CN113659485A - Walking obstacle crossing mechanism of power transmission cable inspection robot and obstacle crossing method thereof - Google Patents
Walking obstacle crossing mechanism of power transmission cable inspection robot and obstacle crossing method thereof Download PDFInfo
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- CN113659485A CN113659485A CN202110967495.5A CN202110967495A CN113659485A CN 113659485 A CN113659485 A CN 113659485A CN 202110967495 A CN202110967495 A CN 202110967495A CN 113659485 A CN113659485 A CN 113659485A
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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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Abstract
The invention relates to a walking obstacle crossing mechanism of a power transmission cable inspection robot and an obstacle crossing method thereof, relating to the field of inspection robots. Through setting up the initiative running part of disconnect-type and driven running part cooperation cable laminating part can avoid having great clearance between running gear and the transmission cable, make the inspection robot avoid rocking with taking place the friction on the cable when receiving external force effects such as wind-force, thereby avoid the inspection robot to follow the transmission line slippage and drop on the road, the protection inspection robot does not receive the damage, the first roll adjustment part that the cooperation set up simultaneously, the second roll adjustment part with, third roll adjustment part and fourth roll adjustment part, can be when the inspection robot patrols the barrier in-process, the initiative running part that will be close to barrier one side, driven running part and cable laminating part carry out the separation of predetermined distance, thereby stride across the barrier, make the inspection robot can patrol and examine the transmission cable in succession.
Description
Technical Field
The invention relates to the field of inspection robots, in particular to a walking obstacle crossing mechanism of a power transmission cable inspection robot and an obstacle crossing method of the walking obstacle crossing mechanism.
Background
The inspection mode of the power transmission cable is mainly two modes of manual inspection and robot inspection, but because part of the power transmission cable is influenced by factors such as geographic environment, weather conditions and the like, some hidden dangers are not easy to be found by naked eyes, so that the inspection robot can be used by a power department under more conditions to replace the manual inspection, the working intensity of inspection personnel can be reduced, the inspection efficiency and quality under a special environment can be improved, and the defect of manual inspection under the special environment is overcome.
At present, transmission line cable patrols and examines robot mainly comprises patrolling and examining mechanism and running gear two parts, wherein patrolling and examining the mechanism and including parts such as multi-angle probe, mainly used observes and transmits the condition around cable self and the cable, the staff of being convenient for is to the subsequent maintenance of the transmission line cable that has damaged, and running gear generally comprises walking wheel and pinch roller, utilize walking wheel and pinch roller laminating cable both sides during the use, can realize patrolling and examining the action of robot on the cable with the relatively fixed of cable and the line patrolling and examining after fixed.
The pinch roller and the walking wheel of the existing power transmission cable inspection robot are integrated, so that a larger gap exists between the walking mechanism and the cable, most inspection robots work on the overhead cable with higher height, the walking mechanism is easy to rub and shake on the cable when being subjected to external force such as wind power and the like, and even slips and falls off from the power transmission line, so that the inspection robot is damaged and has certain hidden danger, the use and maintenance cost of a user is increased, meanwhile, the inspection robot often encounters obstacles such as suspension clamps, vibration dampers and the like in the process of inspecting, so that the inspection robot is required to have the function of crossing obstacles, otherwise, the continuous inspection of the inspection robot on the power transmission cable is influenced, and the conditions that the inspection robot slips and falls off after encountering the obstacles and the like are possible, causing damage to the inspection robot.
Disclosure of Invention
The purpose of the invention is as follows: the walking obstacle crossing mechanism comprises a driving walking part, a driven walking part, a first distance adjusting part, a second distance adjusting part, a third distance adjusting part and a fourth distance adjusting part, wherein the driving walking part and the driven walking part are arranged in a separated mode, and the first distance adjusting part, the second distance adjusting part, the third distance adjusting part and the fourth distance adjusting part are matched with each other.
The technical scheme is as follows: a walking obstacle crossing mechanism of a power transmission cable inspection robot comprises a connecting main board, an active walking part and a cable fitting part;
a plurality of groups of first distance adjusting components used for transverse distance adjustment are connected to the connecting main board, at least one second distance adjusting component used for transverse distance adjustment is connected to the first distance adjusting component, and a third distance adjusting component used for vertical distance adjustment is arranged on the second distance adjusting component;
the driving walking part is arranged on the third distance adjusting part and used for driving the inspection robot to move on the power transmission cable, a driven walking part used for being matched with the driving walking part to compress the power transmission cable is arranged on the lower side of the driving walking part, and a fourth distance adjusting part used for vertically adjusting the distance of the driven walking part is connected between the driven walking part and the third distance adjusting part;
the cable laminating part is used for matching the driving walking part and the driven walking part to compress the power transmission cable, and a pair of connecting supports used for connecting the cable laminating part and the third distance adjusting part are connected between the cable laminating part and the third distance adjusting part.
In a further embodiment, the first distance adjusting part comprises a first distance adjusting column, a first distance adjusting groove, a first distance adjusting screw rod, a first distance adjusting slide block, a first distance adjusting motor and a first connecting subplate;
the first distance adjusting column is connected to the connecting main board, a first distance adjusting groove is formed in the first distance adjusting column, a pair of first fixing plates are symmetrically connected to two sides of the first distance adjusting column, first fixing holes are correspondingly formed in the first fixing plates and the connecting main board, fixing bolts are inserted into the first fixing holes, and the first fixing plates, the first fixing holes and the fixing bolts are used for fixing the first distance adjusting column and the connecting main board, so that a user can conveniently disassemble and assemble the first distance adjusting column and the connecting main board;
the first distance adjusting screw rod is arranged in the first distance adjusting groove, a first distance adjusting sliding block matched with the first distance adjusting groove is rotatably arranged on the first distance adjusting screw rod, and the first distance adjusting screw rod rotates to drive the first distance adjusting sliding block to move;
the first distance adjusting motor is connected to one end of the first distance adjusting screw rod and used for driving the first distance adjusting screw rod to rotate, the first distance adjusting motor drives the first distance adjusting screw rod to rotate so as to drive the first distance adjusting slide block to move, and a first bearing is connected to one end, far away from the first distance adjusting motor, of the first distance adjusting screw rod;
and the first connecting secondary plate is connected to the first distance adjusting slide block and is used for connecting the first distance adjusting part and the second distance adjusting part.
In a further embodiment, the second distance adjusting part comprises a second distance adjusting column, a second distance adjusting groove, a second distance adjusting screw rod, a second distance adjusting slider, a second distance adjusting motor and a pair of second connecting secondary plates;
the second distance adjusting column is connected to the first connecting secondary plate, a second distance adjusting groove is formed in the second distance adjusting column, and the second distance adjusting column is in threaded connection with the first connecting secondary plate, so that a user can conveniently disassemble and assemble the second distance adjusting part and the first distance adjusting part;
the second distance adjusting screw rod is arranged in the second distance adjusting groove, a pair of second distance adjusting sliding blocks matched with the second distance adjusting groove are rotatably arranged on the second distance adjusting screw rod, and the second distance adjusting screw rod rotates to drive the second distance adjusting sliding blocks to move;
the second distance adjusting motor is connected to one end of the second distance adjusting screw rod and used for driving the second distance adjusting screw rod to rotate, the second distance adjusting motor drives the second distance adjusting screw rod to rotate so as to drive the second distance adjusting slide block to rotate, and one end, far away from the second distance adjusting motor, of the second distance adjusting screw rod is connected with a second bearing;
and the pair of second connecting secondary plates are respectively connected to the pair of second distance adjusting sliders and used for connecting the second distance adjusting part and the third distance adjusting part.
In a further embodiment, the third distance adjusting part comprises a first distance adjusting telescopic column, a second distance adjusting telescopic column, two groups of second fixing plates and two groups of second fixing holes;
the first distance-adjusting telescopic column is connected to a second connecting secondary plate;
the first distance-adjusting telescopic column and the second distance-adjusting telescopic column are used for vertically adjusting the height of the driving walking part;
two groups of second fixed plates are respectively connected to the first distance-adjusting telescopic column and the second distance-adjusting telescopic column, and second fixed holes are correspondingly formed in the two groups of second fixed plates and the second connecting secondary plate;
two sets of second staple correspond threaded connection respectively in two sets of second fixed orificess, are used for fixed second connection inferior board and the flexible post of first roll adjustment and the flexible post of second roll adjustment respectively, and the setting of second fixed plate, second fixed orifices and second staple is used for fixed third roll adjustment part and second roll adjustment part, and convenient to use person carries out the dismouting to second roll adjustment part and third roll adjustment part.
In a further embodiment, the driving walking component comprises a pair of motor protection seats, a driving motor, a speed reducer, a first driving walking wheel, a second driving walking wheel, a first fixing slot, a first fixing insertion block and a pair of first magnetic blocks;
the pair of motor protection seats are respectively and correspondingly connected to the first distance-adjusting telescopic column and the second distance-adjusting telescopic column and used for protecting the driving motor;
the driving motor is arranged in the motor protection seat close to the first distance-adjusting telescopic column and used for driving the first driving travelling wheel to move on the power transmission cable;
the first driving travelling wheel is arranged between the pair of motor protection seats, a speed reducer for adjusting and connecting the driving motor is connected between the first driving travelling wheel and the driving motor, and the speed reducer can reduce the revolution number of the driving motor to a required revolution number and obtain larger torque so as to adjust the rotating speed and the moving speed of the first driving travelling wheel;
the second driving travelling wheels are correspondingly arranged with the first driving travelling wheels, the first attaching grooves matched with the power transmission cables are formed in the surfaces, close to each other, of the first driving travelling wheels and the second driving travelling wheels, and the first driving travelling wheels and the second driving travelling wheels can be attached to the power transmission cables to move through the arrangement of the driving motors and the first attaching grooves.
In a further embodiment, the active walking part further comprises a first fixed slot, a first fixed insert block and a pair of first magnetic blocks;
the first fixed slot is formed in one side, close to the second driving travelling wheel, of the first driving travelling wheel;
the first fixed inserting block is connected to one surface, close to the first driving travelling wheel, of the second driving travelling wheel and is matched with the first fixed inserting groove;
the pair of first magnetic blocks are correspondingly connected to the outer wall of the first fixed inserting block and the inner wall of the first fixed inserting block respectively and used for being matched with the first fixed inserting block and the first fixed inserting block to attract the first driving travelling wheel and the second driving travelling wheel, one side, close to each other, of the pair of first magnetic blocks is a magnetic pole with opposite polarity, the pair of first magnetic blocks can be attracted to each other, and therefore the first driving travelling wheel and the second driving travelling wheel can be clamped and clamped on the power transmission cable to move after the first fixed inserting block and the first fixed inserting block are matched to enable the first driving travelling wheel and the second driving travelling wheel to separate and cross the obstacle.
In a further embodiment, the driven walking part comprises a first driven walking wheel, a second fixed slot, a second fixed inserting block and a pair of second magnetic blocks;
the first driven travelling wheels are correspondingly arranged on the lower sides of the first driving travelling wheels;
the second driven travelling wheels are correspondingly arranged at the lower sides of the second driving travelling wheels and are used for matching the first driven travelling wheels, the first driving travelling wheels and the second driving travelling wheels to be attached to the transmission cables, second attaching grooves matched with the transmission cables are formed in the surfaces, close to each other, of the first driven travelling wheels and the second driven travelling wheels, the second attaching grooves are arranged corresponding to the first attaching grooves, and the first driven travelling wheels and the second driven travelling wheels can be enabled to be matched with the first driving travelling wheels and the second driving travelling wheels to be attached to the transmission cables to move through the arrangement of the second attaching grooves;
the second fixed slot is formed in one surface, close to the second driven travelling wheel, of the first driven travelling wheel;
the second fixed inserting block is connected to one surface, close to the first driven travelling wheel, of the second driven travelling wheel and is matched with the second fixed inserting groove;
the pair of second magnetic blocks are correspondingly connected to the outer wall of the second fixed inserting block and the inner wall of the second fixed inserting groove respectively and used for being matched with the second fixed inserting groove and the second fixed inserting block to attract the first driven walking wheels and the second driven walking wheels, one side, close to each other, of the pair of second magnetic blocks is a magnetic pole with opposite polarity, the pair of second magnetic blocks can be attracted to each other, and therefore the first driven walking wheels and the second driven walking wheels can be clamped and clamped on the power transmission cable to move after the barriers are separated and spanned through the second fixed inserting groove and the second fixed inserting block.
In a further embodiment, the fourth distance adjusting part comprises a pair of third distance adjusting columns, a pair of third distance adjusting grooves, a pair of third distance adjusting screws, a pair of third distance adjusting sliders and a pair of third distance adjusting motors;
the pair of third distance adjusting columns are respectively arranged between the first driven travelling wheel and the first distance adjusting telescopic column as well as between the second driven travelling wheel and the second distance adjusting telescopic column, third distance adjusting grooves are respectively formed in the surfaces, close to each other, of the pair of third distance adjusting columns, and the surfaces, far away from each other, of the pair of third distance adjusting columns are respectively in threaded connection with the first distance adjusting telescopic column and the second distance adjusting telescopic column, so that a user can conveniently disassemble and assemble the first distance adjusting telescopic column, the second distance adjusting telescopic column and the pair of third distance adjusting columns;
the pair of third distance adjusting screw rods are respectively connected in the pair of third distance adjusting grooves, and the pair of third distance adjusting screw rods rotate to respectively drive the pair of third distance adjusting slide blocks to move;
the pair of third distance adjusting sliding blocks are respectively and rotationally connected with the pair of third distance adjusting screw rods and are matched with the third distance adjusting grooves, and one ends, far away from the third distance adjusting columns, of the pair of third distance adjusting sliding blocks are respectively and fixedly connected with the first driven travelling wheels and the second driven travelling wheels;
and the pair of third distance adjusting motors are respectively connected with one ends of the pair of third distance adjusting screw rods and respectively drive the pair of third distance adjusting screw rods to rotate so as to drive the pair of third distance adjusting slide blocks to move.
In a further embodiment, the cable attachment member includes a pair of annular outer plates, a plurality of fourth fixing slots, a plurality of annular inner plates, a plurality of clamping telescopic columns, a plurality of compression springs and a plurality of compression wheels;
the pair of annular outer plates are internally provided with a plurality of fourth fixed slots, the pair of annular outer plates are symmetrically arranged relative to a central axis for connecting the main plate, one surface, close to the other annular outer plate, of one annular outer plate is provided with a pair of third fixed slots in a chiseled mode, one surface, close to the third fixed slots, of the other annular outer plate is connected with a pair of third fixed inserting blocks which are matched with the third fixed slots and are correspondingly arranged, and the pair of annular outer plates are fixedly connected through the clamping of the third fixed slots and the third fixed inserting blocks;
the annular inner plates are arranged corresponding to the fourth fixing slots and are respectively inserted into the fourth fixing slots, clamping telescopic columns are connected between the annular inner plates and the inner walls of the pair of annular outer plates, and one surfaces, close to the power transmission cables, of the annular inner plates are connected with pinch rollers;
a plurality of pressure spring, it is with a plurality of the flexible post of centre gripping corresponds the setting and sets up respectively in the flexible post outside of a plurality of centre gripping, support through pressure spring to annular inner panel tightly can make a plurality of pinch rollers paste on the transmission cable, thereby cooperation initiative running part and driven running part are with the transmission cable cladding between a plurality of pinch rollers, and then avoid patrolling line robot and take place the friction when receiving external force effects such as wind-force and rock on the cable, avoid patrolling line robot slippage from the transmission line and drop on the way, the protection is patrolled line robot and is not damaged, and the potential safety hazard is reduced, and the use and the cost of maintenance of user are reduced.
An obstacle crossing method of a walking obstacle crossing mechanism of a power transmission cable inspection robot comprises the following steps:
s1, when the inspection robot moves normally, the speed reducer, the first driving travelling wheel, the first driven travelling wheel and the second driven travelling wheel are correspondingly attached to the power transmission cable and move under the driving of the driving motor, so that the inspection robot is driven to move on the power transmission cable;
s2, when an obstacle is encountered, the driving motor stops working, a pair of third distance adjusting motors close to one side of the obstacle is started to drive a third distance adjusting slide block to move in a third distance adjusting groove, and therefore the first driven travelling wheel and the second driven travelling wheel are driven to be far away from the first driving travelling wheel, the second driving travelling wheel and the power transmission cable;
s3, starting a second distance adjusting motor to drive a pair of second distance adjusting sliding blocks to move in a second distance adjusting groove, so that a first driving travelling wheel and a first driven travelling wheel are driven to be away from each other through a first distance adjusting telescopic column and a second distance adjusting telescopic column, and a second driving travelling wheel and a second driven travelling wheel are driven to be away from each other to be separated from a power transmission cable;
s4, starting a driving motor at one side far away from the obstacle to drive a first driving travelling wheel and a second driving travelling wheel at one side far away from the obstacle to move, so as to drive a first driven travelling wheel, a second driven travelling wheel, a first driving travelling wheel and a second driving travelling wheel at one side close to the obstacle to cross the obstacle;
and S5, finally, reclosing the first driven walking wheel, the second driven walking wheel, the first driving walking wheel and the second driving walking wheel on one side of the obstacle to be close to the power transmission cable, and driving the first driven walking wheel, the second driven walking wheel, the first driving walking wheel and the second driving walking wheel which do not cross the obstacle to cross the obstacle according to the steps.
Has the advantages that: the invention relates to a walking obstacle crossing mechanism of a power transmission cable inspection robot and an obstacle crossing method thereof, which can avoid a large gap between a walking mechanism and a power transmission cable by arranging a separated driving walking part and a separated driven walking part to be matched with a cable jointing part, so that the inspection robot can avoid the friction and the shaking of the running mechanism on the cable when being acted by external force such as wind power and the like, thereby avoiding the inspection robot from slipping off and falling off the power transmission line, protecting the inspection robot from being damaged, a first distance adjusting component, a second distance adjusting component, a third distance adjusting component and a fourth distance adjusting component which are matched, can be when patrolling and examining robot and patrolling and examining the line in-process and meet the barrier, will be close to initiative running part, driven running part and the cable laminating part of barrier one side and carry out predetermined distance's separation to stride across the barrier, make patrolling and examining the robot and can patrol and examine transmission of electricity cable in succession.
Drawings
FIG. 1 is a diagram illustrating the effect of the present invention.
Fig. 2 is a perspective view of two sets of second distance adjusting members of the present invention.
Fig. 3 is an exploded view of a second set of pitch adjustment members according to the present invention.
Fig. 4 is an exploded view of a second set of pitch adjustment members of the present invention from another perspective.
Fig. 5 is an exploded view of the driven traveling unit and the fourth distance adjusting unit according to the present invention.
Fig. 6 is a perspective view of the cable attachment member of the present invention.
Fig. 7 is an exploded view of a pair of annular outer plates in accordance with the present invention.
The figures are numbered: 1. the main board is connected with a main board, 2, a first distance adjusting part, 201, a first distance adjusting column, 202, a first distance adjusting groove, 203, a first distance adjusting screw rod, 204, a first distance adjusting sliding block, 205, a first distance adjusting motor, 206, a first connecting secondary board, 3, a second distance adjusting part, 301, a second distance adjusting column, 302, a second distance adjusting groove, 303, a second distance adjusting screw rod, 304, a second distance adjusting sliding block, 305, a second distance adjusting motor, 306, a second connecting secondary board, 4, a third distance adjusting part, 401, a first distance adjusting telescopic column, 402, a second distance adjusting telescopic column, 403, a second fixing plate, 404, a second fixing hole, 405, a second fixing pin, 5, a driving walking part, 501, a motor protective seat, 502, a driving motor, 503, a speed reducer, 504, a first driving walking wheel, 505, a second driving walking wheel, 506, a first fixing slot, 507, a first magnetic block, 508, a first magnetic block and a first magnetic block, 6. The automatic distance adjusting device comprises a driven walking component 601, a first driven walking wheel 602, a second driven walking wheel 603, a second fixed slot 604, a second fixed inserting block 605, a second magnetic block, a 7 fourth distance adjusting component 701, a third distance adjusting column 702, a third distance adjusting slot 703, a third distance adjusting screw rod 704, a third distance adjusting sliding block 705, a third distance adjusting motor 8, a cable attaching component 801, an annular outer plate 801, an 802 fourth fixed slot 803, an annular inner plate 804, a clamping telescopic column 805, a compression spring 806, a compression wheel 9 and a connecting support.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
As shown in fig. 1-7, the invention discloses a walking obstacle crossing mechanism of a power transmission cable inspection robot and an obstacle crossing method thereof. Wherein, a transmission cable patrols and examines walking obstacle crossing mechanism of robot includes connection mainboard 1, the first roll adjustment part 2 of multiunit, second roll adjustment part 3, third roll adjustment part 4, initiative running part 5, driven running part 6, fourth roll adjustment part 7 and cable laminating part 8.
As shown in fig. 1, a plurality of groups of first distance adjusting parts 2 used for transverse distance adjustment are connected to the connection main board 1, and the connection main board 1 is used for connecting an inspection robot inspection mechanism and the device.
Wherein, first roll adjustment part 2 is provided with two sets ofly at least, and is provided with a set of second roll adjustment part 3 in every first roll adjustment part of group 2 at least, make this device at least include two sets of initiative running part 5 and the driven running part 6 that set up along transmission cable extending direction, thereby after one of them set of initiative running part 5 and driven running part 6 are close to the barrier separation, another set of initiative running part 5 and driven running part 6 can still move on the transmission cable, thereby avoid patrolling the line robot and breaking away from dropping from the transmission cable when surmounting the barrier, keep patrolling the normal removal of line robot on the transmission cable.
As shown in fig. 1 to 3, the first distance adjusting part 2 includes a first distance adjusting column 201, a first distance adjusting groove 202, a first distance adjusting screw 203, a first distance adjusting slider 204, a first distance adjusting motor 205, and a first connection sub-plate 206.
Wherein, first roll adjustment post 201 is connected on connecting mainboard 1, first roll adjustment groove 202 has been seted up in first roll adjustment post 201, first roll adjustment post 201 bilateral symmetry is connected with a pair of first fixed plate, a pair of first fixed plate has all been seted up corresponding on with connecting mainboard 1 to first fixed plate, it is equipped with the gim peg to insert in the first fixed plate, the setting of first fixed plate, first fixed plate and gim peg is used for fixed first roll adjustment post 201 and connects mainboard 1, convenient to use person carries out the dismouting to first roll adjustment post 201 and connection mainboard 1.
The first distance adjusting screw rod 203 is arranged in the first distance adjusting groove 202, a first distance adjusting sliding block 204 matched with the first distance adjusting groove 202 is arranged on the first distance adjusting screw rod 203 in a rotating mode, and the first distance adjusting screw rod 203 drives the first distance adjusting sliding block 204 to move in a rotating mode.
The first distance adjusting motor 205 is connected to one end of the first distance adjusting screw 203 and used for driving the first distance adjusting screw 203 to rotate, the first distance adjusting motor 205 drives the first distance adjusting screw 203 to rotate so as to drive the first distance adjusting slider 204 to move, and one end, far away from the first distance adjusting motor 205, of the first distance adjusting screw 203 is connected with a first bearing.
And a first connection sub-plate 206 connected to the first distance adjustment slider 204 for connecting the first distance adjustment member 2 and the second distance adjustment member 3.
As shown in fig. 3 to 4, at least one second distance adjusting unit 3 for lateral distance adjustment is connected to the first distance adjusting unit 2, and the apparatus is adapted to move on a single power transmission cable when one set of the second distance adjusting units 3 is provided on the first distance adjusting unit 2, and adapted to move on two or more power transmission cables side by side when a plurality of sets of the second distance adjusting units 3 are provided on the first distance adjusting unit 2.
The second distance adjusting component 3 includes a second distance adjusting column 301, a second distance adjusting groove 302, a second distance adjusting screw 303, a second distance adjusting slider 304, a second distance adjusting motor 305, and a pair of second connecting sub-plates 306.
Second roll adjustment post 301 connects on first connection time board 206, has seted up second roll adjustment groove 302 in second roll adjustment post 301, and second roll adjustment post 301 and first connection time board 206 threaded connection, and convenient to use person carries out the dismouting to second roll adjustment part 3 and first roll adjustment part 2.
The second distance adjusting screw 303 is disposed in the second distance adjusting groove 302, a pair of second distance adjusting sliders 304 matched with the second distance adjusting groove 302 is rotatably disposed on the second distance adjusting screw 303, and the second distance adjusting screw 303 rotates to drive the second distance adjusting sliders 304 to move.
The second distance adjusting motor 305 is connected to one end of the second distance adjusting screw 303 and used for driving the second distance adjusting screw 303 to rotate, the second distance adjusting motor 305 drives the second distance adjusting screw 303 to rotate so as to drive the second distance adjusting slider 304 to rotate, and one end, far away from the second distance adjusting motor 305, of the second distance adjusting screw 303 is connected with a second bearing.
And a pair of second connection sub-plates 306 respectively connected to the pair of second distance adjusting sliders 304 for connecting the second distance adjusting unit 3 and the third distance adjusting unit 4.
As shown in fig. 1 to 4, the second distance adjusting member 3 is provided with a third distance adjusting member 4 for vertical distance adjustment.
The third distance adjusting part 4 includes a first distance adjusting telescopic column 401, a second distance adjusting telescopic column 402, two sets of second fixing plates 403, and two sets of second fixing holes 404.
The first telescopic column 401 is connected to a second connection sub-plate 306.
And the second distance-adjusting telescopic column 402 is connected to the other second connecting secondary plate 306, and the first distance-adjusting telescopic column 401 and the second distance-adjusting telescopic column 402 are used for vertically adjusting the height of the driving walking part 5.
Two sets of second fixed plates 403 are respectively connected to the first distance-adjusting telescopic column 401 and the second distance-adjusting telescopic column 402, and the second fixed holes 404 are correspondingly formed in the two sets of second fixed plates 403 and the second connection secondary plate 306.
Two sets of second staple 405, correspond threaded connection respectively in two sets of second fixed orificess 404, be used for fixed second connection subplate 306 and first flexible post 401 of roll adjustment and the flexible post 402 of second roll adjustment respectively, the setting of second fixed plate 403, second fixed orifices 404 and second staple 405 is used for fixed third roll adjustment part 4 and second roll adjustment part 3, and convenient to use person carries out the dismouting to second roll adjustment part 3 and third roll adjustment part 4.
As shown in fig. 1 to 4, the active walking unit 5 is disposed on the third distance adjusting unit 4, and is configured to drive the inspection robot to move on the power transmission cable.
The active walking part 5 includes a pair of motor protection seats 501, a driving motor 502, a speed reducer 503, a first active walking wheel 504, a second active walking wheel 505, a first fixing slot 506, a first fixing insert 507 and a pair of first magnetic blocks 508.
A pair of motor protection seats 501, which are respectively and correspondingly connected to the first distance-adjusting telescopic column 401 and the second distance-adjusting telescopic column 402, for protecting the driving motor 502.
And the driving motor 502 is arranged in the motor protection seat 501 close to the first distance-adjusting telescopic column 401 and used for driving the first driving travelling wheel 504 to move on the power transmission cable.
The first active road wheel 504 is arranged between the pair of motor protection seats 501, a speed reducer 503 for adjusting and connecting the driving motor 502 is connected between the first active road wheel 504 and the driving motor 502, and the speed reducer 503 can reduce the revolution number of the driving motor 502 to the required revolution number and obtain larger torque, so that the rotating speed and the moving speed of the first active road wheel 504 are adjusted.
The second active walking wheel 505 is arranged corresponding to the first active walking wheel 504, a first attaching groove matched with the power transmission cable is formed in one surface, close to the first active walking wheel 504 and the second active walking wheel 505, of each other, and the first active walking wheel 504 and the second active walking wheel 505 can be attached to the power transmission cable to move through the arrangement of the driving motor 502 and the first attaching groove.
In addition, the active walking component 5 further includes a first fixed slot 506, a first fixed block 507 and a pair of first magnetic blocks 508.
The first fixed slot 506 is opened at a side of the first road wheel 504 close to the second road wheel 505.
The first fixing insert 507 is connected to a surface of the second road wheel 505 close to the first road wheel 504 and is adapted to the first fixing slot 506.
The pair of first magnetic blocks 508 are correspondingly connected to the outer wall of the first fixed insertion block 507 and the inner wall of the first fixed insertion slot 506 respectively and are used for being matched with the first fixed insertion slot 506 and the first fixed insertion block 507 to attract and clamp the first active road wheel 504 and the second active road wheel 505, the surfaces, close to each other, of the pair of first magnetic blocks 508 are opposite magnetic poles, the pair of first magnetic blocks 508 can be attracted to each other, and therefore the first active road wheel 504 and the second active road wheel 505 can be clamped and clamped on a power transmission cable to move after being separated and crossing obstacles by being matched with the first fixed insertion slot 506 and the first fixed insertion block 507.
As shown in fig. 4 to 5, a driven traveling member 6 for pressing the power transmission cable in cooperation with the driving traveling member 5 is provided on the lower side of the driving traveling member 5.
The driven traveling component 6 includes a first driven traveling wheel 601, a second driven traveling wheel 602, a second fixed slot 603, a second fixed insert 604, and a pair of second magnetic blocks 605.
The first driven road wheel 601 is correspondingly disposed at the lower side of the first driving road wheel 504.
Second driven walking wheel 602, correspond and set up in second initiative walking wheel 505 downside, a be used for cooperating first driven walking wheel 601, first initiative walking wheel 504 and the laminating transmission cable of second initiative walking wheel 505, the second laminating groove with transmission cable looks adaptation is all seted up to the one side that first driven walking wheel 601 and second driven walking wheel 602 are close to each other, and second laminating groove corresponds the setting with first laminating groove, can make first driven walking wheel 601 and the laminating of second driven walking wheel 602 cooperation first initiative walking wheel 504 and second initiative walking wheel 505 remove on transmission cable through the setting in second laminating groove.
And the second fixed slot 603 is formed in one surface of the first driven traveling wheel 601 close to the second driven traveling wheel 602.
And a second fixed insert 604 connected to a surface of the second driven road wheel 602 close to the first driven road wheel 601 and adapted to the second fixed slot 603.
The pair of second magnetic blocks 605 are correspondingly connected to the outer wall of the second fixed insert block 604 and the inner wall of the second fixed insert slot 603 respectively, and are used for matching with the second fixed insert slot 603 and the second fixed insert block 604 to attract and clamp the first driven travelling wheel 601 and the second driven travelling wheel 602, the surfaces, close to each other, of the pair of second magnetic blocks 605 are opposite magnetic poles, so that the pair of second magnetic blocks 605 can attract each other, and thus the first driven travelling wheel 601 and the second driven travelling wheel 602 can be clamped and clamped on the power transmission cable to move after being separated to cross an obstacle by matching with the second fixed insert slot 603 and the second fixed insert block 604.
As shown in fig. 1 to 5, a fourth distance adjusting member 7 for vertically adjusting the distance of the driven traveling member 6 is connected between the driven traveling member 6 and the third distance adjusting member 4.
The fourth distance adjusting unit 7 includes a pair of third distance adjusting columns 701, a pair of third distance adjusting grooves 702, a pair of third distance adjusting screws 703, a pair of third distance adjusting sliders 704, and a pair of third distance adjusting motors 705.
A pair of third roll adjustment post 701 sets up respectively between first driven walking wheel 601 and first flexible post of roll adjustment 401 and second driven walking wheel 602 and the flexible post of second roll adjustment 402, third roll adjustment groove 702 has all been seted up to the one side that a pair of third roll adjustment post 701 is close to each other, the one side that a pair of third roll adjustment post 701 was kept away from each other respectively with the flexible post of first roll adjustment 401 and the flexible post of second roll adjustment 402 threaded connection, convenient to use person carries out the dismouting to the flexible post of first roll adjustment 401 and the flexible post of second roll adjustment 402 and a pair of third roll adjustment post 701.
The pair of third distance-adjusting screws 703 are respectively connected to the pair of third distance-adjusting grooves 702, and the pair of third distance-adjusting screws 703 rotate to respectively drive the pair of third distance-adjusting sliders 704 to move.
And a pair of third distance-adjusting sliders 704 are respectively rotatably connected with the pair of third distance-adjusting screws 703 and are adapted to the third distance-adjusting grooves 702, and one ends of the pair of third distance-adjusting sliders 704, which are far away from the third distance-adjusting columns 701, are respectively and fixedly connected with the first driven travelling wheels 601 and the second driven travelling wheels 602.
The pair of third pitch motors 705 are respectively connected to one ends of the pair of third pitch screws 703, and the pair of third pitch motors 705 respectively drive the pair of third pitch screws 703 to rotate so as to drive the pair of third pitch sliders 704 to move.
As shown in fig. 1 to 7, the cable attaching member 8 is used to cooperate with the driving traveling member 5 and the driven traveling member 6 to press the power transmission cable, and a pair of connecting brackets 9 for connecting the cable attaching member 8 and the third distance adjusting member 4 is connected between the cable attaching member 8 and the third distance adjusting member 4.
The cable attachment member 8 includes a pair of annular outer plates 801, a plurality of fourth fixing slots 802, a plurality of annular inner plates 803, a plurality of grip telescopic columns 804, a plurality of hold-down springs 805, and a plurality of hold-down wheels 806.
A plurality of fourth fixing slots 802 are formed in the pair of annular outer plates 801, the pair of annular outer plates 801 are symmetrically arranged about a central axis of the connecting main plate 1, one surface, close to the other annular outer plate 801, of one annular outer plate 801 is provided with a pair of third fixing slots in a chiseled mode, one surface, close to the third fixing slots, of the other annular outer plate 801 is connected with a pair of third fixing insertion blocks which are matched with the third fixing slots and are correspondingly arranged, and the pair of annular outer plates 801 are fixedly connected through the third fixing slots and the third fixing insertion blocks in a clamping mode.
The annular inner plates 803 are arranged corresponding to the fourth fixing slots 802 and are respectively inserted into the fourth fixing slots 802, the clamping telescopic columns 804 are connected between the annular inner plates 803 and the inner walls of the pair of annular outer plates 801, and the pressing wheels 806 are connected to one surfaces, close to the power transmission cables, of the annular inner plates 803.
A plurality of pressure spring 805, correspond the setting with the flexible post 804 of a plurality of centre grippings and set up respectively in the flexible post 804 outside of a plurality of centre grippings, support through pressure spring 805 to annular inner panel 803 tightly can make a plurality of pinch rollers 806 paste tightly on the transmission cable, thereby cooperation initiative running part 5 and driven running part 6 with the transmission cable cladding between a plurality of pinch rollers 806, and then avoid patrolling the line robot and take place the friction and rock on the cable when receiving external force effect such as wind-force, avoid patrolling the line robot and follow the transmission line slippage and drop on the road, the protection is patrolled the line robot and is not damaged, potential safety hazard is reduced, user's use and cost of maintenance are reduced.
Based on the technical scheme, the specific working process of the invention is as follows: during normal motion, reduction gear 503, first driving walking wheel 504, first driven walking wheel 601 and second driven walking wheel 602 correspond the laminating on the transmission cable, and move under driving motor 502's drive, thereby it patrols and examines the robot and move on the transmission cable to drive, at this moment, first fixed inserted block 507 blocks into in first fixed slot 506 and second fixed inserted block 604 blocks into second fixed slot 603, and a pair of second magnetic path 605 and a pair of first magnetic path 508 attract each other, make first driving walking wheel 504, second driving walking wheel 505 and first driven walking wheel 601 and second driven walking wheel 602 chucking each other.
When an obstacle is encountered, the driving motor 502 stops working, the pair of third distance adjusting motors 705 close to one side of the obstacle is started to drive the third distance adjusting sliders 704 to move in the third distance adjusting grooves 702, so as to drive the first driven traveling wheels 601 and the second driven traveling wheels 602 to be away from the first driving traveling wheels 504, the second driving traveling wheels 505 and the power transmission cables, then the second distance adjusting motors 305 are started to drive the pair of second distance adjusting sliders 304 to move in the second distance adjusting grooves 302, so that the first driving traveling wheels 504 and the first driven traveling wheels 601 and the second driving traveling wheels 505 and the second driven traveling wheels 602 are driven to be away from each other through the first distance adjusting telescopic columns 401 and the second distance adjusting telescopic columns 402, and are separated from the power transmission cables.
Then, the driving motor 502 on the side far from the obstacle is started to drive the first road driving wheel 504 and the second road driving wheel 505 on the side far from the obstacle to move, so as to drive the first road driven wheel 601, the second road driven wheel 602, the first road driving wheel 504 and the second road driving wheel 505 on the side near the obstacle to cross the obstacle, and finally, the first road driven wheel 601, the second road driven wheel 602, the first road driving wheel 504 and the second road driving wheel 505 on the side crossing the obstacle to close again to the power transmission cable, and then the first road driven wheel 601, the second road driven wheel 602, the first road driving wheel 504 and the second road driving wheel 505 which do not cross the obstacle are driven to cross the obstacle according to the above steps.
As above, while the invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides a transmission cable patrols and examines walking obstacle crossing mechanism of robot, its characterized in that includes:
the device comprises a connecting main board, wherein a plurality of groups of first distance adjusting components used for transverse distance adjustment are connected to the connecting main board, at least one second distance adjusting component used for transverse distance adjustment is connected to the first distance adjusting components, and a third distance adjusting component used for vertical distance adjustment is arranged on the second distance adjusting component;
the driving walking part is arranged on the third distance adjusting part and used for driving the inspection robot to move on the power transmission cable, a driven walking part used for being matched with the driving walking part to compress the power transmission cable is arranged on the lower side of the driving walking part, and a fourth distance adjusting part used for vertically adjusting the distance of the driven walking part is connected between the driven walking part and the third distance adjusting part;
and the cable attaching component is used for matching the driving walking component and the driven walking component to compress the power transmission cable, and a pair of connecting supports used for connecting the cable attaching component and the third distance adjusting component is connected between the cable attaching component and the third distance adjusting component.
2. The walking obstacle crossing mechanism of the power transmission cable inspection robot according to claim 1, characterized in that: the first distance adjusting part includes:
the first distance adjusting column is connected to the connecting main board, and a first distance adjusting groove is formed in the first distance adjusting column;
the first distance adjusting screw rod is arranged in the first distance adjusting groove, and a first distance adjusting sliding block matched with the first distance adjusting groove is rotatably arranged on the first distance adjusting screw rod;
the first distance adjusting motor is connected to one end of the first distance adjusting screw rod and used for driving the first distance adjusting screw rod to rotate;
and the first connecting secondary plate is connected to the first distance adjusting slide block and is used for connecting the first distance adjusting part and the second distance adjusting part.
3. The walking obstacle crossing mechanism of the power transmission cable inspection robot according to claim 1, characterized in that: the second distance adjusting means includes:
the second distance adjusting column is connected to the first connecting secondary plate, and a second distance adjusting groove is formed in the second distance adjusting column;
the second distance adjusting screw rod is arranged in the second distance adjusting groove, and a pair of second distance adjusting sliding blocks matched with the second distance adjusting groove are rotatably arranged on the second distance adjusting screw rod;
the second distance adjusting motor is connected to one end of the second distance adjusting screw rod and used for driving the second distance adjusting screw rod to rotate;
and the pair of second connecting secondary plates are respectively connected to the pair of second distance adjusting sliders and used for connecting the second distance adjusting part and the third distance adjusting part.
4. The walking obstacle crossing mechanism of the power transmission cable inspection robot according to claim 1, characterized in that: the third distance adjusting means includes:
the first distance-adjusting telescopic column is connected to a second connecting secondary plate;
the second distance-adjusting telescopic column is connected to the other second connecting secondary plate;
two groups of second fixed plates are respectively connected to the first distance-adjusting telescopic column and the second distance-adjusting telescopic column, and second fixed holes are correspondingly formed in the two groups of second fixed plates and the second connecting secondary plate;
and the two groups of second fixing nails are respectively connected in the two groups of second fixing holes correspondingly and respectively used for fixing the second connecting secondary plate and the first distance-adjusting telescopic column and the second distance-adjusting telescopic column.
5. The walking obstacle crossing mechanism of the power transmission cable inspection robot according to claim 1, characterized in that: the active walking part includes:
the pair of motor protection seats are respectively and correspondingly connected to the first distance-adjusting telescopic column and the second distance-adjusting telescopic column;
the driving motor is arranged in the motor protection seat close to the first distance-adjusting telescopic column;
the first driving travelling wheel is arranged between the pair of motor protection seats, and a speed reducer for adjusting and connecting the driving motor is connected between the first driving travelling wheel and the driving motor;
and the second driving travelling wheel is arranged corresponding to the first driving travelling wheel.
6. The walking obstacle crossing mechanism of the power transmission cable inspection robot according to claim 5, characterized in that: the active walking part further includes:
the first fixed slot is formed in one side, close to the second driving travelling wheel, of the first driving travelling wheel;
the first fixed inserting block is connected to one surface, close to the first driving travelling wheel, of the second driving travelling wheel and is matched with the first fixed inserting groove;
and the pair of first magnetic blocks are correspondingly connected to the outer wall of the first fixed inserting block and the inner wall of the first fixed inserting groove respectively and are used for matching with the first fixed inserting groove and the first fixed inserting block to attract and clamp the first driving travelling wheel and the second driving travelling wheel.
7. The walking obstacle crossing mechanism of the power transmission cable inspection robot according to claim 1, characterized in that: the driven traveling part includes:
the first driven travelling wheels are correspondingly arranged on the lower sides of the first driving travelling wheels;
the second driven travelling wheels are correspondingly arranged at the lower sides of the second driving travelling wheels and are used for matching with the first driven travelling wheels, the first driving travelling wheels and the second driving travelling wheels to attach the power transmission cables;
the second fixed slot is formed in one surface, close to the second driven travelling wheel, of the first driven travelling wheel;
the second fixed inserting block is connected to one surface, close to the first driven travelling wheel, of the second driven travelling wheel and is matched with the second fixed inserting groove;
and the pair of second magnetic blocks are correspondingly connected to the outer wall of the second fixed insert block and the inner wall of the second fixed insert slot respectively and are used for matching with the second fixed insert slot and the second fixed insert block to attract and clamp the first driven walking wheel and the second driven walking wheel.
8. The walking obstacle crossing mechanism of the power transmission cable inspection robot according to claim 1, characterized in that: the fourth distance adjusting means includes:
the pair of third distance adjusting columns are respectively arranged between the first driven travelling wheel and the first distance adjusting telescopic column as well as between the second driven travelling wheel and the second distance adjusting telescopic column, and third distance adjusting grooves are formed in the surfaces, close to each other, of the pair of third distance adjusting columns;
the pair of third distance adjusting screw rods are respectively connected in the pair of third distance adjusting grooves;
the pair of third distance adjusting slide blocks are respectively and rotatably connected with the pair of third distance adjusting screw rods and are matched with the third distance adjusting grooves;
and the pair of third distance adjusting motors are respectively connected with one ends of the pair of third distance adjusting screw rods.
9. The walking obstacle crossing mechanism of the power transmission cable inspection robot according to claim 1, characterized in that: the cable attachment member includes:
the pair of annular outer plates are internally provided with a plurality of fourth fixed slots;
the annular inner plates are arranged corresponding to the fourth fixing slots and are respectively inserted into the fourth fixing slots, clamping telescopic columns are connected between the annular inner plates and the inner walls of the pair of annular outer plates, and one surfaces, close to the power transmission cables, of the annular inner plates are connected with pinch rollers;
and the plurality of compression springs are correspondingly arranged on the clamping telescopic columns and are respectively arranged on the outer sides of the plurality of clamping telescopic columns.
10. An obstacle crossing method of a walking obstacle crossing mechanism of a power transmission cable inspection robot is characterized by comprising the following steps:
s1, when the inspection robot moves normally, the speed reducer, the first driving travelling wheel, the first driven travelling wheel and the second driven travelling wheel are correspondingly attached to the power transmission cable and move under the driving of the driving motor, so that the inspection robot is driven to move on the power transmission cable;
s2, when an obstacle is encountered, the driving motor stops working, a pair of third distance adjusting motors close to one side of the obstacle is started to drive a third distance adjusting slide block to move in a third distance adjusting groove, and therefore the first driven travelling wheel and the second driven travelling wheel are driven to be far away from the first driving travelling wheel, the second driving travelling wheel and the power transmission cable;
s3, starting a second distance adjusting motor to drive a pair of second distance adjusting sliding blocks to move in a second distance adjusting groove, so that a first driving travelling wheel and a first driven travelling wheel are driven to be away from each other through a first distance adjusting telescopic column and a second distance adjusting telescopic column, and a second driving travelling wheel and a second driven travelling wheel are driven to be away from each other to be separated from a power transmission cable;
s4, starting a driving motor at one side far away from the obstacle to drive a first driving travelling wheel and a second driving travelling wheel at one side far away from the obstacle to move, so as to drive a first driven travelling wheel, a second driven travelling wheel, a first driving travelling wheel and a second driving travelling wheel at one side close to the obstacle to cross the obstacle;
and S5, finally, reclosing the first driven walking wheel, the second driven walking wheel, the first driving walking wheel and the second driving walking wheel on one side of the obstacle to be close to the power transmission cable, and driving the first driven walking wheel, the second driven walking wheel, the first driving walking wheel and the second driving walking wheel which do not cross the obstacle to cross the obstacle according to the steps.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110967495.5A CN113659485A (en) | 2021-08-23 | 2021-08-23 | Walking obstacle crossing mechanism of power transmission cable inspection robot and obstacle crossing method thereof |
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| CN202110967495.5A CN113659485A (en) | 2021-08-23 | 2021-08-23 | Walking obstacle crossing mechanism of power transmission cable inspection robot and obstacle crossing method thereof |
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| CN115000879A (en) * | 2022-08-03 | 2022-09-02 | 国网山东省电力公司高青县供电公司 | Power transmission line inspection robot and inspection method based on image learning |
| CN115421069A (en) * | 2022-10-19 | 2022-12-02 | 国网安徽省电力有限公司合肥供电公司 | Distribution lines trouble inspection device |
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| CN117277144A (en) * | 2023-10-16 | 2023-12-22 | 国网山东省电力公司武城县供电公司 | High-voltage transmission line inspection robot |
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Application publication date: 20211116 |