-adjusting sleeve block, 21-bevel gear III, 22-upper arc block, 23-driven shaft, 24-limit spring, 25-lower arc block, 26-transverse screw rod, 27-guide pillar, 28-reset spring, 29-sliding groove and 30-inserting column.
Detailed Description
The technical scheme of the patent is further described in detail below with reference to the specific embodiments:
Example 1
Referring to fig. 1-5, a walking device of a line inspection robot comprises a moving frame 1, a double-shaft motor 12 is fixed on the moving frame 1, two connecting plates 7 are vertically fixed on the moving frame 1, a driven rotating wheel 8 and a driving rotating wheel 4 for clamping a cable 9 up and down are arranged on each connecting plate 7, a driving mechanism for driving the driving rotating wheel 4 to rotate is arranged on the moving frame 1, a driven shaft 23 is coaxially fixed on the driven rotating wheel 8, a sliding groove 29 for the driven shaft 23 to slide and penetrate through is formed in the connecting plate 7, a lifting assembly for adjusting the longitudinal position of the driven shaft 23 is arranged on the connecting plate 7, and a limiting mechanism is connected between the driven rotating wheel 8 and the driving rotating wheel 4.
The driven rotating wheel 8 and the driving rotating wheel 4 in the device clamp the cable 9 from the upper side and the lower side, and when the driving rotating wheel 4 is driven to rotate by the set driving mechanism, the friction effect between the driving rotating wheel 4 and the cable 9 realizes the position movement of the device along the cable 9.
Specifically, the driving mechanism comprises a worm 2 coaxially fixed with an output shaft of a double-shaft motor 12, a worm wheel 3 is connected to the worm 2 in a meshed manner, a driving shaft 14 is coaxially fixed between the worm wheel 3 and a driving rotating wheel 4, the double-shaft motor 12 drives the worm 2 to rotate, the worm 2 drives the worm wheel 3 meshed with the worm 2 to rotate, and the worm wheel 3 drives the driving rotating wheel 4 to rotate through the driving shaft 14, so that the device is moved.
In order to adapt to cables 9 with different diameters, the device is further provided with a lifting assembly, the lifting assembly comprises an upper arc block 22 and a lower arc block 25 which are embedded in a sliding groove 29 in a sliding manner and are abutted to a driven shaft 23, a longitudinal screw rod 5 pivoted with a connecting plate 7 is connected to the upper arc block 22 in a threaded manner, a hand wheel I6 is fixed at the upper end of the longitudinal screw rod 5, and a limiting spring 24 is fixedly connected between the lower arc block 25 and the connecting plate 7.
Through the arrangement, the rotary hand wheel I6 can drive the longitudinal screw rod 5 to rotate, the longitudinal screw rod 5 drives the upper arc block 22 in threaded connection with the longitudinal screw rod 5 to perform vertical position adjustment, the upper arc block 22 and the lower arc block 25 clamp the driven shaft 23, vertical sliding adjustment is performed under the elastic action of the limiting spring 24, namely, the distance between the driven rotating wheels 8 and the driving rotating wheels 4 can be adaptively adjusted according to the outer diameter size of the cable 9, and the stable transmission effect of the driving rotating wheels 4 and the cable 9 is ensured.
Example 2
In order to further improve the walking stability of the walking device, on the basis of embodiment 1, the device is further provided with a limiting mechanism, and specifically comprises a sleeve 13 sleeved on a driving shaft 14, a limiting sleeve 10 is vertically fixed on the sleeve 13, a guide post 27 is slidably mounted on the limiting sleeve 10, an adjusting sleeve block 20 coaxially connected with a driven shaft 23 is fixed at the upper end of the guide post 27, and a reset spring 28 is fixed between the sleeve 13 and the guide post 27.
After the walking device is hung on the cable 9, the limiting sleeve 10 is rotated to enable the adjusting sleeve block 20 connected to the limiting sleeve to correspond to the center of the driven shaft 23, the adjusting sleeve block 20 is embedded with the inserting columns 30 which are arranged transversely in a sliding mode, the inserting columns 30 are embedded with the driven shaft 23 in a sliding mode to be connected, the adjusting sleeve block 20 is pivoted with the transverse screw rod 26 which is connected with the inserting columns 30 in a threaded mode, and the end portion of the transverse screw rod 26 is fixedly provided with the hand wheel II19.
The hand wheel II19 is screwed to drive the transverse screw rod 26 to rotate, the transverse screw rod 26 drives the inserting column 30 in threaded connection with the transverse screw rod 26 to transversely move along the adjusting sleeve block 20 until the inserting column 30 extends to be inserted into the driven shaft 23, the driven shaft 23 is rotationally connected with the driven shaft 23, at the moment, the left side and the right side of the driven rotating wheel 8 and the driving rotating wheel 4 are limited by lifting assemblies, lateral slipping of the cable 9 from the driven rotating wheel 8 and the driving rotating wheel 4 in the walking process can be effectively avoided, and stability of the device is greatly improved.
In order to facilitate the device to clamp the inspection equipment of the inspection robot, a threaded rod I15 and a threaded rod II16 which are driven by a servo motor 11 and have opposite screw threads are coaxially fixed at the bottom of the movable frame 1, screw thread sleeve blocks 18 are sleeved on the threaded rod I15 and the threaded rod II16 in a threaded manner, and clamping plates 17 are vertically fixed at the bottoms of the screw thread sleeve blocks 18.
The servo motor 11 that sets up can drive threaded rod I15 and threaded rod II16 rotation simultaneously, and threaded rod I15 and threaded rod II16 drive the screw thread cover piece 18 on it simultaneously and move in opposite directions, and then drive bottom fixed grip block 17 and move in opposite directions, finally realize the centre gripping fixed action to check out test set.
In summary, the driving rotating wheel 4 can be driven to rotate by the driving mechanism, the driving rotating wheel 4 and the cable 9 are in friction transmission to realize that the device moves along the cable 9, the driven rotating wheel 8 is clamped with the driving rotating wheel 4 through the lifting component to realize stable movement of the device, the driven rotating wheel 8 and the driving rotating wheel 4 can be limited by the limiting mechanism in the direction orthogonal to the walking direction, tight transmission of the driving rotating wheel 4 and the cable 9 is ensured, and walking stability of the inspection robot is greatly improved.
It should be noted that, although the present disclosure describes embodiments, each embodiment does not include a separate technical solution, and the description is only for clarity, those skilled in the art should understand that the technical solutions in the embodiments may be properly combined to form other embodiments that can be understood by those skilled in the art, and the above embodiments only describe preferred embodiments of the present disclosure, which are described in more detail and detail, but should not be construed as limiting the scope of the claims of the present disclosure. It should be noted that modifications, improvements and substitutions can be made by those skilled in the art without departing from the spirit of the invention, which fall within the scope of the present invention. The protection scope of the technical scheme patent is subject to the appended claims.
Claims (3)
1. The utility model provides a line inspection robot walking device, includes removes frame (1), is fixed with biax motor (12) on removing frame (1), its characterized in that, it is fixed with two connecting plates (7) vertically on frame (1), all is equipped with driven runner (8) and driving runner (4) to the upper and lower centre gripping of cable (9) on every connecting plate (7), be equipped with on removing frame (1) and be used for driving runner (4) pivoted actuating mechanism, driven runner (8) are last to be fixed with driven shaft (23) coaxially, offer on connecting plate (7) and supply spout (29) that driven shaft (23) slid and run through, be equipped with on connecting plate (7) and be used for adjusting driven shaft (23) longitudinal position's lifting unit, be connected with stop gear between driven runner (8) and driving runner (4);
The driving mechanism comprises a worm (2) coaxially fixed with the output shaft of the double-shaft motor (12), a worm wheel (3) is connected to the worm (2) in a meshed manner, and a driving shaft (14) is coaxially fixed between the worm wheel (3) and the driving rotating wheel (4);
the lifting assembly comprises an upper arc block (22) and a lower arc block (25) which are embedded in a sliding groove (29) in a sliding manner and are abutted against a driven shaft (23), a longitudinal screw rod (5) pivoted with the connecting plate (7) is connected to the upper arc block (22) in a threaded manner, a hand wheel I (6) is fixed at the upper end of the longitudinal screw rod (5), and a limiting spring (24) is fixedly connected between the lower arc block (25) and the connecting plate (7);
the limiting mechanism comprises a sleeve (13) sleeved on the driving shaft (14), a limiting sleeve (10) is vertically fixed on the sleeve (13), a guide post (27) is slidably mounted on the limiting sleeve (10), and an adjusting sleeve block (20) coaxially connected with the driven shaft (23) is fixed at the upper end of the guide post (27);
a transversely arranged inserting column (30) is embedded on the adjusting sleeve block (20) in a sliding manner, the inserting column (30) is connected with the driven shaft (23) in a sliding manner, a transverse screw rod (26) in threaded connection with the inserting column (30) is pivoted on the adjusting sleeve block (20), and a hand wheel II (19) is fixed at the end part of the transverse screw rod (26);
the double-shaft motor (12) drives the worm (2) to rotate, the worm (2) drives the worm wheel (3) meshed with the worm to rotate, and the worm wheel (3) drives the driving rotating wheel (4) to rotate through the driving shaft (14);
Rotating the hand wheel I (6) to drive the longitudinal screw rod (5) to rotate, the longitudinal screw rod (5) drives an upper arc block (22) in threaded connection with the longitudinal screw rod to adjust the upper and lower positions, the upper arc block (22) and a lower arc block (25) clamp a driven shaft (23), sliding adjustment in the vertical direction is carried out under the elastic action of a limiting spring (24), the distance between the driven rotating wheel (8) and the driving rotating wheel (4) can be adaptively adjusted according to the outer diameter size of the cable (9), and the stable transmission effect of the driving rotating wheel (4) and the cable (9) is ensured;
The hand wheel II (19) is screwed to drive the transverse screw rod (26) to rotate, the transverse screw rod (26) drives the inserted column (30) in threaded connection with the transverse screw rod to transversely move along the adjusting sleeve block (20), until the inserted column (30) extends to be inserted into the driven shaft (23), the driven shaft (23) is rotationally connected with the driven shaft (23), at the moment, the left side and the right side of the driven rotating wheel (8) and the driving rotating wheel (4) are limited by lifting assemblies, and the cable (9) can be prevented from sliding sideways on the driven rotating wheel (8) and the driving rotating wheel (4) in the walking process.
2. Line inspection robot walking device according to claim 1, characterized in that a return spring (28) is fixed between the sleeve (13) and the guide post (27).
3. The inspection robot walking device according to claim 1, wherein a threaded rod I (15) and a threaded rod II (16) with opposite screw threads driven by a servo motor (11) are coaxially fixed at the bottom of the movable frame (1), screw thread sleeve blocks (18) are sleeved on the threaded rod I (15) and the threaded rod II (16) in a threaded mode, and clamping plates (17) are vertically fixed at the bottoms of the screw thread sleeve blocks (18).
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 |
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| 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 |
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| CN110370247A CN110370247A (en) | 2019-10-25 |
| CN110370247B true CN110370247B (en) | 2024-05-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910770965.1A Active CN110370247B (en) | 2019-08-20 | 2019-08-20 | Line inspection robot running gear |
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| CN111761594B (en) * | 2020-09-02 | 2020-11-20 | 天津市普迅电力信息技术有限公司 | Robot driving system for urban comprehensive pipe gallery |
| 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 |
| CN112873169B (en) * | 2021-01-22 | 2023-03-14 | 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 |
| CN112873245B (en) * | 2021-03-25 | 2022-06-28 | 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 |
| CN114243569B (en) * | 2022-02-24 | 2022-04-29 | 山东广域科技有限责任公司 | Transmission line trouble shooting device |
| CN115085086B (en) * | 2022-07-25 | 2024-07-09 | 广东电网有限责任公司 | Light-weight efficient portable support for installing power grid operation robot |
| CN116054023B (en) * | 2023-03-31 | 2023-07-04 | 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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| Publication number | Publication date |
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| CN110370247A (en) | 2019-10-25 |
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