CN115912236B - Online walking assembly of obstacle clearance robot - Google Patents
Online walking assembly of obstacle clearance robot Download PDFInfo
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- CN115912236B CN115912236B CN202211697421.5A CN202211697421A CN115912236B CN 115912236 B CN115912236 B CN 115912236B CN 202211697421 A CN202211697421 A CN 202211697421A CN 115912236 B CN115912236 B CN 115912236B
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- 230000001360 synchronised effect Effects 0.000 claims description 20
- 230000001681 protective effect Effects 0.000 claims 1
- 238000004140 cleaning Methods 0.000 abstract description 17
- 238000007689 inspection Methods 0.000 description 12
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
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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 an obstacle clearance robot, which is characterized in that: the walking locking mechanism comprises a walking switching unit, a walking switching locking unit and a hovering locking unit, wherein the walking switching unit comprises switching walking change gears, switching arms, switching motors and rotating shafts, two groups of rotating shafts are arranged on the machine body in parallel, switching arms are arranged on each rotating shaft, the two switching arms are meshed through arm teeth, a switching motor for driving one rotating shaft to rotate is arranged on the machine body, switching walking change gears are respectively arranged on the inner side of each switching arm, the walking unit comprises a walking motor, a power output shaft of the walking motor is in transmission connection with the switching walking change gears on the switching arms, and the top of each switching arm is provided with the walking switching locking unit. The invention not only can automatically fold and hang on line, but also can hover and lock, ensures that the machine body is balanced and does not shake, and is convenient for subsequent obstacle cleaning.
Description
Technical Field
The invention relates to an on-line walking assembly, in particular to an on-line walking assembly of an obstacle clearance robot for an electric transmission and distribution line.
Background
The traditional inspection modes of high-voltage transmission lines are mainly two types at present: the utility model provides a for manual inspection, one kind is the helicopter inspection, the manual inspection requires the workman to step on the high-voltage line, because the high-voltage line is had across the river, have the mountain-turning mountain, at this moment the cable is 12 meters from the nearest distance in ground below the foot, the highest distance has 800 meters, and the line inspection workman still need record various potential safety hazards along the line, the operation degree of difficulty and intensity of labour are big, have very high requirements to people's health and psychological bearing capacity, and line inspection workman generally relies on naked eyes or telescope to inspect, meet weather and geographical environment's influence, inspection quality and efficiency are not high, the helicopter inspection can carry a large amount of check equipment, carry out all-round multi-angle observation, the influence of geographical factor has been overcome, but the helicopter inspection is expensive, and iron tower basis and body part are difficult to guarantee the quality of inspection technically, and the problem of inspection cost and inspection quality has been effectively solved to the line walking function of obstacle-removing robot.
The obstacle clearance robot about outdoor power transmission and distribution lines has also been researched and developed in the market at present, but the running gear of the obstacle clearance robot on the market is from bottom to top hung on the wire, and this kind of hanging mode is difficult to draw the wire into the spout, and skew takes place easily, and not only the operation is very inconvenient, transfers quick-witted time long, and the in-process of walking on line is easy to block, when hovering implementation obstacle clearance in-process, running gear still can be rocked back and forth on the line by wind-force's influence for self is unstable, has also greatly reduced the efficiency of obstacle clearance.
Disclosure of Invention
The purpose of the invention is that: the on-line walking assembly of the obstacle clearance robot not only can be automatically folded and hung on the line, but also can hover and lock, and can ensure that the robot body is balanced and does not shake, so that the obstacle clearance robot can conveniently clear obstacles later.
In order to achieve the above purpose, the technical scheme of the invention is as follows: an on-line walking assembly of an obstacle clearance robot is characterized in that: 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 change gear, opening and closing arms, an opening and closing motor and a rotating shaft, wherein two groups of rotating shafts which are arranged in parallel and are rotationally 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 end parts of the two ends of each opening and closing arm, the machine body is provided with the opening and closing motor, a power output shaft of the opening and closing motor is in transmission connection with one rotating shaft, two opening and closing walking change gears which are rotationally connected with the opening and closing motor are respectively arranged at the inner side of each opening and closing arm, the opening and closing motor is driven to drive one rotating shaft to rotate, the opening and closing arm on the rotating shaft is in a folding or opening state through the arm teeth of the opening and closing arm and the arm teeth of the other opening and closing arm,
The walking unit comprises a walking motor, each opening and closing arm is respectively provided with a walking motor, a power output shaft of the walking motor is in transmission connection with an opening and closing walking change gear on the opening and closing arm, the top of the opening and closing arm is provided with a walking opening and closing locking unit which is interlocked after the two opening and closing arms are folded, the machine body is provided with a hovering locking unit, the hovering locking unit is positioned above the two rotating shafts,
The two folding arms are folded, the folding walking change gears of the two folding arms are folded, and are interlocked through the walking folding locking units, so that the walking motor is driven, and the folding walking change gears on the folding arms are driven to walk mainly.
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 which are coaxially arranged with the corresponding opening and closing walking change gear on the inner side of each opening and closing arm, the two synchronous pulleys are in transmission connection 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 above technical scheme, walking locking unit that opens and shuts includes first flexible motor, locking hook and latch segment, is equipped with two and rotates the locking hook of being connected rather than on the arm that opens and shuts, the body of first flexible motor rotates with a locking hook to be connected, and the telescopic link of first flexible motor rotates with another locking hook to be connected, is equipped with two separately arranged latch segments on the arm that opens and shuts, and after two arms that open and shut were closed up, when the telescopic link of first flexible motor was elongated, drive two locking hooks and rotated and catch on the latch segment that corresponds and realize the interlocking.
In the technical scheme, the locking hook is provided with the hook groove, the locking block is provided with the lock head, and the lock head of the locking block can be clamped into the hook groove of the locking hook.
In the above technical scheme, hover locking unit includes second flexible motor, 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 rotation of second flexible motor are connected, and the telescopic link and the first brake block rotation of second flexible motor are connected, and first brake block rotates with the mounting panel to be connected.
In the above technical scheme, be equipped with two connecting seats on the mounting panel, the body of second flexible motor rotates with one connecting seat on the mounting panel through the second brake block and is connected, first brake block rotates with another connecting seat on the mounting panel and is connected.
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 organism includes the connecting rod and passes through two curb plates that the connecting rod links as an organic whole, the periphery of organism still is equipped with involution connection and has the open-ended protection casing.
In the above technical scheme, the bottom of organism is equipped with the circumference rotary unit that assembles with the tree obstacle clearance assembly, circumference rotary unit includes gear motor, ring gear and main rotary disk, main rotary disk is installed in the bottom of organism and is connected rather than rotating, the ring gear suit is on main rotary disk, gear motor installs on the organism, and the last gear that is equipped with of gear motor's power take off and the meshing of ring gear, still be equipped with on the main rotary disk along its circumferencial direction arrangement and lie in the spacing fastener of ring gear periphery to its axial.
The invention has the positive effects that: after the on-line walking assembly of the obstacle clearance robot is adopted, the obstacle clearance robot 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 change gear, opening and closing arms, an opening and closing motor and a rotating shaft, wherein two groups of rotating shafts which are arranged in parallel and are rotationally 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 end parts of the two ends of each opening and closing arm, the machine body is provided with the opening and closing motor, a power output shaft of the opening and closing motor is in transmission connection with one rotating shaft, two opening and closing walking change gears which are rotationally connected with the opening and closing motor are respectively arranged at the inner side of each opening and closing arm, the opening and closing motor is driven to drive one rotating shaft to rotate, the opening and closing arm on the rotating shaft is in a folding or opening state through the arm teeth of the opening and closing arm and the arm teeth of the other opening and closing arm,
The walking unit comprises a walking motor, each opening and closing arm is respectively provided with a walking motor, a power output shaft of the walking motor is in transmission connection with an opening and closing walking change gear on the opening and closing arm, the top of the opening and closing arm is provided with a walking opening and closing locking unit which is interlocked after the two opening and closing arms are folded, the machine body is provided with a hovering locking unit, the hovering locking unit is positioned above the two rotating shafts,
The two folding arms are folded, the folding walking change gears of the two folding arms are folded, and are interlocked by the walking folding locking units to drive the walking motor and drive the folding walking change gears on the folding arms to walk,
Before the invention is used, the mechanism for cleaning the obstacle is assembled with the complete machine of the invention, the two opening and closing arms are in an opening state in advance, the machine body is lifted to a lead of a power transmission and distribution line, the opening and closing motor is driven to drive the rotating shaft to rotate, the opening and closing arms on the rotating shaft are driven by arm teeth of the rotating shaft and arm teeth of the other opening and closing arm, the two opening and closing arms are folded, the lead wire is clamped into a guide groove formed after the opening and closing running change gear on the two opening and closing arms are folded, then the two opening and closing arms are interlocked through the running opening and closing locking unit, the opening and closing arms are prevented from being opened suddenly, the complete machine is ensured to be always hung on the lead, the running motor is driven after the complete matching with the lead, the opening and closing running change gear on the opening and closing arms is driven to run on the lead,
If the device reaches the destination for cleaning the obstacle, the running motor stops acting and the whole machine hovers at the moment, and the locking unit is used for locking the brake of the switching running change gear, so that the condition that the switching running change gear slides on a wire in the hovering process of the whole machine is prevented from happening or swaying left and right due to the influence of external wind force and other factors, and the effective locking of the whole machine in the hovering process is ensured.
According to the invention, the on-line hanging is completed through the opposite-type walking opening and closing unit, so that a hanging mode of the whole machine from bottom to top in the prior art is replaced, the wires can be accurately and quickly hung in the guide groove formed after the opposite-type walking change gear, the wires are not easy to slide from the guide groove, the whole machine adjusting time is greatly shortened, the hanging efficiency is improved, the use safety is high, meanwhile, the operation is very convenient, the on-line walking is very smooth, the clamping is not easy to occur, the whole machine can be locked when the whole machine hovers to implement the obstacle clearance, the wires cannot slide on the wires or shake left and right due to the influence of external wind force and the like, the stability and the stability of the machine body are ensured, a stable platform is provided for the subsequent obstacle clearance, and the obstacle clearance efficiency is also improved.
Drawings
FIG. 1 is a schematic diagram of the structure of an embodiment of the present invention;
FIG. 2 is a schematic view of the structure of FIG. 1 with the housing removed;
FIG. 3 is a schematic top view of FIG. 2;
FIG. 4 is a schematic view of the structure of FIG. 3 excluding the hover-locking unit;
fig. 5 is a schematic view (folding) of the walking opening and closing unit of the present invention after locking;
Fig. 6 is a schematic perspective view (open) of the initial state of the walking opening and closing unit after removing one side plate of the machine body;
Fig. 7 is a schematic view 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 clearance 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 change gear 21, opening and closing arms 22, an opening and closing motor 23 and a rotating shaft 24, wherein two groups of rotating shafts 24 which are arranged in parallel and are 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 the two ends of each opening and closing arm 22, the machine body 1 is provided with the opening and closing motor 23, a power output shaft of the opening and closing motor 23 is in transmission connection with one rotating shaft 24, the inner side of each opening and closing arm 22 is respectively provided with two opening and closing walking change gears 21 which are rotationally connected with the opening and closing motor 23, the opening and closing motor 23 is driven to rotate one rotating shaft 24, the opening and closing arms 22 on the rotating shaft 24 are in transmission with the arm teeth 221 of the other opening and closing arms 22 are in a closing or opening state,
The walking unit 3 comprises a walking motor 31, each opening and closing arm 22 is respectively provided with a walking motor 31, a power output shaft of the walking motor 31 is in transmission connection with an 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 a walking opening and closing locking unit 4 which is interlocked after the two opening and closing arms 22 are folded, the machine body 1 is provided with a hovering locking unit 5, the hovering locking unit 5 is positioned above the two rotating shafts 24,
The two folding arms 22 are folded, the folding walking change gears 21 are folded, and are interlocked through the walking folding locking unit 4, the walking motor 31 is driven, and the folding walking change gear 21 on one folding arm 22 is driven to walk.
As shown in fig. 4, in order to facilitate the rotation of a rotating shaft driven by an opening and closing motor, and then drive two opening and closing arms to fold or open, 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, and one of the rotating shafts 24 is driven to serve as a main transmission shaft for transmission under the synergistic effect 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 walk stability and synchronization, the walking unit 3 further includes a synchronous pulley 32 and a synchronous belt 33, the outer side of each of the open-close arms 22 is further provided with two synchronous pulleys 32 coaxially arranged with the open-close walking change gear 21 corresponding to the inner side thereof, the two synchronous pulleys 32 are in transmission connection through the synchronous belt 33, and the power output shaft of the walking motor 31 is in transmission connection with one synchronous pulley 32 on one open-close arm 22. The running motor 31 is driven, and the running change gear 21 coaxially connected with the running motor is driven to rotate through a synchronous pulley 32 on one running change gear 22, so that the other running change gear 21 on the running change gear 22 is driven to rotate.
As shown in fig. 3,4 and 5, in order to enable the two opening and closing arms to be accurately interlocked, the walking opening and closing locking unit 4 includes a first telescopic motor 41, locking hooks 42 and locking blocks 43, one opening and closing arm 22 is provided with two locking hooks 42 rotatably connected with the first telescopic motor 41, the body of the first telescopic motor 41 is rotatably connected with one locking hook 42, the telescopic rod of the first telescopic motor 41 is rotatably connected with the other locking hook 42, two separately arranged locking blocks 43 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 is extended, the two locking hooks 42 are driven to rotate and hook the corresponding locking blocks 43 to achieve interlocking.
As shown in fig. 3, in order to further improve the interlocking effect of the two opening and closing arms, the locking hook 42 is provided with a hook groove 421, the locking block 43 is provided with 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 the hover locking, the hover 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, the body of the second telescopic motor 51 is rotationally connected with the mounting plate 52, the telescopic rod of the second telescopic motor 51 is rotationally connected with the first brake block 53, and the first brake block 53 is rotationally connected with the mounting plate 52. When the telescopic rod of the second telescopic motor 51 drives the first brake block 53 to rotate and prop against the wire, so that the wire is ensured not to slide in the guide groove any more and not to shake due to factors such as wind power.
As shown in fig. 3, in order to further improve the rationality of the present invention, the mounting plate 52 is provided with two connection seats 54, 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 block 55, and the first brake block 53 is rotatably connected with the other connection seat 54 on the mounting plate 52. When in use, the two ends of the second telescopic motor 51 respectively rotate on the connecting seat 54 through the corresponding brake blocks, and the side surface of the first brake block 53 can be abutted against the lead.
As shown in fig. 2, in order to obtain the complete machine opening and closing condition, the walking opening and closing unit 2 further includes a camera 27, and the camera 27 is mounted on the opening and closing arm 22. The camera 27 can collect real-time conditions of the whole machine on the guide wire, and ensures the opening and closing accuracy.
As shown in fig. 2 and 6, in order to further improve the rationality of the present invention and to effectively protect the whole machine, the machine body 1 includes a connecting rod and two side plates 11 connected together by the connecting rod, and as shown in fig. 1, a protecting cover 6 with an opening and connected in a butt joint is further provided on the outer periphery of the machine body 1.
As shown in fig. 2, 6 and 7, in order to facilitate the assembly with the tree obstacle cleaning assembly, the tree obstacle cleaning assembly is not affected by the direction, and can rotate at multiple angles, so as to enlarge the obstacle cleaning range, the bottom of the machine body 1 is provided with a circumferential rotation unit 7 assembled with the tree obstacle cleaning assembly, the circumferential rotation unit 7 comprises a gear motor 71, a gear ring 72 and a main rotating disk 73, the main rotating disk 73 is installed at the bottom of the machine body 1 and is rotationally connected with the gear motor, the gear ring 72 is sleeved on the main rotating disk 73, the gear motor 71 is installed on the machine body 1, a gear arranged on a power output shaft of the gear motor 71 is meshed with the gear ring 72, and a limiting clamp 74 which is arranged along the circumferential direction of the main rotating disk 73 and is positioned at the periphery of the gear ring 72 to axially limit the main rotating disk. When the tree obstacle cleaning assembly is used, the tree obstacle cleaning assembly can be detachably connected with the main rotating disc 73, the gear motor 71 is driven, the gear ring 72 rotates around the gear, the main rotating disc 73 rotates along with the gear ring 72, and the tree obstacle cleaning assembly is rotated.
Before the invention is used, the mechanism for cleaning the obstacle can be assembled with the whole machine of the invention, the two opening and closing arms 22 of the walking opening and closing unit 2 are in an opened state in advance, and the machine body 1 can be close to the lead 9 of a power transmission and distribution line by arranging a live working vehicle or other large auxiliary machinery or adding an automatic wire feeding and discharging mechanism 8 (an electric winch) on the machine body 1,
Arm closing: the opening and closing motor 23 is driven, one of the rotating shafts 24 is driven to serve as a main transmission shaft to be transmitted under the synergistic effect of the worm 25 and the worm wheel 26, the opening and closing arms 22 on the rotating shaft 24 are driven to be transmitted with the arm teeth 221 of the other opening and closing arm 22 through the arm teeth 221 of the other opening and closing arm 22, the lead 9 is clamped into a guide groove formed after the opening and closing running change gears 21 on the two opening and closing arms 22 are closed,
Locking arm: the two opening and closing arms 22 are interlocked through the walking opening and closing locking unit 4, the opening and closing arms 22 are prevented from being opened in a sudden condition, the whole machine is always hung on the lead 9, when the telescopic rod of the first telescopic motor 41 is extended, the two locking hooks 42 are driven to rotate, the locking heads 431 of the locking blocks 43 can be clamped into the hook grooves 421 of the locking hooks 42, the interlocking of the two opening and closing arms 22 is realized,
Walking: after the complete machine is matched with the lead, the walking motor 31 is driven, and the synchronous pulley 32 on one opening and closing arm 22 drives the opening and closing walking change gear 21 coaxially connected with the walking motor to rotate, so as to be used as the initiative walking on the lead, further drive the opening and closing walking change gear 21 on the other opening and closing arm 22 to be used as the follower to rotate,
Hovering: if the destination of clearance barrier is reached, at this moment the walking motor 31 stops the action and the complete machine hovers to through hovering locking unit 5, brake locking to the walking change gear 21 that opens and shuts, prevent that the complete machine from hovering the in-process and still can appear the condition that slides on the wire and take place or rock about because of factors such as external wind-force influence, ensure that the complete machine can effectively lock in the process of hovering, the both ends of second flexible motor 51 rotate on the connecting seat 54 through corresponding brake block respectively, and the side of first brake block 53 can with the wire looks butt, ensure that the wire can not slide in the guide slot again, also can not rock because of factors such as wind-force influence.
Finally, the obstacle cleaning mechanism arranged on the complete machine is used for cleaning the obstacle in real time, if the obstacle cleaning mechanism is assembled with the obstacle cleaning mechanism, the obstacle cleaning mechanism can be detachably connected with the main rotating disk 73 to drive the gear motor 71, the gear ring 72 rotates around the gear, so that the main rotating disk 73 rotates along with the gear ring 72, and the obstacle cleaning assembly is rotated.
According to the invention, the on-line hanging is completed through the opposite-type walking opening and closing unit, so that a hanging mode of the whole machine from bottom to top in the prior art is replaced, the wires can be accurately and quickly hung in the guide groove formed after the opposite-type walking change gear, the wires are not easy to slide from the guide groove, the whole machine adjusting time is greatly shortened, the hanging efficiency is improved, the use safety is high, meanwhile, the operation is very convenient, the on-line walking is very smooth, the clamping is not easy to occur, the whole machine can be locked when the whole machine hovers to implement the obstacle clearance, the wires cannot slide on the wires or shake left and right due to the influence of external wind force and the like, the stability and the stability of the machine body are ensured, a stable platform is provided for the subsequent obstacle clearance, and the obstacle clearance efficiency is also improved.
With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.
Claims (8)
1. An on-line walking assembly of an obstacle clearance robot, which is 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 change gear (21), opening and closing arms (22), an opening and closing motor (23) and a rotating shaft (24), wherein two groups of rotating shafts (24) which are arranged in parallel and are 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 two end parts of each opening and closing arm (22), the machine body (1) is provided with the opening and closing motor (23), 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 change gears (21) which are rotationally connected with the opening and closing motor (23) are respectively arranged at the inner side of each opening and closing arm (22), one rotating shaft (24) is driven to rotate, the opening and closing arms (22) on the rotating shaft (24) are in transmission with arm teeth (221) of the other opening and closing arms (22) are in a closed state,
The walking unit (3) comprises a walking motor (31), each opening and closing arm (22) is respectively provided with a walking motor (31), a power output shaft of the walking motor (31) is in transmission connection with an 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), the hovering locking unit (5) is positioned above the two rotating shafts (24),
The two folding arms (22) are folded, the respective folding walking change gears (21) are folded, and are interlocked through the walking folding locking unit (4), the walking motor (31) is driven, and the folding walking change gears (21) on the folding arms (22) are driven to walk,
The walking opening and closing locking unit (4) comprises a first telescopic motor (41), locking hooks (42) and locking blocks (43), two locking hooks (42) which are rotationally connected with the first telescopic motor are arranged on one opening and closing arm (22), the body of the first telescopic motor (41) is rotationally connected with one locking hook (42), a telescopic rod of the first telescopic motor (41) is rotationally connected with the other locking hook (42), two locking blocks (43) which are separately arranged are arranged on the other opening and closing arm (22), after the two opening and closing arms (22) are folded, when the telescopic rod of the first telescopic motor (41) is stretched, the two locking hooks (42) are driven to rotate and hook the corresponding locking blocks (43) to realize interlocking,
The locking hook (42) is provided with a hook groove (421), the locking block (43) is provided with 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).
2. The on-line travel assembly of an obstacle clearance robot of claim 1, wherein: the power output shaft of the opening and closing motor (23) is provided with a worm (25), one rotating shaft (24) is provided with a worm wheel (26), and the worm (25) is in transmission connection with the worm wheel (26).
3. The on-line travel assembly of an obstacle clearance robot of claim 1, wherein: the walking unit (3) further comprises a synchronous pulley (32) and a synchronous belt (33), the outer side of each opening and closing arm (22) is further provided with two synchronous pulleys (32) which are coaxially arranged with the corresponding opening and closing walking change gears (21) on the inner side of each opening and closing arm, the two synchronous pulleys (32) are in transmission connection through the synchronous belt (33), and the power output shaft of each walking motor (31) is in transmission connection with one synchronous pulley (32) on one opening and closing arm (22).
4. The on-line travel assembly of an obstacle clearance robot of claim 1, wherein: the hover locking unit (5) comprises a second telescopic motor (51), a mounting plate (52) and a first brake block (53), wherein 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 rotationally connected with the mounting plate (52), a telescopic rod of the second telescopic motor (51) is rotationally connected with the first brake block (53), and the first brake block (53) is rotationally connected with the mounting plate (52).
5. The on-line travel assembly of the obstacle clearance robot of claim 4, wherein: the mounting plate (52) is provided with two connecting seats (54), the body of the second telescopic motor (51) is rotationally connected with one connecting seat (54) on the mounting plate (52) through a second brake block (55), and the first brake block (53) is rotationally connected with the other connecting seat (54) on the mounting plate (52).
6. The on-line travel assembly of an obstacle clearance robot of claim 1, wherein: the walking opening and closing unit (2) further comprises a camera (27), and the camera (27) is arranged on one opening and closing arm (22).
7. The on-line travel assembly of an obstacle clearance robot of claim 1, wherein: the machine body (1) comprises a connecting rod and two side plates (11) which are connected into a whole through the connecting rod, and a protective cover (6) which is connected in a involution way and provided with an opening is further arranged on the periphery of the machine body (1).
8. The on-line travel assembly of an obstacle clearance robot of claim 1, wherein: the bottom of organism (1) is equipped with circumference rotary unit (7) with the assembly of tree obstacle clearance assembly, circumference rotary 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 rotated rather than being connected, ring gear (72) suit is on main rotary disk (73), gear motor (71) are installed on organism (1), and the last gear that is equipped with of power take off shaft of gear motor (71) meshes with ring gear (72), still be equipped with on main rotary disk (73) along its circumferencial direction arrange and be located limit fastener (74) of ring gear (72) periphery to its axial limit.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2022115582226 | 2022-12-06 | ||
| CN202211558222 | 2022-12-06 |
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| CN115912236A CN115912236A (en) | 2023-04-04 |
| CN115912236B true 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) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116137432B (en) * | 2023-04-17 | 2023-07-14 | 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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- 2022-12-28 CN CN202211699333.9A patent/CN115832944B/en active Active
- 2022-12-28 CN CN202211697421.5A patent/CN115912236B/en active Active
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Also Published As
| Publication number | Publication date |
|---|---|
| CN115882386A (en) | 2023-03-31 |
| CN115832944B (en) | 2024-08-30 |
| CN115882386B (en) | 2024-08-13 |
| CN115912236A (en) | 2023-04-04 |
| 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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