CN201134643Y - Fault releasing mechanism of inspection robot - Google Patents
Fault releasing mechanism of inspection robot Download PDFInfo
- Publication number
- CN201134643Y CN201134643Y CNU2007201852150U CN200720185215U CN201134643Y CN 201134643 Y CN201134643 Y CN 201134643Y CN U2007201852150 U CNU2007201852150 U CN U2007201852150U CN 200720185215 U CN200720185215 U CN 200720185215U CN 201134643 Y CN201134643 Y CN 201134643Y
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- pulley
- lowering
- hoisting gear
- driven pulley
- hook
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- Expired - Lifetime
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- 230000007246 mechanism Effects 0.000 title claims abstract description 25
- 238000007689 inspection Methods 0.000 title description 11
- 230000005540 biological transmission Effects 0.000 claims abstract description 28
- 239000000725 suspension Substances 0.000 claims description 14
- 238000004804 winding Methods 0.000 abstract 2
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 210000001367 artery Anatomy 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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Abstract
A fault releasing mechanism of a line patrol robot belongs to the technical field of mobile robots. The lifting device is connected with an output shaft of the lifting motor through a first transmission device and connected with another lifting device through a second transmission device, the lower end of the winding device is connected to the lower end of the hanging device, a releasable rescue rope is arranged in the winding device, and the rescue rope is released when a fault occurs. The utility model discloses utilize fixed pulley principle lifting, transfer the robot, avoided the people to go up the line and got the danger that the robot brought, simple structure, the mountable is wide in the range of application on patrolling and examining robot mechanism of high pressure, super high tension transmission line and telephone line.
Description
Technical field
The utility model belongs to the mobile robot technology field, particularly relates to a kind of mechanism for releasing patrolling robot fault.
Background technology
Transmission line is the main artery of electric power system, and its stable operation directly has influence on the reliability of electric power system, must drop into the work of patrolling and examining that lot of manpower and material resources removes to carry out circuit.Generally adopt the manual inspection method that transmission line is patrolled and examined at present, substitute the people circuit is patrolled and examined but many research institutions have developed inspection robot.These inspection robots can be along transmission line or overhead ground wire walking, also can cross over the barrier on the transmission line, when but the inspection robot that all these are developed is patrolled and examined on transmission line or overhead ground wire, in case when breaking down, robot is parked on transmission line or the overhead ground wire, and the terrestrial operation personnel can't operate, and robot can not come to ground up and down from circuit automatically, can only make coaster by the ground staff and reach the standard grade and take off robot, so that maintenance.Transmission line that has or overhead ground wire do not allow people's operation of reaching the standard grade, even and the people climbs up charged transmission line, danger is very big, be easy to occur security incident, therefore, in the time of should avoiding using this breaking down, charged the reaching the standard grade of people taken off the method for robot as far as possible, do not need the people to reach the standard grade when being necessary to design a kind of breaking down, the fault relieving mechanism that just can take off robot discharges the mobile robot and rolls off the production line.
The utility model content
There is not lower thread mechanism for overcoming above-mentioned crusing robot, can not be automatically when breaking down from circuit up and down to ground, needing the people to reach the standard grade takes off, to personal safety threaten big wait not enough, the utility model provide a kind of little to the personal safety menace, need not a kind of mechanism for releasing patrolling robot fault that the people reaches the standard grade and just robot can be discharged from line when breaking down.
The technical solution of the utility model: comprise suspension arrangement, hook, lowering or hoisting gear, transmission device, lifting motor and coil inserting apparatus, suspension arrangement is hung on the circuit, the upper end is connected with the walking clipping mechanism of robot, the lower end is connected with hook by revolute pair, drag hook two mouths of hook are being oppositely arranged on the orientation up and down in hook and the lowering or hoisting gear, when breaking down, hook is connected with lowering or hoisting gear, one of them lowering or hoisting gear is connected with the lifting motor output shaft by first transmission device, and be connected with another lowering or hoisting gear by second transmission device, coil inserting apparatus is connected the suspension arrangement lower end, built-in releasable rescue rope discharges the rescue rope when breaking down.
Described suspension arrangement comprises spring, side plate and roller bearing, the roller bearing axis normal is installed in circuit, lie in a horizontal plane in circuit directly over, the roller bearing two ends by revolute pair each be connected with a side plate, circuit is folded between two side plates, and side plate is connected with walking clipping mechanism by spring.Described lowering or hoisting gear comprises drag hook and support, and drag hook and support are the nut screw auxiliary structure.Described first transmission device is with synchronously by first driven pulley, first and driving pulley constitutes, and first driven pulley is coaxial with a lowering or hoisting gear medium-height trestle, is with driving pulley synchronously by first to be installed together, and driving pulley links to each other with the lifting motor output shaft.Described second transmission device is with synchronously by second driven pulley, second and the 3rd driven pulley constitutes, second driven pulley and first driven pulley are coaxial, be installed together with the 3rd driven pulley by the second synchronous band, the 3rd driven pulley is coaxial with the support of another lowering or hoisting gear.Described coil inserting apparatus comprises pulley base, fixed pulley, rescue rope, rope roll, opens a motor and motor mount, the pulley base that fixed pulley is installed is connected the suspension arrangement lower end, rescue rope one end is fixed on the casing, the other end places the rope roll that is installed in bottom half by fixed pulley, and the cover of rope roll links to each other with the motor output shaft of opening on the motor mount by the nut screw pair.
The utlity model has following advantage:
1. fault release function is arranged.When the utility model breaks down at inspection robot, the paw of robot can be lifted to the circuit top from circuit, the back that rotates to an angle just can discharge robot rolls off the production line, and has avoided the people to reach the standard grade and has got the danger that robot brings.
2. in light weight.The utility model utilizes the lifting of fixed pulley principle, transfers robot, and is simple in structure, the needs that are fit to field work and roll off the production line.
3. simple to operate.The utility model utilizes the fixed pulley operation principle, adopts automatically and the working method that manually combines, and only needs the ground handling personnel to pull the rescue rope on ground and robot be need not the people under the transmission line release reaches the standard grade, and is simple and convenient.
4. energy consumption is low.The degree of freedom of fault relieving mechanism described in the utility model is few, and used number of motors is also few, thereby saves energy.
5. applied range.The utility model can be installed on the inspection robot mechanism of high pressure, extra high voltage network and telephone line, and robot is rolled off the production line.
Description of drawings
Fig. 1 is a front view of the present utility model.
Fig. 2 is the vertical view of Fig. 1.
Fig. 3 is the left view of Fig. 1.
Embodiment
Below in conjunction with drawings and Examples the utility model is described in further detail.
Embodiment:
As Fig. 1, Fig. 2, shown in Figure 3, the utility model comprises suspension arrangement, hook 4, lowering or hoisting gear, transmission device, lifting motor 11 and coil inserting apparatus, suspension arrangement is hung on the circuit 8, its upper end is connected with the walking clipping mechanism 7 of robot, the lower end is connected with hook 4 by a revolute pair of being made up of bearing, 5 liang of mouths of hook of drag hook are being oppositely arranged on the orientation up and down in hook 4 and the lowering or hoisting gear, when breaking down, linking up with 4 two ends is connected with lowering or hoisting gear respectively, one of them lowering or hoisting gear is connected with lifting motor 11 output shafts by first transmission device, and be connected with another lowering or hoisting gear by second transmission device, coil inserting apparatus is connected the suspension arrangement lower end, built-in releasable rescue rope 19 discharges rescue rope 19 when breaking down.
This routine suspension arrangement comprises spring 1, side plate 2 and roller bearing 3, roller bearing 3 axis normal are installed in circuit 8, lie in a horizontal plane in circuit 8 directly over, roller bearing 3 two ends respectively are connected with a side plate 2 by the revolute pair of being made up of bearing, circuit 8 is folded between two side plates 2, and side plate 2 is connected with walking clipping mechanism 7 by spring 1.Lowering or hoisting gear comprises drag hook 5 and support 6, and drag hook 5 is the nut screw auxiliary structure with support 6, and promptly drag hook 5 is a nut structure with support 6 links, and the link of support 6 is a screw structure, and drag hook 5 can be moved up and down relatively with support 6.When breaking down, two drag hooks 5 are connected with hook 4 two ends that are connected side plate 2 lower ends respectively.First transmission device by first driven pulley 9, first be with synchronously 13 and driving pulley 10 constitute, first driven pulley 9 is coaxial with a lowering or hoisting gear medium-height trestle 6, be with 13 to be installed together with driving pulley 10 synchronously by first, driving pulley 10 links to each other with lifting motor 11 output shafts.Second transmission device is with the 15 and the 3rd driven pulley 16 to constitute by second driven pulley 14, second synchronously, second driven pulley 14 and first driven pulley 9 are coaxial, be with the 15 and the 3rd driven pulley 16 to be installed together synchronously by second, the 3rd driven pulley 16 is coaxial with the support 6 of another lowering or hoisting gear.Two transmission mechanisms drive two lowering or hoisting gears and are synchronized with the movement.Coil inserting apparatus comprises pulley base 18, fixed pulley 17, rescue rope 19, rope roll 20, opens a motor 21 and motor mount 22, the pulley base 18 that fixed pulley 17 is installed is connected side plate 2 lower ends, rescue rope 19 1 ends are fixed on the casing 23, the other end is walked around fixed pulley 17 and is packed in the rope roll 20 of casing 23 bottoms, the cover 24 of rope roll 20 links to each other with a motor 21 output shafts of opening on the motor mount 22 by the nut screw pair, and control cover 24 opens and closes.
The utility model operation principle and the course of work:
The utility model mechanism for releasing patrolling robot fault is in when work, the supporting base 12 of its support 6 and lifting motor 11 be installed on the robot arm or casing 23 on.Inspection robot moves when patrolling and examining on overhead ground wire; break down suddenly; stop on the overhead ground wire; this moment, the safety protection mechanism of inspection robot paw was opened; lifting motor 11 drives; driving connected driving pulley 10 rotates; be with 13 synchronously by first; second is with 15 synchronously; the nut screw auxiliary driving that support 6 and drag hook are 5; driving drag hook 5 moves down; after both sides drag hook 5 hangs up hook 4; haul hook 4; side plate 2; roller bearing 3 moves down always; roller bearing 3 is ridden on the overhead ground wire; two drag hooks 5 continue to haul hook 4 and move down; this just makes two paws of inspection robot break away from ground wire; casing 23 and arm be lifting certain altitude up all; after this; driving a motor 21 drives; by connected nut screw auxiliary driving rope roll lid 24 is opened, the rescue rope of depositing 19 is fallen down, ground handling personnel tightly hold it; lifting motor 11 drive by synchronous belt two drag hooks 5 unclamp the hook 4 after; ground handling personnel rotate to an angle robot, make the paw of inspection robot depart from overhead ground wire directly over, slowly loosen rescue rope 19 again; robot is slowly fallen, weigh down disconnected spring 1 back safety and roll off the production line.
Claims (6)
1. mechanism for releasing patrolling robot fault, it is characterized in that: comprise suspension arrangement, hook (4), lowering or hoisting gear, transmission device, lifting motor (11) and coil inserting apparatus, suspension arrangement is hung on the circuit (8), the upper end is connected with the walking clipping mechanism (7) of robot, the lower end is connected with hook (4) by revolute pair, drag hook (5) two mouths of hook are being oppositely arranged on the orientation up and down in hook (4) and the lowering or hoisting gear, one of them lowering or hoisting gear is connected with lifting motor (11) output shaft by first transmission device, and be connected with another lowering or hoisting gear by second transmission device, coil inserting apparatus is connected the suspension arrangement lower end, built-in releasable rescue rope (19).
2. according to the described mechanism for releasing patrolling robot fault of claim 1, it is characterized in that: described suspension arrangement comprises spring (1), side plate (2) and roller bearing (3), roller bearing (3) axis normal is installed in circuit (8), lie in a horizontal plane in circuit (8) directly over, each is connected with a side plate (2) by revolute pair at roller bearing (3) two ends, circuit (8) is folded between two side plates (2), and side plate (2) is connected with walking clipping mechanism (7) by spring (1).
3. according to the described mechanism for releasing patrolling robot fault of claim 1, it is characterized in that: described lowering or hoisting gear comprises drag hook (5) and support (6), and drag hook (5) is the nut screw auxiliary structure with support (6).
4. according to the described mechanism for releasing patrolling robot fault of claim 1, it is characterized in that: described first transmission device is with (13) and driving pulley (10) to constitute by first driven pulley (9), first synchronously, first driven pulley (9) is coaxial with a lowering or hoisting gear medium-height trestle (6), by first synchronously band (13) and driving pulley (10) be installed together, driving pulley (10) links to each other with lifting motor (11) output shaft.
5. according to the described mechanism for releasing patrolling robot fault of claim 1, it is characterized in that: described second transmission device is with (15) and the 3rd driven pulley (16) to constitute by second driven pulley (14), second synchronously, second driven pulley (14) and first driven pulley (9) are coaxial, by second synchronously band (15) and the 3rd driven pulley (16) be installed together, the 3rd driven pulley (16) is coaxial with the support (6) of another lowering or hoisting gear.
6. according to the described mechanism for releasing patrolling robot fault of claim 1, it is characterized in that: described coil inserting apparatus comprises pulley base (18), fixed pulley (17), rescue rope (19), rope roll (20), open a motor (21) and motor mount (22), the pulley base (18) that fixed pulley (17) are installed is connected the suspension arrangement lower end, rescue rope (19) one ends are fixed on the casing (23), the other end places the rope roll (20) that is installed in casing (23) bottom by fixed pulley (17), and the cover (24) of rope roll (a 20) motor (21) output shaft of opening secondary by nut screw and on the motor mount (22) links to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007201852150U CN201134643Y (en) | 2007-12-26 | 2007-12-26 | Fault releasing mechanism of inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007201852150U CN201134643Y (en) | 2007-12-26 | 2007-12-26 | Fault releasing mechanism of inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201134643Y true CN201134643Y (en) | 2008-10-15 |
Family
ID=40062912
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2007201852150U Expired - Lifetime CN201134643Y (en) | 2007-12-26 | 2007-12-26 | Fault releasing mechanism of inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201134643Y (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101471547B (en) * | 2007-12-26 | 2010-09-01 | 中国科学院沈阳自动化研究所 | Mechanism for releasing patrolling robot fault |
| CN102447230A (en) * | 2010-09-30 | 2012-05-09 | 深圳市通力信科技有限公司 | Recyclable earth wire traveling vehicle |
| CN103895015A (en) * | 2014-03-24 | 2014-07-02 | 上海大学 | Split type automatic obstacle crossing inspection robot |
| CN105449583A (en) * | 2015-12-25 | 2016-03-30 | 天津梅迪亚科技有限公司 | Polling robot error tripper device |
| CN107030735A (en) * | 2017-05-19 | 2017-08-11 | 常州轻工职业技术学院 | Power industry Wire walking robot with protection device |
-
2007
- 2007-12-26 CN CNU2007201852150U patent/CN201134643Y/en not_active Expired - Lifetime
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101471547B (en) * | 2007-12-26 | 2010-09-01 | 中国科学院沈阳自动化研究所 | Mechanism for releasing patrolling robot fault |
| CN102447230A (en) * | 2010-09-30 | 2012-05-09 | 深圳市通力信科技有限公司 | Recyclable earth wire traveling vehicle |
| CN102447230B (en) * | 2010-09-30 | 2014-02-19 | 深圳市通力信科技有限公司 | Recyclable earth wire traveling vehicle |
| CN103895015A (en) * | 2014-03-24 | 2014-07-02 | 上海大学 | Split type automatic obstacle crossing inspection robot |
| CN103895015B (en) * | 2014-03-24 | 2016-03-30 | 上海大学 | A kind of split type active obstacle travelling robot |
| CN105449583A (en) * | 2015-12-25 | 2016-03-30 | 天津梅迪亚科技有限公司 | Polling robot error tripper device |
| CN107030735A (en) * | 2017-05-19 | 2017-08-11 | 常州轻工职业技术学院 | Power industry Wire walking robot with protection device |
| CN107030735B (en) * | 2017-05-19 | 2019-04-16 | 常州轻工职业技术学院 | Power industry Wire walking robot with protective device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20081015 Effective date of abandoning: 20071226 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20081015 Effective date of abandoning: 20071226 |