CN117748346A - Running gear towards electric power fitting nondestructive test robot - Google Patents

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

A walking mechanism for non-destructive testing robots for power hardware

Technical field

The invention belongs to the technical field of transmission line testing equipment, and in particular relates to a walking mechanism for a robot for non-destructive testing of power fittings.

Background technique

Transmission lines are often erected across mountains, rivers and other areas, and are often affected by natural disasters such as typhoons and icing. Therefore, inspections of transmission lines are very necessary. However, traditional manual inspections are extremely expensive. Human and material resources, especially infrastructure, have developed rapidly in recent years. The scale of the power grid has continued to expand, and the required human and material resources have greatly increased. Therefore, there is an urgent need for some advanced means to liberate the labor force.

The more advanced inspection methods in recent years include the following: helicopter inspections, drone inspections and robot inspections. Helicopter inspection costs are high and there are certain safety risks. Although drones are easy to carry, they are greatly affected by the external environment and the controller's own condition. Therefore, they cannot be considered the optimal solution for power transmission line inspections to replace manpower. Compared with the above inspection methods, the inspection robot is very significant. It is simple to operate, safe and efficient. It is currently a research hotspot at home and abroad.

Contents of the invention

The purpose of the invention is to solve the problems of high manpower cost and limited drone operations for power transmission line inspections, and to provide a walking mechanism for non-destructive testing robots for power fittings.

In order to achieve the above object, the present invention provides the following technical solution: a walking mechanism for a non-destructive testing robot of electric hardware, which is characterized in that it includes: a wheel assembly and a brake assembly, the wheel assembly is arranged at the upper end of the support assembly, and the wheel assembly is provided with a groove wheel, the brake assembly is arranged in the middle of the support assembly, the brake assembly is provided with a brake pad corresponding to the sheave, the lower end of the support assembly is provided with a bracket assembly and a driver in sequence from top to bottom, the support assembly is provided with a first spur gear, The bracket assembly is provided with a second spur gear, and the second spur gear meshes with the first spur gear.

Preferably, the wheel assembly includes: a sheave and a synchronization wheel. The sheave is arranged at the upper end of the support assembly through the first shaft and the wheel end cover. The synchronization wheel is arranged at the other end of the first shaft. The synchronization wheel is connected to the third through the synchronization wheel end cover. One axis connection.

Preferably, the brake assembly includes a support plate and two side plates. The two side plates are vertically arranged at both ends of the upper end surface of the support plate. A driving rod is passed through the support plate. The driving rod is arranged between the two side plates. The support plate A brake drive motor is provided on the lower end surface, and the output shaft of the brake drive motor is coaxially connected to the drive rod. A brake pad is provided above the side plate, and the brake pad is fixedly connected to the upper end of the drive rod.

Preferably, the brake assembly also includes a base bracket. Two guide rods are vertically arranged on the upper surface of the support plate. The two guide rods are arranged between the two side plates. The brake assembly as a whole is installed on one side of the support assembly through the base bracket. The guide rods are arranged vertically on the upper surface of the support plate. The rod cooperates with the base bracket to limit the braking pad, so that the braking pad can only reciprocate axially along the driving rod.

Preferably, the support assembly includes a support frame body and a bearing seat set. The bearing seat set includes a first bearing seat and a second bearing seat. A second shaft is inserted through the first bearing seat and the second bearing seat, and a second shaft is installed in the second bearing seat. One end of the fixed sleeve is provided with a first spur gear, and the first spur gear is connected to the support frame body.

Preferably, the bracket assembly includes a tilt bracket and a tilt drive motor, and one end of the tilt drive motor is covered with a second spur gear.

Preferably, the driver includes a traveling drive motor, the output shaft sleeve of the traveling drive motor is provided with a driving wheel, and the driving wheel is drivingly connected to the sheave through a transmission belt.

Preferably, the support frame body is also provided with a belt cover, the transmission belt is arranged in the belt cover, and the traveling drive motor is fixed to the lower end side wall of the support frame body through the motor base.

Preferably, the first spur gear is a semicircular gear, which limits the adjustment range of the inclination angle of the support assembly and prevents the inclination angle from being detached from the transmission line cable.

Preferably, the sheave is composed of a rigid body and a polyurethane layer disposed in an annular groove of the rigid body. The polyurethane layer in the annular groove increases the friction between the sheave and the transmission line cable, allowing the sheave to move better.

Compared with the existing technology, the beneficial effects of the present invention are: the walking mechanism of the present invention is used for non-destructive testing robots of power fittings, and can enable the testing robot to move along the transmission line to be tested, thereby replacing the existing manual patrol of the transmission line. Check.

Description of drawings

Figure 1 is a perspective view of the overall structure of the present invention.

Figure 2 is a front view of the overall structure of the present invention.

Figure 3 is a schematic structural diagram of the wheel assembly of the present invention.

Figure 4 is a perspective view of the support assembly of the present invention.

Figure 5 is a front view of the support assembly of the present invention.

Figure 6 is a schematic structural diagram of the bracket assembly of the present invention.

Figure 7 is a schematic structural diagram of the brake assembly of the present invention.

Figure 8 is a schematic structural diagram of the driver of the present invention.

Explanation of numbers in the figure: 1-wheel assembly, 101-sheave, 102-first shaft, 103-wheel end cover, 104-synchronous wheel, 105-synchronous wheel end cover, 2-brake assembly, 201-support plate, 202 -Side plate, 203-driving rod, 204-brake drive motor, 205-brake pad, 206-base bracket, 207-guide rod, 3-support component, 301-support frame body, 302-bearing seat group, 303-second shaft, 304-first spur gear, 305-first bearing seat, 306-second bearing seat, 4-bracket assembly, 401-tilt bracket, 402-tilt drive motor, 403-second spur gear, 5-driver, 501-travel drive motor, 502-driving wheel, 503-transmission belt, 504-motor base.

Detailed ways

Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments described here are only some of the embodiments of the present invention, rather than all embodiments. The accompanying drawings only show parts relevant to this patent application. Rather than all content, the scope of protection of the present invention is not limited to the following embodiments.

As shown in Figures 1 and 2, a walking mechanism for a robot for non-destructive testing of electric hardware includes: a wheel assembly 1 and a brake assembly 2. The wheel assembly 1 is arranged at the upper end of the support assembly 3, and the wheel assembly 1 is provided with a sheave 101 , the brake assembly 2 is arranged in the middle of the support assembly 3. The brake assembly 2 is provided with a brake pad 205 corresponding to the sheave 101. The lower end of the support assembly 3 is equipped with a bracket assembly 4 and a driver 5 in sequence from top to bottom. The support assembly 3 is provided with a first spur gear 304, and the bracket assembly 4 is provided with a second spur gear 403, and the second spur gear 403 meshes with the first spur gear 304. The traveling mechanism is connected to the inspection robot to perform maintenance work on the power fittings on the transmission line. The wheel assembly and brake assembly are installed on the support assembly. Under the action of the driver, the wheel assembly's sheave rotates, driving the traveling mechanism on the transmission line. The cable moves upward. When the traveling mechanism needs to stop, the brake drive motor of the brake assembly operates to drive the brake pad to move upward. Together with the sheave, the cable is compressed to stop the traveling mechanism. When the transmission line cables are not parallel or the traveling mechanism needs When adjusting the angle, the tilt drive motor of the bracket assembly drives the second spur gear to rotate, and the meshing position with the first spur gear is adjusted to change the inclination angle of the support assembly, thereby adjusting the posture of the walking mechanism.

As shown in Figure 3, the wheel assembly 1 includes: a sheave 101 and a synchronizing wheel 104. The sheave 101 is configured on 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 material. There are installation grooves in the center of both sides. The rigid body of the sheave 101 is circumferentially recessed from both ends to form an annular groove. A polyurethane layer is provided in the annular groove of the rigid body to provide elastic protection for the sheave when moving on the transmission line. The friction force is large. One end of the sheave 101 and the first shaft 102 is fixed by the wheel end cover 103. The installation position of the first shaft 102 is in the installation groove on one side of the sheave 101. The opposite end of the connection side of the sheave 101 and the first shaft 102 is A cylindrical groove is provided in the center of the side. The cylindrical groove is large enough to accommodate the wheel end cover 103. The wheel end cover 103 is arranged in the cylindrical groove. The sheave 101, the first shaft 102 and the wheel end cover 103 are fixed by bolts. The synchronizing wheel 104 is arranged at the other end of the first shaft 102, and the synchronizing wheel 104 is rigidly connected to the first shaft 102 through the synchronizing wheel end cover 105. The wheel assembly cooperates with the transmission line to be inspected to enable the inspection robot to walk along the transmission line. The synchronous wheel is rotated by the transmission belt, and the sheave rotates coaxially with the synchronous wheel under the action of the first axis, so that the inspection robot can move on the transmission line. Moved by friction.

As shown in Figure 7, the brake assembly 2 includes a support plate 201 and two side plates 202. The two side plates 202 are vertically arranged at both ends of the upper end surface of the support plate 201. A rectangular through hole is provided in the middle of the side plate 202. The support plate 201 It has a rectangular parallelepiped structure. The support plate 201 is provided with a circular through hole in the center. The circular through hole of the support plate 201 is provided with a driving rod 203. The driving rod 203 is arranged between the two side plates 202. The lower end surface of the supporting plate 201 is provided with a system. The output shaft of the brake drive motor 204 is coaxially connected to the drive rod 203. A brake pad 205 is provided above the side plate 202. A semi-cylindrical groove is provided on the upper end of the brake pad 205 to enable braking. The pad 205 is fitted with the cable of the transmission line, and a number of protrusions or irregular brake rubber are provided in the groove. The lower end surface of the brake pad 205 is fixedly connected to the upper end of the drive rod 203. The brake assembly is used to increase the friction between the wheel assembly and the transmission line to achieve braking. The brake drive motor can drive the drive rod to reciprocate axially. When the detection robot needs to stop at a suspected damaged point, The operation of the brake drive motor drives the drive rod to move upward, and the brake pads and sheaves clamp the cables of the transmission line, thereby braking the detection robot on the transmission line.

The brake assembly 2 also includes a base bracket 206. The base bracket 206 is fixedly connected to the support plate 201. The base bracket 206 is composed of two "work" shaped plates and a T-shaped plate welded together. The T-shaped plate of the base bracket 206 has a T-shaped bottom and a supporting plate. The center of the longer side of the plate 201 is fixedly connected. The T-shaped top of the T-shaped plate of the base bracket 206 is vertically welded to the "work"-shaped plate with bolt mounting holes. The other end of the "work"-shaped plate with bolt mounting holes is on the same plane. There is another "I"-shaped plate welded vertically. The position and shape of the non-welded side of this "I"-shaped plate are parallel and corresponding to the support plate 201, and the lower end surface is fixedly connected to the two side plates. In order to ensure the stability of the up and down movement of the brake pad 205, two guide rods 207 are vertically provided on the upper end surface of the support plate 201, and are provided at corresponding positions on the non-welded side of the "I"-shaped plate of the base bracket 206 parallel to the support plate 201. Two limiting through holes and transmission holes, two guide rods 207 are arranged between the two side plates 202, the upper end of the driving rod 203 is fixedly connected to the lower end surface of the braking pad 205, and the braking pad 205 is in the driving position. Under the driving effect of the rod 203 and the limiting effect of the guide rod 207, it moves up and down in the transmission hole of the base bracket 206, and plays a braking effect on the wheel assembly when it moves upward.

As shown in Figures 4 and 5, the support assembly 3 includes a support body 301 and a bearing seat group 302. The support body 301 is in the shape of a long strip with a rectangular groove on one side. The bearing seat group 302 is installed on the support body 301. At the bottom, the bearing seat group 302 includes a first bearing seat and a second bearing seat 306. A second shaft 303 is inserted through the first bearing seat and the second bearing seat 306. One end of the second shaft 303 is fixedly sleeved with a first bearing seat. Spur gear 304. The first spur gear 304 is a semicircular gear. The first spur gear 304 is rigidly connected to the support frame body 301. A belt cover is also provided on the other side of the support frame body 301. The transmission belt 503 is arranged in the belt cover. . The support assembly is used to carry the wheel assembly and the brake assembly, and the first spur gear serves as a gear transmission connection between the support assembly and the bracket assembly.

As shown in Figure 6, the bracket assembly 4 includes a tilt bracket 401 and a tilt drive motor 402. One end of the tilt drive motor 402 is covered with a second spur gear 403. The bracket assembly is used to adjust the tilt angle of the support assembly. The tilt bracket is used to support other components in the bracket assembly. The tilt drive motor adjusts the meshing position of the second spur gear and the first spur gear to adjust the tilt angle of the support assembly.

As shown in Figure 8, the driver 5 includes a traveling drive motor 501. The output shaft sleeve of the traveling drive motor 501 is provided with a driving wheel 502. The driving wheel 502 is connected to the sheave 101 through a transmission belt 503. The traveling driving motor 501 passes through the motor base 504. The bolts are fixed on the side wall on the other side of the lower end of the support frame body 301. The motor head of the traveling drive motor 501 passes through the side wall on the other side of the support frame body 301 and goes out from the support frame body 301 toward the rectangular slot of the support frame body 301. . The driver is used to provide driving force to the wheel assembly. The traveling drive motor drives the driving wheel to rotate. The driving wheel drives the transmission belt to move on the synchronous wheel and the driving wheel. The movement of the transmission belt drives the synchronous wheel to rotate, which in turn causes the sheave to rotate, thereby driving the wheel assembly. , driving the detection robot to move.

The traveling mechanism and the transmission line detection robot are fixedly installed and placed on the transmission line. The sheave 101 is placed on the cable of the transmission line. The ring groove of the sheave 101 fits the cable. When the traveling mechanism operates, the traveling drive motor 501 drives the active The wheel 502 rotates, and the driving wheel 502 drives the transmission belt 503 to rotate, which is then transmitted to the synchronous wheel 104 to rotate the synchronous wheel 104. The synchronous wheel 104 drives the sheave 101 to rotate through the first shaft 102, so that the traveling mechanism moves on the transmission line.

When the traveling mechanism needs to be braked, the brake drive motor 204 starts to drive the drive rod 203 to move upward. The brake pad 205 on the drive rod extends axially under the drive of the drive rod 203 and the guide limiter of the guide rod 207. Move upward until the friction force between the brake pad 205 and the cable brakes the traveling mechanism under the action of the decelerated traveling drive motor 501, the traveling drive motor 501 gradually stops rotating, and the traveling mechanism stops at the position to be detected. At this time, the power The hardware inspection robot works at the location to be inspected to detect whether the power hardware is damaged or destroyed; when the walking mechanism needs to move again, the walking drive motor 501 starts, the brake drive motor 204 operates in reverse, and the drive rod 203 moves downwards , the brake pad 205 is separated from the cable, and the traveling mechanism continues to move under the linkage of the traveling drive motor 501.

When the posture of the walking mechanism needs to be adjusted, the tilt drive 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 relies on the gravity of the bracket assembly 4 to support the assembly. The inclination angle adjustment of 3 adjusts the overall posture of the traveling mechanism to a suitable position. In the initial position, the second spur gear 403 meshes in the middle of the first spur gear 304 to make the traveling mechanism perpendicular to the ground. When the balance of the walking mechanism is broken, or the offset needs to be adjusted according to the actual detection requirements of the electric hardware inspection robot, the second spur gear 403 rotates in the opposite direction of the adjustment direction, and the second spur gear 403 is on the first spur gear 304 The range of circumferential movement distance is half of the half tooth of the first spur gear 304. If the power fitting detection robot needs to deviate to the left on the cable, the second spur gear 403 rotates clockwise, driving the bracket assembly 4 to deflect to the right. Logically, if the power fitting inspection robot needs to deflect to the right on the cable, the second spur gear 403 rotates counterclockwise, driving the bracket assembly 4 to deflect to the left.

When the above-mentioned descriptions such as "upper", "lower", "left", right, "upper end face", "lower end face", "clockwise", "counterclockwise" etc. are descriptions of the drawings, they do not As limitations are described, those skilled in the art should note.

The technical solutions, principles and advantages of the present invention have been shown and described above. It should be pointed out that the present invention is not limited by the above embodiments, which are only partial embodiments. Without departing from the spirit and scope of the present invention, any modifications may be made. Several improvements and additions are considered to be within the protection scope of the present invention.

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.