CN117748346A - Running gear towards electric power fitting nondestructive test robot - Google Patents
Running gear towards electric power fitting nondestructive test robot Download PDFInfo
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- CN117748346A CN117748346A CN202311272688.4A CN202311272688A CN117748346A CN 117748346 A CN117748346 A CN 117748346A CN 202311272688 A CN202311272688 A CN 202311272688A CN 117748346 A CN117748346 A CN 117748346A
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- brake
- electric power
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- 238000012360 testing method Methods 0.000 title claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims abstract description 40
- 238000007689 inspection Methods 0.000 claims abstract description 18
- 238000009659 non-destructive testing Methods 0.000 claims abstract description 11
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 229920002635 polyurethane Polymers 0.000 claims description 4
- 239000004814 polyurethane Substances 0.000 claims description 4
- 230000001066 destructive effect Effects 0.000 claims 3
- 238000001514 detection method Methods 0.000 description 13
- 239000000463 material Substances 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
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Abstract
The invention discloses a running gear facing to a power fitting nondestructive testing robot, which aims to solve the problems of high cost of manpower adopted for power transmission line inspection and limited operation of an unmanned aerial vehicle, and provides the running gear facing to the power fitting nondestructive testing robot for the testing robot, and comprises the following components: the wheel assembly is arranged at the upper end of the supporting assembly, the wheel assembly is provided with a grooved wheel, the brake assembly is arranged in the middle of the supporting assembly, the brake assembly is provided with a brake cushion block corresponding to the grooved wheel, the lower end of the supporting assembly is sequentially provided with a bracket assembly and a driver from top to bottom, the supporting assembly is provided with a first spur gear, the bracket assembly is provided with a second spur gear, and the second spur gear is meshed with the first spur gear. The running mechanism is used for the electric power fitting nondestructive testing robot, and can enable the testing robot to move along the transmission line to be tested so as to replace the existing manual inspection of the transmission line.
Description
Technical Field
The invention belongs to the technical field of transmission line detection equipment, and particularly relates to a travelling mechanism for a power fitting nondestructive detection robot.
Background
The transmission line is often erected at a position crossing regions such as mountains, rivers and the like and is often influenced by natural disasters such as typhoons, ice coating and the like, so that inspection of the transmission line is very necessary, but traditional manual inspection can greatly consume manpower and material resources, especially in recent years, the development of capital construction is rapid, the power grid scale is continuously enlarged, and the required manpower and material resources are greatly improved, so that a plurality of advanced means are urgently needed to liberate labor force.
In recent years, the more advanced inspection methods include the following: helicopter inspection, unmanned aerial vehicle inspection and robot inspection. Helicopter inspection cost is high, has certain potential safety hazard in addition, and unmanned aerial vehicle is portable, but receives external environment and the influence of the state of controller own great, consequently, can not calculate transmission line inspection and replace the optimum solution of manpower. Compared with the inspection methods, the inspection robot is quite remarkable, is simple to operate, safe and efficient, and is a research hotspot at home and abroad at present.
Disclosure of Invention
The invention aims to solve the problems of high labor cost for inspection of a power transmission line and limited operation of an unmanned aerial vehicle, and provides a running mechanism for a power fitting nondestructive testing robot for the testing robot.
In order to achieve the above object, the present invention provides the following technical solutions: the utility model provides a running gear towards electric power fitting nondestructive test robot which characterized in that includes: the wheel assembly is arranged at the upper end of the supporting assembly, the wheel assembly is provided with a grooved wheel, the brake assembly is arranged in the middle of the supporting assembly, the brake assembly is provided with a brake cushion block corresponding to the grooved wheel, the lower end of the supporting assembly is sequentially provided with a bracket assembly and a driver from top to bottom, the supporting assembly is provided with a first spur gear, the bracket assembly is provided with a second spur gear, and the second spur gear is meshed with the first spur gear.
Preferably, the wheel assembly includes: the sheave and the synchronizing wheel are arranged at the upper end of the supporting component through the first shaft and the wheel end cover, the synchronizing wheel is arranged at the other end of the first shaft, and the synchronizing wheel is connected with the first shaft through the synchronizing wheel end cover.
Preferably, the brake assembly comprises a supporting plate and two side plates, wherein the two side plates are vertically arranged at two ends of the upper end face of the supporting plate, the supporting plate is provided with a driving rod in a penetrating mode, the driving rod is arranged between the two side plates, the lower end face of the supporting plate is provided with a brake driving motor, an output shaft of the brake driving motor is coaxially connected with the driving rod, a brake cushion block is arranged above the side plates, and the brake cushion block is fixedly connected with the upper end head of the driving rod.
Preferably, the brake assembly further comprises a base support, the upper end face of the supporting plate is vertically provided with two guide rods, the two guide rods are arranged between the two side plates, the brake assembly is integrally installed on one side of the supporting assembly through the base support, and the guide rods are matched with the base support to play a limiting role on the brake cushion block, so that the brake cushion block can only axially reciprocate along the driving rod.
Preferably, the support assembly comprises a support frame body and a bearing seat group, the bearing seat group comprises a first bearing seat and a second bearing seat, a second shaft is arranged in the first bearing seat and the second bearing seat in a penetrating mode, a first spur gear is fixedly sleeved at one end of the second shaft, and the first spur gear is connected with the support frame body.
Preferably, the bracket assembly comprises an inclined bracket and an inclined driving motor, and one end of the inclined driving motor is sleeved with a second spur gear.
Preferably, the driver comprises a walking driving motor, an output shaft sleeve of the walking driving motor is provided with a driving wheel, and the driving wheel is in transmission connection with the grooved wheel through a transmission belt.
Preferably, the support frame body is further provided with a belt cover, the transmission belt is arranged in the belt cover, and the walking driving motor is fixed on the side wall of the lower end of the support frame body through the motor base.
Preferably, the first spur gear is a semicircular gear, so that the inclination angle adjusting range of the supporting assembly is limited, and the inclination angle is prevented from being separated from the power transmission line cable too much.
Preferably, the grooved pulley is composed of a rigid main body and a polyurethane layer arranged in an annular groove of the rigid main body, and the polyurethane layer in the annular groove increases friction force between the grooved pulley and a power transmission line cable, so that the grooved pulley can move better.
Compared with the prior art, the invention has the beneficial effects that: the running mechanism is used for the electric power fitting nondestructive testing robot, and can enable the testing robot to move along the transmission line to be tested so as to replace the existing manual inspection of the transmission line.
Drawings
Fig. 1 is a perspective view of the overall structure of the present invention.
Fig. 2 is a front view of the overall structure of the present invention.
Fig. 3 is a schematic structural view of the wheel assembly of the present invention.
Fig. 4 is a perspective view of the support assembly of the present invention.
Fig. 5 is a front view of the support assembly of the present invention.
Fig. 6 is a schematic structural view of the bracket assembly of the present invention.
Fig. 7 is a schematic structural view of the brake assembly of the present invention.
Fig. 8 is a schematic structural view of the driver of the present invention.
The reference numerals in the figures illustrate: 1-wheel assembly, 101-sheave, 102-primary axle, 103-wheel end cap, 104-synchronizing wheel, 105-synchronizing wheel end cap, 2-brake assembly, 201-support plate, 202-side plate, 203-drive lever, 204-brake drive motor, 205-brake pad, 206-base bracket, 207-guide lever, 3-support assembly, 301-support bracket body, 302-bearing bracket set, 303-secondary axle, 304-primary spur gear, 305-primary bearing bracket, 306-secondary bearing bracket, 4-bracket assembly, 401-tilt bracket, 402-tilt drive motor, 403-secondary spur gear, 5-drive, 501-travel drive motor, 502-drive wheel, 503-drive belt, 504-motor bracket.
Detailed Description
Specific embodiments of the invention will be described in detail below with reference to the drawings, in which it is noted that the embodiments described herein are only some embodiments, but not all embodiments of the invention, and the drawings only show some but not all of the matters related to the present patent application, and the scope of the invention is not limited to the following embodiments.
As shown in fig. 1 and 2, a travelling mechanism for a nondestructive testing robot for electric power fittings includes: the wheel assembly 1 is arranged at the upper end of the supporting assembly 3, the wheel assembly 1 is provided with a grooved wheel 101, the brake assembly 2 is arranged in the middle of the supporting assembly 3, the brake assembly 2 is provided with a brake cushion block 205 corresponding to the grooved wheel 101, the lower end of the supporting assembly 3 is sequentially provided with a bracket assembly 4 and a driver 5 from top to bottom, the supporting assembly 3 is provided with a first spur gear 304, the bracket assembly 4 is provided with a second spur gear 403, and the second spur gear 403 is meshed with the first spur gear 304. The running gear is connected with detecting robot, overhauls the operation for the electric power fitting on the power transmission line, wheel subassembly and stopper subassembly are installed on supporting component, wheel subassembly's sheave rotates under the effect of driver, drive running gear and remove on the power transmission line cable, when running gear needs to stop, the braking driving motor operation of stopper subassembly drives the braking cushion and reciprocates, compress tightly the cable with the sheave and make running gear stop, when the power transmission line cable is nonparallel or running gear needs angle regulation, the tilting driving motor of support subassembly drives the second spur gear and rotates, adjust the meshing position with first spur gear and make supporting component's inclination change, thereby the adjustment running gear gesture.
As shown in fig. 3, the wheel assembly 1 includes: the sheave 101 and the synchronizing wheel 104, the sheave 101 is disposed at the upper end of the support assembly 3 through the first shaft 102 and the wheel end cover 103, the sheave 101 is made of rigid materials, mounting grooves are formed in the centers of two sides of the sheave 101, a rigid main body of the sheave 101 is recessed inwards from two ends to form a ring groove, a polyurethane layer is arranged in the ring groove of the rigid main body to provide elastic protection for the sheave moving on a transmission line, friction force is increased, one end of the sheave 101 and one end of the first shaft 102 are fixed through the wheel end cover 103, the mounting position of the first shaft 102 is disposed in the mounting groove on one side of the sheave 101, a cylindrical groove is formed in the center of the opposite side of the connecting side of the sheave 101 and the first shaft 102, the wheel end cover 103 can be accommodated in the cylindrical groove, the sheave 101, the first shaft 102 and the wheel end cover 103 are fixed through bolts, the synchronizing wheel 104 is disposed at the other end of the first shaft 102, and the synchronizing wheel 104 is rigidly connected with the first shaft 102 through the synchronizing wheel end cover 105. The wheel assembly is matched with the transmission line to be detected to realize that the detection robot walks along the transmission line, the synchronous wheel is rotated under the action of the transmission belt, and the grooved wheel coaxially rotates with the synchronous wheel under the action of the first shaft, so that the detection robot can move on the transmission line under the action of friction force.
As shown in fig. 7, the brake assembly 2 includes a support plate 201 and two side plates 202, the two side plates 202 are vertically disposed at two ends of an upper end surface of the support plate 201, a rectangular through hole is disposed in the middle of the side plate 202, the support plate 201 is in a cuboid structure, a circular through hole is disposed in the center of the support plate 201, a driving rod 203 is disposed through the circular through hole of the support plate 201, the driving rod 203 is disposed between the two side plates 202, a brake driving motor 204 is disposed on a lower end surface of the support plate 201, an output shaft of the brake driving motor 204 is coaxially connected with the driving rod 203, a brake pad 205 is disposed above the side plates 202, a semi-cylindrical groove is disposed on an upper end surface of the brake pad 205, the brake pad 205 is embedded with a cable of a power transmission line, a plurality of raised strips or irregular brake rubber are disposed in the groove, and the lower end surface of the brake pad 205 is fixedly connected with an upper end of the driving rod 203. The brake assembly is used for increasing friction force between the wheel assembly and the power transmission line so as to achieve the purpose of braking, the brake driving motor can drive the driving rod to axially reciprocate, when the detection robot needs to stop at a suspected damaged point, the brake driving motor operates to drive the driving rod to move upwards, and the brake cushion block and the grooved wheel clamp a cable of the power transmission line, so that the detection robot is braked on the power transmission line.
The brake assembly 2 further comprises a base support 206, the base support 206 is fixedly connected with the supporting plate 201, the base support 206 is formed by welding two I-shaped plates and a T-shaped plate, the T-shaped bottom of the T-shaped plate of the base support 206 is fixedly connected with the center of the longer side face of the supporting plate 201, the T-shaped top of the T-shaped plate of the base support 206 is vertically welded with the I-shaped plate provided with a bolt mounting hole, the other end of the I-shaped plate provided with the bolt mounting hole is vertically welded with another I-shaped plate in the same plane, the non-welding side position and the shape of the I-shaped plate are parallel to and correspond to the supporting plate 201, and the lower end face of the I-shaped plate is fixedly connected with the two side plates. In order to ensure the stability of the up-and-down movement of the brake pad 205, the upper end surface of the support plate 201 is vertically provided with two guide rods 207, two limit through holes and transmission holes are arranged at positions corresponding to the non-welding sides of the H-shaped plates of the base support 206 parallel to the support plate 201, the two guide rods 207 are arranged between the two side plates 202, the upper end of the drive rod 203 is fixedly connected with the lower end surface of the brake pad 205, and the brake pad 205 moves up and down in the transmission holes of the base support 206 under the drive action of the drive rod 203 and the limit action of the guide rods 207, so as to play a role in braking the wheel assembly during the up-movement.
As shown in fig. 4 and 5, the support assembly 3 includes a support frame body 301 and a bearing seat group 302, the support frame body 301 is in a strip shape, one side of the support frame body 301 is provided with a rectangular groove, the bearing seat group 302 is installed at the bottom of the support frame body 301, the bearing seat group 302 includes a first bearing seat and a second bearing seat 306, a second shaft 303 is penetrated in the first bearing seat and the second bearing seat 306, one end of the second shaft 303 is fixedly sleeved with a first spur gear 304, the first spur gear 304 is a semicircular gear, the first spur gear 304 is rigidly connected with the support frame body 301, the other side of the support frame body 301 is also provided with a belt cover, and a driving belt 503 is arranged in the belt cover. The support assembly is used for bearing the wheel assembly and the brake assembly, and the first spur gear plays a role in gear transmission connection for the support assembly and the bracket assembly.
As shown in fig. 6, the bracket assembly 4 includes a tilt bracket 401 and a tilt driving motor 402, and a second spur gear 403 is sleeved on one end of the tilt driving motor 402. The support assembly is used for adjusting the inclination angle of the support assembly, the inclination support is used for supporting other components in the support assembly, and the meshing position of the second spur gear and the first spur gear is adjusted through the action of the inclination driving motor, so that the inclination angle of the support assembly is adjusted.
As shown in fig. 8, the driver 5 includes a traveling driving motor 501, an output shaft sleeve of the traveling driving motor 501 is provided with a driving wheel 502, the driving wheel 502 is in transmission connection with the sheave 101 through a transmission belt 503, the traveling driving motor 501 is fixed on a side wall of the other side of the lower end of the supporting frame body 301 through a motor seat 504 bolt, and a motor head of the traveling driving motor 501 penetrates through the side wall of the other side of the supporting frame body 301 and penetrates out from the supporting frame body 301 towards the rectangular groove direction of the supporting frame body 301. The driver is used for providing driving force for the wheel subassembly, and walking driving motor drives the action wheel and rotates, and the action wheel drives driving belt and moves on synchronizing wheel and action wheel, and driving belt moves and drives the synchronizing wheel rotation, and then makes the sheave rotate to drive the wheel subassembly, drive detection robot and remove.
The running gear and transmission line detection robot fixed mounting, place on the transmission line, sheave 101 is placed on the cable of transmission line, and the annular and the cable laminating of sheave 101, when running gear operation, running driving motor 501 drive action wheel 502 rotation, action wheel 502 drive belt 503 rotation, and then the transmission is to synchronizing wheel 104 makes synchronizing wheel 104 rotate, and synchronizing wheel 104 drives sheave 101 through first axle 102 and rotates to make running gear remove on the transmission line.
When the travelling mechanism needs to be braked, a brake driving motor 204 is started to drive a driving rod 203 to move upwards, a brake cushion block 205 on the driving rod moves upwards along the axial direction under the driving of the driving rod 203 and the guiding limit action of a guide rod 207 until the friction force between the brake cushion block 205 and a cable brakes the travelling mechanism under the action of a travelling driving motor 501 in a decelerating state, the travelling driving motor 501 stops rotating gradually, the travelling mechanism stops at a position to be detected, and at the moment, an electric power fitting detection robot works at the position to be detected to detect whether the electric power fitting is damaged or not; when the travelling mechanism needs to move again, the travelling driving motor 501 is started, the brake driving motor 204 operates reversely, the driving rod 203 moves downwards, the brake cushion block 205 is separated from the cable, and the travelling mechanism continues to move under the linkage action of the travelling driving motor 501.
When the traveling mechanism needs to adjust the posture, the tilt driving motor 402 operates to adjust the meshing position of the second spur gear 403 and the first spur gear 304 within the gear range of the first spur gear 304, and adjusts the posture of the entire traveling mechanism to a proper position by means of the tilt angle adjustment of the support assembly 3 under the action of the gravity of the bracket assembly 4, and the second spur gear 403 is meshed with the middle part of the first spur gear 304 in the initial position, so that the traveling mechanism is vertical to the ground. When the balance of the travelling mechanism is broken or offset adjustment is required according to the actual detection requirement of the electric power fitting detection robot, the second spur gear 403 rotates in the opposite direction of the adjustment direction, the circumferential moving distance range of the second spur gear 403 on the first spur gear 304 is half of the half teeth of the first spur gear 304, if the electric power fitting detection robot needs to be offset leftwards on a cable, the second spur gear 403 rotates clockwise to drive the bracket assembly 4 to deflect rightwards, and similarly, if the electric power fitting detection robot needs to be offset rightwards on the cable, the second spur gear 403 rotates anticlockwise to drive the bracket assembly 4 to deflect leftwards.
When the above-mentioned descriptions of "upper", "lower", "left", "right", "upper end face", "lower end face", "clockwise", "counterclockwise", etc. are descriptions with respect to the drawings, they are not as limiting descriptions, and those skilled in the art should note.
While the foregoing has been directed to embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.
Claims (10)
1. The utility model provides a running gear towards electric power fitting nondestructive test robot which characterized in that includes: wheel subassembly (1) and stopper subassembly (2), wheel subassembly (1) disposes in the upper end of supporting component (3), and wheel subassembly (1) are provided with sheave (101), stopper subassembly (2) dispose in the middle part of supporting component (3), and stopper subassembly (2) are provided with braking pad (205) that correspond with sheave (101), supporting component (3)'s lower extreme from the top down has disposed bracket component (4) and driver (5) in proper order, and supporting component (3) are provided with first spur gear (304), bracket component (4) are provided with second spur gear (403), second spur gear (403) and first spur gear (304) meshing.
2. The running gear of a non-destructive inspection robot for electric power fittings according to claim 1, wherein the wheel assembly (1) comprises: the device comprises a sheave (101) and a synchronizing wheel (104), wherein the sheave (101) is arranged at the upper end of a supporting component (3) through a first shaft (102) and a wheel end cover (103), the synchronizing wheel (104) is arranged at the other end of the first shaft (102), and the synchronizing wheel (104) is connected with the first shaft (102) through a synchronizing wheel end cover (105).
3. The travelling mechanism for the electric power fitting nondestructive testing robot according to claim 1, wherein the brake assembly (2) comprises a supporting plate (201) and two side plates (202), the two side plates (202) are vertically arranged at two ends of the upper end face of the supporting plate (201), a driving rod (203) is arranged on the supporting plate (201) in a penetrating mode, the driving rod (203) is arranged between the two side plates (202), a brake driving motor (204) is arranged on the lower end face of the supporting plate (201), an output shaft of the brake driving motor (204) is coaxially connected with the driving rod (203), and a brake cushion block (205) is arranged above the side plates (202), and the brake cushion block (205) is fixedly connected with the upper end of the driving rod (203).
4. A travelling mechanism for a nondestructive inspection robot for electric power fittings according to claim 3, wherein the brake assembly (2) further comprises a base bracket (206), two guide rods (207) are vertically arranged on the upper end surface of the support plate (201), and the two guide rods (207) are arranged between the two side plates (202).
5. The travelling mechanism for the electric power fitting nondestructive testing robot according to claim 1, wherein the supporting assembly (3) comprises a supporting frame body (301) and a bearing seat group (302), the bearing seat group (302) comprises a first bearing seat (305) and a second bearing seat (306), a second shaft (303) is arranged in the first bearing seat (305) and the second bearing seat (306) in a penetrating manner, a first spur gear (304) is fixedly sleeved at one end of the second shaft (303), and the first spur gear (304) is connected with the supporting frame body (301).
6. The travelling mechanism for the power fitting nondestructive testing robot according to claim 1, wherein the bracket assembly (4) comprises an inclined bracket (401) and an inclined driving motor (402), and a second spur gear (403) is sleeved at one end of the inclined driving motor (402).
7. The running mechanism for the power fitting nondestructive testing robot according to claim 5, wherein the driver (5) comprises a running driving motor (501), an output shaft sleeve of the running driving motor (501) is provided with a driving wheel (502), and the driving wheel (502) is in transmission connection with the grooved wheel (101) through a transmission belt (503).
8. The running mechanism for the power fitting nondestructive testing robot according to claim 7, wherein a belt cover is further arranged on the support frame body (301), the transmission belt (503) is arranged in the belt cover, and the running driving motor (501) is fixed on the side wall of the lower end of the support frame body (301) through a motor base (504).
9. The running gear of a non-destructive inspection robot for electric power fittings according to claim 5 or 7, wherein the first spur gear (304) is a semicircular gear.
10. The running gear of a non-destructive inspection robot for electric power fittings according to any one of claims 1-7, wherein the sheave (101) is composed of a rigid body and a polyurethane layer disposed in a groove of the rigid body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311272688.4A CN117748346A (en) | 2023-09-28 | 2023-09-28 | Running gear towards electric power fitting nondestructive test robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311272688.4A CN117748346A (en) | 2023-09-28 | 2023-09-28 | Running gear towards electric power fitting nondestructive test robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117748346A true CN117748346A (en) | 2024-03-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311272688.4A Pending CN117748346A (en) | 2023-09-28 | 2023-09-28 | Running gear towards electric power fitting nondestructive test robot |
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| CN (1) | CN117748346A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116826595A (en) * | 2023-05-18 | 2023-09-29 | 河南四达检测技术有限公司 | Ray detection robot for multi-split conductor |
-
2023
- 2023-09-28 CN CN202311272688.4A patent/CN117748346A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116826595A (en) * | 2023-05-18 | 2023-09-29 | 河南四达检测技术有限公司 | Ray detection robot for multi-split conductor |
| CN116826595B (en) * | 2023-05-18 | 2024-07-23 | 河南四达检测技术有限公司 | Ray detection robot for multi-split conductor |
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