CN114148426B - A machine dog for electric power industry patrols - Google Patents
A machine dog for electric power industry patrols Download PDFInfo
- Publication number
- CN114148426B CN114148426B CN202111405450.5A CN202111405450A CN114148426B CN 114148426 B CN114148426 B CN 114148426B CN 202111405450 A CN202111405450 A CN 202111405450A CN 114148426 B CN114148426 B CN 114148426B
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- China
- Prior art keywords
- guide
- fixedly connected
- machine dog
- wire rope
- steel wire
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
- F16F15/06—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs
- F16F15/067—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs using only wound springs
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Electric Cable Installation (AREA)
Abstract
The invention discloses a machine dog for electric power industry patrol, which comprises a machine dog body, wherein a guide steel wire rope is arranged above the machine dog body, two guide cylinders are sleeved on the guide steel wire rope, the guide cylinders are fixedly connected with the machine dog body through supports, transverse guide pipes are arranged in the guide cylinders, the guide steel wire rope is positioned in the transverse guide pipes, the transverse guide pipes are vertically and fixedly connected with vertical guide pipes, guide rods are arranged in the vertical guide pipes, the upper ends of the guide rods are in splicing fit with an upper buffer pipe, the upper end of the upper buffer pipe is fixedly connected with the inner walls of the guide cylinders, a controller is fixedly arranged in the upper buffer pipe, a self-resetting switch button is arranged at the bottom of the controller, and the controller is wirelessly connected with a rechargeable motor. According to the invention, the guide steel wire rope is arranged, so that the robot dog body can patrol along the direction of the guide steel wire rope, and the robot dog body can be effectively prevented from yawing.
Description
Technical Field
The invention relates to the field of machine dogs, in particular to a machine dog for patrol in the power industry.
Background
In the aspect of electric wire netting circuit fortune dimension, the scene is complicated relatively, uses the manual work to patrol and examine to give first place to, and because of patrolling and examining the technical content not high, personnel grow up the space not enough, are difficult to recruit the personnel of high quality, and personnel mobility is great, consequently more and more adopt the robot to replace the manual work to patrol and examine, one of them patrol and examine the mode and be: the guide rope is laid along the inspection line, and the robot advances along the guide rope, but the robot is difficult to exceed when the robot travels to a hollow section, a pond or other areas, and therefore the application range of the robot is limited.
Disclosure of Invention
The invention aims to provide a machine dog for patrolling in the power industry so as to solve the technical problem.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides a machine dog for electric power industry tour, includes the machine dog body, machine dog body top is provided with direction wire rope, the cover is equipped with two guide cylinders on the direction wire rope, the guide cylinder passes through support and machine dog body rigid coupling, be provided with horizontal stand pipe in the guide cylinder, direction wire rope is located horizontal stand pipe, horizontal stand pipe and the perpendicular rigid coupling of vertical stand pipe, be provided with the guide bar in the vertical stand pipe, the cooperation of pegging graft of guide bar upper end and last buffer tube, go up buffer tube upper end and guide cylinder inner wall rigid coupling, it has set firmly the controller to go up in the buffer tube, the controller bottom is provided with from reset switch button, controller and rechargeable motor wireless connection, the motor is used for driving toggle mechanism to rotate, toggle mechanism is located the guide cylinder.
Preferably, the poking mechanism comprises a rotary drum, a rotary shaft and a poking sheet; the rechargeable motor is fixedly connected with the outer wall of the guide cylinder, the power output end of the rechargeable motor extends into the guide cylinder and is fixedly connected with one end of the rotating shaft, the rotating cylinder is fixedly sleeved on the rotating shaft, a plurality of shifting pieces are fixedly arranged on the surface of the rotating cylinder along the circumferential direction of the rotating cylinder, and a plurality of annular grooves matched with the shifting pieces are formed in the surface of the guide steel wire rope at equal intervals.
Preferably, the rotating shaft is fixedly sleeved with two limiting discs, and the two limiting discs are respectively positioned on the left side and the right side of the rotating drum.
Preferably, the guide bar lower part is in splicing fit with a lower buffer tube, the bottom of the lower buffer tube is fixedly connected with the inner wall of the guide tube, a lower buffer spring is sleeved on the lower part of the guide bar, the upper end of the lower buffer spring is fixedly connected with the vertical guide tube, and the lower end of the lower buffer spring is fixedly connected with the lower buffer tube.
Preferably, the upper part of the guide rod is sleeved with an upper buffer spring, the upper end of the upper buffer spring is fixedly connected with an upper buffer tube, and the lower end of the upper buffer spring is fixedly connected with the vertical guide tube.
Preferably, the left end and the right end of the transverse guide pipe are both trumpet-shaped.
Preferably, the shank bottom of machine dog body is provided with the connecting plate, the connecting plate is connected with the shank through a plurality of connecting screws, connecting plate bottom and shock attenuation board rigid coupling, shock attenuation board below is provided with the shock attenuation foot of bowl form, shock attenuation foot top is through a plurality of damping spring and shock attenuation board rigid coupling.
Preferably, the bottom surface of the damping plate is vertically and fixedly provided with an anti-skid nail, the anti-skid nail penetrates through the bottom of the damping foot, a limiting block is fixedly sleeved on the anti-skid nail, and the limiting block is positioned below the damping foot.
The beneficial effects of the invention are:
1. according to the invention, the guide steel wire rope is arranged, so that the robot dog body can be patrolled along the direction of the guide steel wire rope, and the robot dog body can be effectively prevented from yawing.
2. When the robot dog body walks to the hollow, the two legs of the robot dog body are lifted off and hung on the guide steel wire rope, the guide rod is pressed on the self-reset switch button under the action of gravity of the robot dog body, so that the rechargeable motor is started, the rechargeable motor drives the shifting piece to rotate and be embedded with the annular groove in the guide steel wire rope, the guide cylinder is driven to move along the guide steel wire rope, the robot dog body is driven to move to cross the hollow, the two legs of the robot dog body land after crossing, the guide rod does not press the self-reset switch button any more, the rechargeable motor is turned off, and the robot dog body walks by means of power of the robot dog body.
3. In the walking process of the machine dog body, the damping feet extrude the damping springs to play a role in damping, and the anti-slip nails are embedded into soil, so that the ground grabbing force of the machine dog body can be improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an enlarged view of portion A of FIG. 1;
FIG. 3 is an enlarged view of the portion B of FIG. 1;
FIG. 4 is a side view of the spacing disk of FIG. 2;
fig. 5 is a schematic view of a connection structure of the charging type motor and the guide cylinder;
reference numerals: 1-a machine dog body; 2, guiding a steel wire rope; 3-a scaffold; 4-a rechargeable motor; 5, a guide cylinder; 6-plectrum; 7-a limiting disc; 8-a rotating shaft; 9-a rotating drum; 10-a controller; 11-an upper buffer tube; 12-a guide bar; 13-upper buffer spring; 15-an annular groove; 16-a leg portion; 17-a vertical guide tube; 18-a lower buffer tube; 19-lower buffer spring; 20-a transverse guide tube; 21-self-reset switch button; 22-a damping spring; 23-connecting screws; 24-a connecting plate; 25-a damping plate; 26-shock absorbing feet; 27-a cleat; 28-a limiting block.
Detailed Description
The present invention will be further described with reference to the following detailed description and the accompanying drawings, which are provided for the purpose of illustrating the invention and are not intended to limit the invention to the particular embodiments disclosed. Based on the embodiments in the implementation, other embodiments obtained by those skilled in the art without any creative efforts belong to the protection scope of the present invention.
Specific embodiments of the present invention are described below with reference to the accompanying drawings.
Example 1
As shown in fig. 1-5, a machine dog for electric power industry inspection, comprises a machine dog body 1, a guide steel wire rope 2 is arranged above the machine dog body 1, the guide steel wire rope 2 is erected along the inspection direction, two guide cylinders 5 are sleeved on the guide steel wire rope 2, the guide cylinders 5 are fixedly connected with the machine dog body 1 through a bracket 3, a transverse guide tube 20 is arranged in each guide cylinder 5, the left end and the right end of each transverse guide tube 20 are horn-shaped, the two ends of each transverse guide tube 20 are horn-shaped, the opening areas of the two ends of each guide tube 20 can be enlarged, a certain radian is generated at the opening, the end part of each guide tube 20 is prevented from being clamped into an annular groove 15, the guide steel wire rope 2 is positioned in each transverse guide tube 20, the transverse guide tubes 20 are vertically and fixedly connected with vertical guide tubes 17, guide rods 12 are arranged in the vertical guide tubes 17, the upper ends of the guide rods 12 are in plug-in fit with upper buffer tubes 11, the upper end of an upper buffer tube 11 is fixedly connected with the inner wall of a guide cylinder 5, the lower part of a guide rod 12 is in plug-in fit with a lower buffer tube 18, the bottom of the lower buffer tube 18 is fixedly connected with the inner wall of the guide cylinder 5, the lower part of the guide rod 12 is sleeved with a lower buffer spring 19, the upper end of the lower buffer spring 19 is fixedly connected with a vertical guide tube 17, the lower end of the lower buffer spring 19 is fixedly connected with the lower buffer tube 18, the upper part of the guide rod 12 is sleeved with an upper buffer spring 13, the upper end of the upper buffer spring 13 is fixedly connected with the upper buffer tube 11, the lower end of the upper buffer spring 13 is fixedly connected with the vertical guide tube 17, the functions of buffering and limiting can be realized by arranging the upper buffer spring 13 and the lower buffer spring 19, the guide rod 12 is prevented from mistakenly touching a self-resetting switch button 21, a controller 10 is fixedly arranged in the upper buffer tube 11, the bottom of the controller 10 is provided with the self-resetting switch button 21, the controller 10 is wirelessly connected with a charging type motor 4, and the charging type motor 4 is used for driving a toggle mechanism to rotate, the toggle mechanism is positioned in the guide cylinder 5.
The toggle mechanism comprises a rotary drum 9, a rotary shaft 8 and a toggle piece 6; rechargeable motor 4 and 5 outer wall rigid couplings of guide cylinder, rechargeable motor 4's power take off end extend to in the guide cylinder 5 with 8 one end rigid couplings of pivot, fixed cover is equipped with rotary drum 9 in the pivot 8, rotary drum 9 surface has set firmly a plurality of plectrums 6 along rotary drum 9 circumference, 2 surperficial equidistance of direction wire rope offer a plurality of annular groove 15 that match with plectrum 6, fixed cover is equipped with two spacing dishes 7 in the pivot 8, two spacing dishes 7 are located the rotary drum 9 left and right sides respectively.
The working principle is as follows: the robot dog body 1 walks by means of self power along the guide rope 2 for inspection, when walking to a hollow section, the robot dog body 1 walks into a hollow, the leg 16 is off the ground, the robot dog body 1 is hung on the guide steel wire rope 2 in a hanging mode at the moment, under the action of the self gravity of the robot dog body 1, the robot dog body 1 drives the guide cylinder 5 to move downwards, the shifting piece 6 is in contact with the guide steel wire rope 2, the guide cylinder 5 drives the upper buffer tube 11 to move downwards, the guide rod 12 presses the self-reset switch button 21, the controller 10 controls the rechargeable motor 4 to be started, the rechargeable motor 4 drives the rotating shaft 8 to rotate, the rotating shaft 8 drives the shifting piece 6 to rotate, the shifting piece 6 is clamped into different annular grooves 15 along the guide steel wire rope 2, the guide cylinder 5 is pushed to move, the guide cylinder 5 drives the robot dog body 1 to move through the support 3, after crossing is completed, the two legs of the robot dog body 1 land, the robot dog body 1 starts walking by means of self power, the guide rod 12 presses the self-reset switch button 21 at the moment, and the motor 4 is not turned off any more.
Example 2
As shown in fig. 3, in the case where the other parts are the same as those of embodiment 1, this embodiment is different from embodiment 1 in that: a connecting plate 24 is arranged at the bottom end of the leg part 16 of the machine dog body 1, the connecting plate 24 is connected with the leg part 16 through a plurality of connecting screws 23, the bottom of the connecting plate 24 is fixedly connected with a damping plate 25, a bowl-shaped damping foot 26 is arranged below the damping plate 25, and the top of the damping foot 26 is fixedly connected with the damping plate 25 through a plurality of damping springs 22; the bottom surface of the shock absorption plate 25 is vertically and fixedly provided with an anti-skid nail 27, the anti-skid nail 27 penetrates through the bottom of the shock absorption foot 26, a limiting block 28 is fixedly sleeved on the anti-skid nail 27, and the limiting block 28 is positioned below the shock absorption foot 26; when machine dog body 1 walked, during the antiskid nail 27 embedding earth, the improvement was grabbed the land fertility, and during the walking damping foot 26 pressed damping spring 22, played the effect of buffering.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. The utility model provides a machine dog for electric power industry patrols, includes machine dog body (1), its characterized in that: a guide steel wire rope (2) is arranged above the machine dog body (1), two guide cylinders (5) are sleeved on the guide steel wire rope (2), the guide cylinders (5) are fixedly connected with the machine dog body (1) through supports (3), a transverse guide pipe (20) is arranged in each guide cylinder (5), the guide steel wire rope (2) is located in each transverse guide pipe (20), each transverse guide pipe (20) is fixedly connected with each vertical guide pipe (17) vertically, each vertical guide pipe (17) is internally provided with a guide rod (12), the upper end of each guide rod (12) is in splicing fit with an upper buffer pipe (11), the upper end of each upper buffer pipe (11) is fixedly connected with the inner wall of each guide cylinder (5), a controller (10) is fixedly arranged in each upper buffer pipe (11), a self-resetting switch button (21) is arranged at the bottom of each controller (10), the rechargeable controller (10) is in wireless connection with the rechargeable motor (4), the rechargeable motor (4) is used for driving the toggle mechanism to rotate, and the toggle mechanism is located in each guide cylinder (5);
the toggle mechanism comprises a rotary drum (9), a rotary shaft (8) and a toggle piece (6); the rechargeable motor (4) is fixedly connected with the outer wall of the guide cylinder (5), the power output end of the rechargeable motor (4) extends into the guide cylinder (5) and is fixedly connected with one end of the rotating shaft (8), the rotating shaft (8) is fixedly sleeved with the rotating drum (9), a plurality of shifting pieces (6) are fixedly arranged on the surface of the rotating drum (9) along the circumferential direction of the rotating drum (9), and a plurality of annular grooves (15) matched with the shifting pieces (6) are formed in the surface of the guide steel wire rope (2) at equal intervals;
the lower part of the guide rod (12) is in splicing fit with the lower buffer tube (18), the bottom of the lower buffer tube (18) is fixedly connected with the inner wall of the guide cylinder (5), the lower part of the guide rod (12) is sleeved with a lower buffer spring (19), the upper end of the lower buffer spring (19) is fixedly connected with the vertical guide tube (17), and the lower end of the lower buffer spring (19) is fixedly connected with the lower buffer tube (18);
guide bar (12) upper portion cover is equipped with buffer spring (13), go up buffer spring (13) upper end and last buffer tube (11) rigid coupling, go up buffer spring (13) lower extreme and vertical stand pipe (17) rigid coupling.
2. The machine dog for electric power industry patrol according to claim 1, wherein: the fixed cover is equipped with two spacing dishes (7) on pivot (8), two spacing dish (7) are located rotary drum (9) left and right sides respectively.
3. The machine dog for electric industry patrolling according to claim 1, characterized in that: the left end and the right end of the transverse guide pipe (20) are both in a horn shape.
4. The machine dog for electric industry patrolling according to claim 1, characterized in that: shank (16) bottom of machine dog body (1) is provided with connecting plate (24), connecting plate (24) are connected with shank (16) through a plurality of connecting screw (23), connecting plate (24) bottom and shock attenuation board (25) rigid coupling, shock attenuation board (25) below is provided with shock attenuation foot (26) of bowl form, shock attenuation foot (26) top is through a plurality of damping spring (22) and shock attenuation board (25) rigid coupling.
5. The machine dog for electric industry patrolling according to claim 4, characterized in that: the shock attenuation board (25) bottom surface sets firmly antiskid nail (27) perpendicularly, antiskid nail (27) run through shock attenuation foot (26) bottom, fixed cover is equipped with stopper (28) on antiskid nail (27), stopper (28) are located shock attenuation foot (26) below.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111405450.5A CN114148426B (en) | 2021-11-24 | 2021-11-24 | A machine dog for electric power industry patrols |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111405450.5A CN114148426B (en) | 2021-11-24 | 2021-11-24 | A machine dog for electric power industry patrols |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114148426A CN114148426A (en) | 2022-03-08 |
| CN114148426B true CN114148426B (en) | 2023-02-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111405450.5A Active CN114148426B (en) | 2021-11-24 | 2021-11-24 | A machine dog for electric power industry patrols |
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| Country | Link |
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| CN (1) | CN114148426B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105666459A (en) * | 2016-04-12 | 2016-06-15 | 西安科技大学 | Underworkings suspension wire inspection explosion-proof robot |
| CN210239601U (en) * | 2019-06-05 | 2020-04-03 | 西安工业大学 | Mountain walking type drilling mechanism |
| CN110977928A (en) * | 2019-12-16 | 2020-04-10 | 北京海益同展信息科技有限公司 | Rail-mounted robot and inspection system |
| WO2021088102A1 (en) * | 2019-11-08 | 2021-05-14 | 中国科学院自动化研究所 | Carrying mechanism for on-line traveling |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101486009B1 (en) * | 2013-01-29 | 2015-01-28 | 한국과학기술연구원 | Driving Wheel of Robot moving along the wire and Robot having the same |
| US20150107915A1 (en) * | 2013-10-21 | 2015-04-23 | Areva Inc. | Vacuum Stepper Robot |
| CN107959254A (en) * | 2018-01-04 | 2018-04-24 | 杭州申昊科技股份有限公司 | One kind hangs rail intelligent inspection robot |
| CN109538938B (en) * | 2018-12-05 | 2021-03-16 | 浙江海洋大学 | "millipede" bionic crawling equipment for leakage detection of deep-buried oil pipeline in desert area |
-
2021
- 2021-11-24 CN CN202111405450.5A patent/CN114148426B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105666459A (en) * | 2016-04-12 | 2016-06-15 | 西安科技大学 | Underworkings suspension wire inspection explosion-proof robot |
| CN210239601U (en) * | 2019-06-05 | 2020-04-03 | 西安工业大学 | Mountain walking type drilling mechanism |
| WO2021088102A1 (en) * | 2019-11-08 | 2021-05-14 | 中国科学院自动化研究所 | Carrying mechanism for on-line traveling |
| CN110977928A (en) * | 2019-12-16 | 2020-04-10 | 北京海益同展信息科技有限公司 | Rail-mounted robot and inspection system |
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| Publication number | Publication date |
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| CN114148426A (en) | 2022-03-08 |
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