CN115912236A - On-line walking assembly of obstacle removing robot - Google Patents
On-line walking assembly of obstacle removing robot Download PDFInfo
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- CN115912236A CN115912236A CN202211697421.5A CN202211697421A CN115912236A CN 115912236 A CN115912236 A CN 115912236A CN 202211697421 A CN202211697421 A CN 202211697421A CN 115912236 A CN115912236 A CN 115912236A
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- 230000004888 barrier function Effects 0.000 abstract description 3
- 238000004140 cleaning Methods 0.000 abstract 1
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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 an on-line walking assembly of a barrier removing robot, which has the innovation points that: the novel multifunctional walking machine comprises a machine body and a walking locking mechanism arranged on the machine body, wherein the walking locking mechanism comprises a walking opening and closing unit, a walking opening and closing locking unit and a hovering locking unit, the walking opening and closing unit comprises an opening and closing walking hanging wheel, an opening and closing arm, an opening and closing motor and a rotating shaft, two sets of parallel rotating shafts are arranged on the machine body, the opening and closing arm is arranged on each rotating shaft, the two opening and closing arms are meshed through arm teeth, a rotating shaft rotating opening and closing motor is arranged on the machine body, the opening and closing walking hanging wheel is arranged on the inner side of each opening and closing arm, the walking unit comprises a walking motor, a power output shaft of the walking motor is connected with the opening and closing walking hanging wheel on the opening and closing arm in a transmission mode, and the walking opening and closing locking unit is arranged at the top of the opening and closing arm. The invention not only can be automatically folded and hung on the line, but also can be suspended and locked, thereby ensuring that the machine body is balanced and does not shake, and being convenient for cleaning obstacles subsequently.
Description
Technical Field
The invention relates to an on-line walking assembly, in particular to an on-line walking assembly of a barrier removing robot for a power transmission and distribution line.
Background
The traditional inspection modes of the high-voltage transmission line are two types: the utility model provides a for the manual inspection, one kind is patrolled and examined for the helicopter, the manual inspection requires the workman to step on the high-voltage line, because some crossing rivers of high-voltage line, some mountain-climbing, at this moment underfoot cable liftoff nearest distance 12 meters, the highest distance has 800 meters, and the inspection worker still need to note various potential safety hazards along the line, the operation degree of difficulty and intensity of labour are big, have very high requirement to human health and psychological bearing capacity, and the inspection worker generally relies on naked eye or telescope to patrol, meet the influence of weather and geographical environment, it is not high to patrol quality and efficiency, the helicopter is patrolled and examined and is carried a large amount of check-out equipment, carry out the observation of all-round multi-angle, overcome the influence of geographical factor, can directly be close to the target, but the helicopter is patrolled and examined the price is expensive, and iron tower basis and body part are difficult technical assurance the quality of patrolling and examining, and the problem of cost and the quality of patrolling and examining has been solved to the walking function is effectual on the line of clearance robot.
The robot of removing obstacles about outdoor transmission and distribution lines has also been researched and developed on the existing market, but the running gear of the robot of removing obstacles on the market hangs on the wire from bottom to top, this kind of mode of hanging is difficult to go into the spout with the wire card, take place the skew easily, not only the operation is very inconvenient, the time of transferring the aircraft is long, and the easy card of on-line walking in-process is very pause, when hovering implementation in-process of removing obstacles, running gear still can be on-line receive the influence of wind-force to rock back and forth, make self unstable, the efficiency of removing obstacles that has also greatly reduced.
Disclosure of Invention
The purpose of the invention is: the on-line walking assembly of the obstacle removing robot can be automatically folded and hung on a line, can be suspended and locked, ensures that the body of the robot is balanced and does not shake, and is convenient for subsequently removing obstacles.
In order to achieve the purpose, the technical scheme of the invention is as follows: the utility model provides an online walking assembly of robot that removes obstacles which innovation point lies in: comprises a machine body and a walking locking mechanism arranged on the machine body, wherein the walking locking mechanism comprises a walking opening and closing unit, a walking opening and closing locking unit and a hovering locking unit,
the walking opening and closing unit comprises an opening and closing walking hanging wheel, opening and closing arms, an opening and closing motor and a rotating shaft, two groups of rotating shafts which are arranged in parallel and are rotatably connected with the machine body are arranged on the machine body, the two groups of opening and closing arms are respectively connected with the corresponding rotating shafts, arm teeth are arranged at the two end parts of each opening and closing arm, the opening and closing motor is arranged on the machine body, a power output shaft of the opening and closing motor is in transmission connection with one rotating shaft, two opening and closing walking hanging wheels which are rotatably connected with the inner side of each opening and closing arm are respectively arranged at the inner side of each opening and closing arm to drive the opening and closing motor and drive one rotating shaft to rotate, so that the opening and closing arm on the rotating shaft is in transmission with the arm teeth of the other opening and closing arm through the arm teeth of the opening and closing arm, and the two opening and closing arms are in a closed or opened state,
the walking unit comprises walking motors, each opening and closing arm is provided with a walking motor, the power output shaft of the walking motor is in transmission connection with an opening and closing walking hanging wheel on the opening and closing arm, the top of the opening and closing arm is provided with two walking opening and closing locking units which are interlocked after the opening and closing arms are closed, the machine body is provided with a hovering locking unit which is positioned above the two rotating shafts,
after the two opening and closing arms are closed, the opening and closing traveling hanging wheels are respectively closed, and the traveling locking units are interlocked to drive the traveling motor and drive the opening and closing traveling hanging wheels on the opening and closing arms to travel.
In the technical scheme, a worm is arranged on a power output shaft of the opening and closing motor, a worm wheel is arranged on one rotating shaft, and the worm is in transmission connection with the worm wheel.
In the above technical scheme, the walking unit further comprises a synchronous pulley and a synchronous belt, the outer side of each opening and closing arm is further provided with two synchronous pulleys coaxially arranged with the opening and closing walking hanging wheel corresponding to the inner side of the opening and closing arm, the two synchronous pulleys are connected through the synchronous belt, and the power output shaft of each walking motor is in transmission connection with one synchronous pulley on one opening and closing arm.
In the technical scheme, the walking opening and closing locking unit comprises a first telescopic motor, locking hooks and locking blocks, two locking hooks which are connected with one opening and closing arm in a rotating mode are arranged on one opening and closing arm, the body of the first telescopic motor is connected with one locking hook in a rotating mode, the telescopic rod of the first telescopic motor is connected with the other locking hook in a rotating mode, two locking blocks which are arranged in a separated mode are arranged on the other opening and closing arm, after the two opening and closing arms are closed, the telescopic rod of the first telescopic motor drives the two locking hooks to rotate and hook the corresponding locking blocks to achieve interlocking when extending.
In the above technical scheme, the locking hook is provided with a hook groove, the locking block is provided with a locking head, and the locking head of the locking block can be clamped into the hook groove of the locking hook.
In the technical scheme, the locking unit that hovers includes flexible motor of second, mounting panel and first brake block, the mounting panel is installed on the organism, and the mounting panel is located the top of two pivots, the body and the mounting panel of the flexible motor of second rotate to be connected, and the telescopic link and the first brake block of the flexible motor of second rotate to be connected, and first brake block rotates with the mounting panel to be connected.
In the technical scheme, the mounting plate is provided with two connecting seats, the body of the second telescopic motor is rotatably connected with one connecting seat on the mounting plate through a second brake block, and the first brake block is rotatably connected with the other connecting seat on the mounting plate.
In the above technical scheme, the walking opening and closing unit further comprises a camera, and the camera is mounted on one opening and closing arm.
In the above technical scheme, the machine body comprises a connecting rod and two side plates which are connected into a whole through the connecting rod, and a protective cover which is connected in an involutory mode and provided with an opening is further arranged on the periphery of the machine body.
In the technical scheme, the bottom of organism is equipped with the circumferential direction rotary unit with the assembly of tree barrier clearance assembly, circumferential direction rotary unit includes gear motor, ring gear and main rotary disk, main rotary disk is installed in the bottom of organism and is rotated rather than being connected, the ring gear suit is on main rotary disk, gear motor installs on the organism, and the gear and the ring gear meshing that are equipped with on gear motor's the power output shaft, still be equipped with on the main rotary disk along its circumferencial direction arrange and be located the ring gear periphery to its axial spacing fastener.
The invention has the positive effects that: after the on-line walking assembly of the obstacle-removing robot is adopted, the on-line walking assembly comprises a machine body and a walking locking mechanism arranged on the machine body, wherein the walking locking mechanism comprises a walking opening and closing unit, a walking opening and closing locking unit and a hovering locking unit,
the walking opening and closing unit comprises an opening and closing walking hanging wheel, opening and closing arms, an opening and closing motor and a rotating shaft, two groups of rotating shafts which are arranged in parallel and are rotatably connected with the machine body are arranged on the machine body, the two groups of opening and closing arms are respectively connected with the corresponding rotating shafts, arm teeth are arranged at the two end parts of each opening and closing arm, the opening and closing motor is arranged on the machine body, a power output shaft of the opening and closing motor is in transmission connection with one rotating shaft, two opening and closing walking hanging wheels which are rotatably connected with the inner side of each opening and closing arm are respectively arranged at the inner side of each opening and closing arm to drive the opening and closing motor and drive one rotating shaft to rotate, so that the opening and closing arm on the rotating shaft is in transmission with the arm teeth of the other opening and closing arm through the arm teeth of the opening and closing arm, and the two opening and closing arms are in a closed or opened state,
the walking unit comprises walking motors, each opening and closing arm is provided with a walking motor, the power output shaft of the walking motor is in transmission connection with an opening and closing walking hanging wheel on the opening and closing arm, the top of the opening and closing arm is provided with two walking opening and closing locking units which are interlocked after the opening and closing arms are closed, the machine body is provided with a hovering locking unit which is positioned above the two rotating shafts,
after the two opening and closing arms are closed, the opening and closing traveling change gears are closed, and the traveling locking units are interlocked to drive the traveling motor and the opening and closing traveling change gears on the opening and closing arms to travel,
before the invention is used, the mechanism for clearing obstacles can be assembled with the whole machine of the invention, two opening and closing arms are in an opening state in advance, the machine body rises to the conducting wire of a power transmission and distribution line to drive an opening and closing motor and drive a rotating shaft to rotate, so that the opening and closing arm on the rotating shaft is in transmission with the arm tooth of the other opening and closing arm through the arm tooth of the rotating shaft, the two opening and closing arms are closed, the conducting wire is clamped in the guide groove formed after the opening and closing traveling hanging wheels on the two opening and closing arms are closed, then the two opening and closing arms are interlocked through a traveling locking unit to prevent the opening and closing arms from being opened in a sudden situation, the whole machine is ensured to be always hung on the conducting wire, after the matching with the conducting wire is completed, the traveling motor is driven, and the opening and closing traveling hanging wheels on the opening and closing arms are driven to travel on the conducting wire,
if the whole machine is in a destination for clearing obstacles, the walking motor stops working and the whole machine hovers, the opening and closing walking hanging wheels are braked and locked through the hovering locking unit, the phenomenon that the opening and closing walking hanging wheels slide on the conducting wires in the whole machine hovering process or the whole machine shakes left and right due to the influence of factors such as external wind power and the like is prevented, and the whole machine can be effectively locked in the hovering process.
The on-line hanging device completes on-line hanging through the oppositely-combined type walking opening and closing units, replaces the hanging mode that the whole machine needs to be hung from bottom to top in the prior art, ensures that a wire can be accurately and quickly hung in a guide groove formed after the walking hanging wheels are oppositely combined, is not easy to slip from the guide groove, greatly shortens the whole debugging time, improves the hanging efficiency, and has high use safety.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic view of the housing of FIG. 1 with the housing removed;
FIG. 3 is a top schematic view of FIG. 2;
FIG. 4 is a schematic structural diagram of FIG. 3 without the hover lock unit;
FIG. 5 is a schematic view showing a state (closed) of the walking opening and closing unit of the present invention after being locked;
FIG. 6 is a schematic perspective view (open) of the initial state of the walking opening and closing unit of the present invention with one side plate of the body removed;
fig. 7 is a schematic view of the state of the present invention in use.
Detailed Description
The invention is further illustrated, but not limited, by the following examples in connection with the accompanying drawings.
As shown in fig. 1, 2, 3, 4, 5, 6, and 7, an on-line walking assembly of an obstacle-removing robot comprises a machine body 1 and a walking locking mechanism arranged on the machine body 1, wherein the walking locking mechanism comprises a walking opening and closing unit 2, a walking unit 3, a walking opening and closing locking unit 4, and a hovering locking unit 5,
the walking opening and closing unit 2 comprises an opening and closing walking hanging wheel 21, opening and closing arms 22, an opening and closing motor 23 and a rotating shaft 24, two groups of rotating shafts 24 which are arranged in parallel and are rotatably connected with the machine body 1 are arranged on the machine body 1, the two groups of opening and closing arms 22 are respectively connected with the corresponding rotating shafts 24, arm teeth 221 are arranged at the two end parts of each opening and closing arm 22, the opening and closing motor 23 is arranged on the machine body 1, a power output shaft of the opening and closing motor 23 is in transmission connection with one rotating shaft 24, two opening and closing walking hanging wheels 21 which are rotatably connected with the inner side of each opening and closing arm 22 are respectively arranged on the inner side of each opening and closing arm 22 to drive the opening and closing motor 23 and drive one rotating shaft 24 to rotate, so that the opening and closing arm 22 on the rotating shaft 24 is in transmission with the arm teeth 221 of the other opening and closing arm 22 through the arm teeth 221, and the two opening and closing arms 22 are in a closing or opening state,
the walking unit 3 comprises walking motors 31, each opening and closing arm 22 is provided with one walking motor 31, the power output shaft of the walking motor 31 is in transmission connection with the opening and closing walking change gear 21 on the opening and closing arm 22, the top of the opening and closing arm 22 is provided with two walking opening and closing locking units 4 which are interlocked after the opening and closing arms 22 are folded, the machine body 1 is provided with a hovering locking unit 5, and the hovering locking unit 5 is positioned above the two rotating shafts 24,
after the two opening and closing arms 22 are closed, the opening and closing traveling change gears 21 are closed, and the traveling locking units 4 are interlocked to drive the traveling motor 31 and drive the opening and closing traveling change gear 21 on one opening and closing arm 22 to travel.
As shown in fig. 4, in order to facilitate the opening and closing motor to drive one rotating shaft to rotate and then drive the two opening and closing arms to be folded or opened, the structure is more reasonable, a worm 25 is arranged on a power output shaft of the opening and closing motor 23, a worm wheel 26 is arranged on one rotating shaft 24, and the worm 25 is in transmission connection with the worm wheel 26. When in use, the opening and closing motor 23 is driven to drive one of the rotating shafts 24 to be used as a main transmission shaft for transmission under the synergistic action of the worm 25 and the worm wheel 26.
As shown in fig. 2, 4, 5, 6, and 7, in order to facilitate driving the whole machine to walk, and to facilitate the walking smoothness and synchronization, the walking unit 3 further includes a synchronous pulley 32 and a synchronous belt 33, two synchronous pulleys 32 coaxially arranged with the opening and closing walking hanging wheel 21 corresponding to the inner side of each opening and closing arm 22 are further disposed on the outer side of each opening and closing arm 22, the two synchronous pulleys 32 are in transmission connection through the synchronous belt 33, and a power output shaft of the walking motor 31 is in transmission connection with one synchronous pulley 32 on one opening and closing arm 22. The driving mechanism drives the traveling motor 31, and drives the opening and closing traveling change gear 21 coaxially connected with the opening and closing arm 22 to rotate through a synchronous belt pulley 32 on the opening and closing arm 22, so as to drive the other opening and closing traveling change gear 21 on the opening and closing arm 22 to rotate as a slave.
As shown in fig. 3, 4 and 5, in order to enable two opening and closing arms to be interlocked accurately, the walking opening and closing locking unit 4 includes a first telescopic motor 41, a locking hook 42 and a locking block 43, two locking hooks 42 connected with the rotation of one opening and closing arm 22 are provided, the body of the first telescopic motor 41 is connected with one locking hook 42 in a rotating manner, the telescopic rod of the first telescopic motor 41 is connected with the other locking hook 42 in a rotating manner, the other opening and closing arm 22 is provided with two locking blocks 43 arranged separately, and after the two opening and closing arms 22 are closed, the telescopic rod of the first telescopic motor 41 is extended to drive the two locking hooks 42 to rotate and hook the corresponding locking block 43 to realize interlocking.
As shown in fig. 3, in order to further improve the interlocking effect of the two opening and closing arms, a hook groove 421 is formed on the locking hook 42, the locking block 43 has a locking head 431, and the locking head 431 of the locking block 43 can be clamped into the hook groove 421 of the locking hook 42.
As shown in fig. 3 and 5, in order to ensure the reliability of hovering locking, the hovering locking unit 5 includes a second telescopic motor 51, a mounting plate 52 and a first brake block 53, the mounting plate 52 is mounted on the machine body 1, the mounting plate 52 is located above the two rotating shafts 24, a body of the second telescopic motor 51 is rotatably connected to the mounting plate 52, a telescopic rod of the second telescopic motor 51 is rotatably connected to the first brake block 53, and the first brake block 53 is rotatably connected to the mounting plate 52. When the brake is used, the telescopic rod of the second telescopic motor 51 drives the first brake block 53 to rotate and abut against the lead, so that the lead is ensured not to slide in the guide groove and not to shake under the influence of factors such as wind power and the like.
As shown in fig. 3, in order to further improve the rationality of the present invention and extend the rotation stroke and the rotation angle, two connection seats 54 are provided on the mounting plate 52, the body of the second telescopic motor 51 is rotatably connected with one connection seat 54 on the mounting plate 52 through a second brake 55, and the first brake 53 is rotatably connected with the other connection seat 54 on the mounting plate 52. During the use, the both ends of second flexible motor 51 rotate on connecting seat 54 through the brake block that corresponds respectively, and the side of first brake block 53 can with wire looks butt.
As shown in fig. 2, in order to obtain the opening and closing condition of the whole machine, the walking opening and closing unit 2 further comprises a camera 27, and the camera 27 is installed on the opening and closing arm 22. The camera 27 can acquire the real-time condition of the whole machine on a wire, and the opening and closing accuracy is ensured.
As shown in fig. 2 and 6, in order to further improve the rationality of the present invention and effectively protect the whole machine, the machine body 1 includes a connecting rod and two side plates 11 connected into a whole through the connecting rod, as shown in fig. 1, a protective cover 6 with an opening is further disposed on the periphery of the machine body 1.
As shown in fig. 2, 6 and 7, in order to facilitate the assembly with the tree obstacle clearing assembly, the tree obstacle clearing assembly is not affected by the direction and can rotate at multiple angles, and the obstacle clearing range is enlarged, a circumferential rotating unit 7 assembled with the tree obstacle clearing assembly is arranged at the bottom of the machine body 1, the circumferential rotating unit 7 comprises a speed reducing motor 71, a gear ring 72 and a main rotating disk 73, the main rotating disk 73 is arranged at the bottom of the machine body 1 and is rotatably connected with the machine body, the gear ring 72 is sleeved on the main rotating disk 73, the speed reducing motor 71 is arranged on the machine body 1, a gear arranged on a power output shaft of the speed reducing motor 71 is meshed with the gear ring 72, and a limit fastener 74 which is arranged along the circumferential direction of the main rotating disk 73 and is located at the periphery of the gear ring 72 to limit the axial direction of the main rotating disk 73. When the tree obstacle clearing assembly is used, the tree obstacle clearing assembly can be detachably connected with the main rotating disc 73 to drive the speed reducing motor 71, the gear ring 72 rotates around the gear, the rotating disc 73 rotates along with the gear ring 72, and the tree obstacle clearing assembly rotates.
Before the invention is used, a mechanism for clearing obstacles can be assembled with the whole machine, two opening and closing arms 22 of the walking opening and closing unit 2 are in an opening state in advance, and the machine body 1 is close to a lead 9 of a power transmission and distribution line by configuring a live working vehicle or other large auxiliary machinery or additionally arranging an automatic lead loading and unloading mechanism 8 (electric capstan),
closing the arm: the opening and closing motor 23 is driven to drive one of the rotating shafts 24 to be used as a main transmission shaft for transmission under the synergistic action of the worm 25 and the worm wheel 26, so that the opening and closing arm 22 on the rotating shaft 24 is driven to transmit with the arm tooth 221 of the other opening and closing arm 22 through the arm tooth 221 of the opening and closing arm, the two opening and closing arms 22 are folded, the lead wire 9 is clamped into a guide groove formed after the opening and closing traveling hanging wheels 21 on the two opening and closing arms 22 are folded,
a lock arm: the two opening and closing arms 22 are interlocked through the walking locking unit 4, the opening and closing arms 22 are prevented from being suddenly opened, the complete machine is ensured to be always hung on the lead 9, when the telescopic rod of the first telescopic motor 41 extends, the two locking hooks 42 are driven to rotate, the lock head 431 of the locking block 43 can be clamped into the hook groove 421 of the locking hook 42, the interlocking of the two opening and closing arms 22 is realized,
walking: after the whole machine is matched with a lead, the walking motor 31 is driven, the opening and closing walking change gear 21 which is coaxially connected with the opening and closing motor is driven to rotate through a synchronous belt wheel 32 on one opening and closing arm 22, the opening and closing walking change gear is used for driving the lead to walk, and then the opening and closing walking change gear 21 on the other opening and closing arm 22 is driven to rotate along with the lead,
hovering: if the vehicle reaches the destination of clearing the obstacles, the walking motor 31 stops working and the whole vehicle hovers, the opening and closing walking hanging wheel 21 is braked and locked by the hovering and locking unit 5, the opening and closing walking hanging wheel is prevented from sliding on the wire or swinging left and right due to the influence of external wind and other factors in the hovering process of the whole vehicle, the whole vehicle can be effectively locked in the hovering process, two ends of the second telescopic motor 51 respectively rotate on the connecting seat 54 through the corresponding brake blocks, the side surface of the first brake block 53 can abut against the wire, the wire is ensured not to slide in the guide groove, and the wire is not influenced by wind and other factors to swing.
Finally, obstacles are cleared in real time through an obstacle clearing mechanism arranged on the whole machine, if the obstacle clearing mechanism is assembled with the obstacle clearing mechanism, the obstacle clearing mechanism can be detachably connected with the main rotating disc 73 to drive the gear motor 71, the gear ring 72 rotates around the gear, the rotating disc 73 rotates along with the gear ring 72, and the rotation of the obstacle clearing assembly is realized.
The invention finishes on-line hanging through the oppositely-combined type walking opening and closing unit, replaces the hanging mode that the whole machine needs to be hung from bottom to top in the prior art, ensures that the wire can be accurately and quickly hung in the guide groove formed after the walking hanging wheels are oppositely combined, is not easy to slide from the guide groove, greatly shortens the whole debugging time, improves the hanging efficiency and has high use safety.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (10)
1. The utility model provides an online walking assembly of robot that removes obstacles which characterized in that: comprises a machine body (1) and a walking locking mechanism arranged on the machine body (1), wherein the walking locking mechanism comprises a walking opening and closing unit (2), a walking unit (3), a walking opening and closing locking unit (4) and a hovering locking unit (5),
the walking opening and closing unit (2) comprises an opening and closing walking hanging wheel (21), opening and closing arms (22), an opening and closing motor (23) and a rotating shaft (24), two groups of rotating shafts (24) which are arranged in parallel and rotationally connected with the machine body (1) are arranged on the machine body (1), the two groups of opening and closing arms (22) are respectively connected with the corresponding rotating shafts (24), arm teeth (221) are arranged at the end parts of two ends of each opening and closing arm (22), the opening and closing motor (23) is arranged on the machine body (1), a power output shaft of the opening and closing motor (23) is in transmission connection with one rotating shaft (24), two opening and closing walking hanging wheels (21) which are rotationally connected with the inner side of each opening and closing arm (22) are respectively arranged on the inner side of each opening and closing arm (22) to drive the opening and closing motor (23) and drive one rotating shaft (24) to rotate, so that the opening and closing arms (22) on the rotating shafts (24) are in transmission with the arm teeth (221) of the other, and the two opening and closing arms (22) are in a closing state,
the walking unit (3) comprises walking motors (31), each opening and closing arm (22) is provided with one walking motor (31), a power output shaft of each walking motor (31) is in transmission connection with an opening and closing walking hanging wheel (21) on each opening and closing arm (22), the top of each opening and closing arm (22) is provided with two walking opening and closing locking units (4) which are interlocked after the two opening and closing arms (22) are closed, the machine body (1) is provided with a hovering locking unit (5), and the hovering locking unit (5) is positioned above the two rotating shafts (24),
after the two opening and closing arms (22) are closed, the respective opening and closing traveling change gears (21) are closed, and the two opening and closing arms are interlocked through the traveling locking unit (4), so that the traveling motor (31) is driven, and the opening and closing traveling change gears (21) on the opening and closing arms (22) are driven to travel.
2. The on-line walking assembly of the obstacle clearance robot of claim 1, wherein: a worm (25) is arranged on a power output shaft of the opening and closing motor (23), a worm wheel (26) is arranged on one rotating shaft (24), and the worm (25) is in transmission connection with the worm wheel (26).
3. The on-line walking assembly of the obstacle clearance robot of claim 1, wherein: the walking unit (3) further comprises synchronous pulleys (32) and synchronous belts (33), two synchronous pulleys (32) which are coaxially arranged with the opening and closing walking hanging wheel (21) corresponding to the inner side of each opening and closing arm (22) are further arranged on the outer side of each opening and closing arm, the two synchronous pulleys (32) are in transmission connection through the synchronous belts (33), and each power output shaft of the walking motor (31) is in transmission connection with one synchronous pulley (32) on one opening and closing arm (22).
4. The on-line walking assembly of the obstacle clearance robot of claim 1, wherein: the walking opening and closing locking unit (4) comprises a first telescopic motor (41), two locking hooks (42) and locking blocks (43), wherein two locking hooks (42) connected with the first telescopic motor in a rotating mode are arranged on one opening and closing arm (22), the body of the first telescopic motor (41) is connected with one locking hook (42) in a rotating mode, the telescopic rod of the first telescopic motor (41) is connected with the other locking hook (42) in a rotating mode, two locking blocks (43) which are separately arranged are arranged on the other opening and closing arm (22), and after the two opening and closing arms (22) are folded, when the telescopic rod of the first telescopic motor (41) extends, the two locking hooks (42) are driven to rotate and hook the corresponding locking blocks (43) to achieve interlocking.
5. The on-line walking assembly of the obstacle clearance robot of claim 4, wherein: the locking hook (42) is provided with a hook groove (421), the locking block (43) is provided with a lock head (431), and the lock head (431) of the locking block (43) can be clamped into the hook groove (421) of the locking hook (42).
6. The on-line walking assembly of the obstacle clearance robot of claim 1, wherein: hovering locking unit (5) include flexible motor of second (51), mounting panel (52) and first brake block (53), mounting panel (52) are installed on organism (1), and mounting panel (52) are located the top of two pivot (24), the body and mounting panel (52) of the flexible motor of second (51) rotate to be connected, and the telescopic link and the first brake block (53) of the flexible motor of second (51) rotate to be connected, and first brake block (53) rotate to be connected with mounting panel (52).
7. The on-line walking assembly of the obstacle clearance robot of claim 6, wherein: the telescopic motor is characterized in that two connecting seats (54) are arranged on the mounting plate (52), the body of the second telescopic motor (51) is rotatably connected with one connecting seat (54) on the mounting plate (52) through a second brake block (55), and the first brake block (53) is rotatably connected with the other connecting seat (54) on the mounting plate (52).
8. The on-line walking assembly of the obstacle clearance robot of claim 1, wherein: the walking opening and closing unit (2) further comprises a camera (27), and the camera (27) is installed on one opening and closing arm (22).
9. The on-line walking assembly of the obstacle clearance robot of claim 1, wherein: the engine body (1) comprises a connecting rod and two side plates (11) which are connected into a whole through the connecting rod, and the periphery of the engine body (1) is also provided with a protective cover (6) which is connected in a folding mode and provided with an opening.
10. The on-line walking assembly of the obstacle clearance robot of claim 1, wherein: the bottom of organism (1) is equipped with circumferential direction rotation unit (7) with the assembly of tree obstacle clearance assembly, circumferential direction rotation unit (7) include gear motor (71), ring gear (72) and main rotary disk (73), main rotary disk (73) are installed in the bottom of organism (1) and are connected rather than rotating, ring gear (72) suit is on main rotary disk (73), gear motor (71) are installed on organism (1), and the gear that is equipped with on the power output shaft of gear motor (71) meshes with ring gear (72), still be equipped with on main rotary disk (73) along its circumferencial direction and arrange and be located ring gear (72) periphery to its axial spacing fastener (74).
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|---|---|---|---|
| CN2022115582226 | 2022-12-06 | ||
| CN202211558222 | 2022-12-06 |
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| CN115912236A true CN115912236A (en) | 2023-04-04 |
| CN115912236B CN115912236B (en) | 2024-08-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211688259.0A Active CN115986624B (en) | 2022-12-06 | 2022-12-27 | Live working obstacle clearance robot for power transmission and distribution line |
| CN202211696968.3A Active CN115882386B (en) | 2022-12-06 | 2022-12-28 | Obstacle clearing bearing platform for power transmission and distribution line |
| CN202211699333.9A Active CN115832944B (en) | 2022-12-06 | 2022-12-28 | On-line obstacle cleaning assembly for power transmission and distribution line |
| CN202211697421.5A Active CN115912236B (en) | 2022-12-06 | 2022-12-28 | Online walking assembly of obstacle clearance robot |
| CN202211699315.0A Active CN115812459B (en) | 2022-12-06 | 2022-12-28 | Tree obstacle cleaning assembly of power transmission and distribution line |
| CN202310064208.9A Pending CN116581684A (en) | 2022-12-06 | 2023-01-16 | Cross arm obstacle cleaning assembly of power transmission and distribution line |
Family Applications Before (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211688259.0A Active CN115986624B (en) | 2022-12-06 | 2022-12-27 | Live working obstacle clearance robot for power transmission and distribution line |
| CN202211696968.3A Active CN115882386B (en) | 2022-12-06 | 2022-12-28 | Obstacle clearing bearing platform for power transmission and distribution line |
| CN202211699333.9A Active CN115832944B (en) | 2022-12-06 | 2022-12-28 | On-line obstacle cleaning assembly for power transmission and distribution line |
Family Applications After (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211699315.0A Active CN115812459B (en) | 2022-12-06 | 2022-12-28 | Tree obstacle cleaning assembly of power transmission and distribution line |
| CN202310064208.9A Pending CN116581684A (en) | 2022-12-06 | 2023-01-16 | Cross arm obstacle cleaning assembly of power transmission and distribution line |
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| CN (6) | CN115986624B (en) |
Cited By (1)
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| CN116137432A (en) * | 2023-04-17 | 2023-05-19 | 江苏瑞禧智能电力科技有限公司 | Ice cleaning machine for power transmission cable |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN115882386A (en) | 2023-03-31 |
| CN115832944B (en) | 2024-08-30 |
| CN115912236B (en) | 2024-08-09 |
| CN115882386B (en) | 2024-08-13 |
| CN115812459B (en) | 2024-08-13 |
| CN115986624A (en) | 2023-04-18 |
| CN116581684A (en) | 2023-08-11 |
| CN115832944A (en) | 2023-03-21 |
| CN115986624B (en) | 2024-08-13 |
| CN115812459A (en) | 2023-03-21 |
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