CN201134644Y - Walking clipping mechanism for maintenance robot with failure release function - Google Patents
Walking clipping mechanism for maintenance robot with failure release function Download PDFInfo
- Publication number
- CN201134644Y CN201134644Y CNU2007201852165U CN200720185216U CN201134644Y CN 201134644 Y CN201134644 Y CN 201134644Y CN U2007201852165 U CNU2007201852165 U CN U2007201852165U CN 200720185216 U CN200720185216 U CN 200720185216U CN 201134644 Y CN201134644 Y CN 201134644Y
- Authority
- CN
- China
- Prior art keywords
- walking
- clip
- release function
- clamp
- support
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Images
Abstract
The utility model relates to an inspection robot walking and holding mechanism with a fault releasing function, which can walk on an overhead power transmission circuit. The inspection robot walking and holding mechanism comprises a walking mechanism and a holding mechanism which are mounted on a support, wherein the holding mechanism comprises a holding motor which is arranged on the support, an output shaft is equipped with a drum, a winding wire on the drum is respectively connected to the tail end of either gripping jaw of a front clamp and a rear clamp through a front pulley and a rear pulley which are fixed on the support, wherein the front clamp and the rear clamp both have the same structure, which are respectively and rotatably mounted on a front support and a rear support of the support through a fan gear, the front clamp and the rear clamp are respectively arranged on the positive front side and the positive rear side of a walking wheel in the walking mechanism, each clamp is provided with two gripping jaws, and the tail ends of the gripping jaws are connected through a spring, and the two gripping jaws are meshed through the fan gear. The inspection robot waling and holding mechanism adopts a grip hook compound mechanism of the walking mechanism and the holding mechanism, which is beneficial for walking and crossing obstacles, has excellent security protection property, and has a fault releasing function, the inspection robot walking and holding mechanism is suitable for the requirements of working in fields, getting on a circuit and getting down a circuit.
Description
Technical field
The utility model relates to a kind of mobile robot, specifically a kind of travelling robot walking clipping mechanism with fault release function.
Background technology
In existing EHV transmission line patrol robot mechanism, the most of employing by the wheeled mobile composite moving mechanism that combines with composite rod mechanism (referring to document 1:Jun Sawada, KazuyukiKusumoto, Tadashi Munakata, Yasuhisa Maikawa, Yoshinobu Ishikawa, " AMobile Robot For Inspection of Power Transmission Lines ", IEEE Trans.PowerDelivery, 1991, Vol.6, No.1:pp..309-315; Document 2:Mineo Higuchi, YoichiroMaeda, Sadahiro Tsutani, Shiro Hagihara, " Development of a Mobile InspectionRobot for Power Transmission Lines ", J.of the Robotics Society of Japan, Japan, Vol.9, No.4, pp.457-463,1991), (the document 3:Shin-ichi Aoshima of multiple degrees of freedom travel mechanism that perhaps adopts many group mobile units to be composed in series, Takeshi Tsujimura, Tetsuro Yabuta, " A Wire Mobile Robot with Multi-unit Structure ", IEEE/RSJIntermational Workshop on Intelligent Robots and Systems ' 89, Sep.4-6,1989, Tsukuba, Japan, pp.414-421).The complex structure of these mechanisms, weight are big, big energy-consuming, security protection is poor when walking, and safety guard is difficult to open when breaking down, and make therefore, to be difficult to the robot difficulty that rolls off the production line be applied to actual extra high voltage network and to patrol and examine in the operation.
The utility model content
At above shortcomings part in the prior art, the technical problems to be solved in the utility model provides a kind of simple in structure, travelling robot walking clipping mechanism with fault release function that security protection is good.
In order to solve the problems of the technologies described above, the technical solution adopted in the utility model is:
Travelling robot walking clipping mechanism with fault release function is walked on built on stilts transmission line, has the walking mechanism and the fixture that are installed on the bearing, and described fixture comprises: the clamping motor, be installed on the bearing, and output shaft is equipped with reel; The end of reel, the coiling on it jaw of clip and back clip before race of the fore-stock by being fixed in bearing and front wheel on the after-poppet and rear wheel is connected to respectively; Preceding clip and back clip, the two has same structure, rotate by elevating arc respectively and be installed on the fore-stock and after-poppet of bearing, preceding clip and back clip lay respectively at the dead ahead and the dead astern of the road wheel in the walking mechanism, each clip has two jaws, the end of jaw connects by spring, meshes by elevating arc between two jaws.
Described walking mechanism comprises and is installed on the movable motor on the bearing and is connected in road wheel on this movable motor output shaft that road wheel walks on the overhead transmission line by race; Described coiling is two steel wire ropes, is set around on the reel in the same way; Described front wheel and rear wheel race and the coiling passed through separately are in same plane; Before the retaining part of the race of retaining part, road wheel of clip and back clip be positioned at and can make on the same straight line that power transmission line walks; The jaw front end retaining part of preceding clip and back clip is provided with sleeve; Described road wheel adopts polyurethane material.
The utlity model has following beneficial effect and advantage:
1. the utility model adopts the wheel-claw compound mechanism of walking mechanism and fixture, is beneficial to walking and obstacle detouring.The advantage of wheeled mobile climbing mechanism of this structure composition and creeping mechanism both can be walked along the line fast, but leaping over obstacles again.
2. security protection is good.Use robot of the present utility model in the process of walking; below overhead ground wire, clamp power transmission line by four clips; also there are two clips to clamp power transmission line during obstacle detouring, make robot in walking and obstacle detouring process, be unlikely to fall down, play the safeguard protection effect from line.
3. has fault release function.The utility model adopts two clips to clamp line, the clamping of clip and unclamping by the spring acting in conjunction on steel wire rope and the clip, and clip can be opened automatically when breaking down, and is convenient to robot and rolls off the production line.
4. in light weight.The utility model is simple in structure, is more suitable for the field work and the needs of circuit up and down.
5. range of application is wider.The utility model can be widely used in the crusing robot travel mechanism of ultra-high-tension power transmission line and telephone line.
Description of drawings
Fig. 1 is the utility model walking clipping mechanism front view;
Fig. 2 is the vertical view of Fig. 1;
Fig. 3 is the left view of Fig. 1;
Fig. 4 is the utility model embodiment clamped condition schematic diagram;
Fig. 5 is the utility model embodiment releasing orientation schematic diagram;
Fig. 6 is the obstacle environment schematic diagram of extra high voltage network;
Fig. 7 a is that the utility model is described schematic diagram in conjunction with arm and car body at obstacle detouring process first element;
Fig. 7 b is the utility model in conjunction with arm and car body at second action description schematic diagram of obstacle detouring process;
Fig. 7 c is the utility model in conjunction with arm and car body at the 3rd action description schematic diagram of obstacle detouring process;
Fig. 7 d is the utility model in conjunction with arm and car body at the 4th action description schematic diagram of obstacle detouring process.
Embodiment
Below in conjunction with accompanying drawing the utility model is described in further detail.
Shown in Fig. 1～3, the travelling robot walking clipping mechanism that the utlity model has fault release function is used to drive inspection robot and carries out the line walking operation on overhead transmission line, it comprises walking mechanism and the fixture that is installed on the bearing, wherein fixture has clamping motor 2, be installed on bearing 7 outsides, output shaft is equipped with reel 3, is positioned at support 7 inboards; The end of a jaw of clip 12 and back clip 13 before being connected to after coiling on the reel 3 turns to by front wheel 4 and rear wheel 5 respectively; Preceding clip 12 and back clip 13 have same structure, rotate by elevating arc 10 respectively and be installed on the fore-stock 14 and after-poppet 15 of bearing 7, preceding clip 12 and back clip 13 lay respectively at the dead ahead and the dead astern of the road wheel 8 in the walking mechanism, each clip has two jaws, the end of jaw connects by spring 9, meshes by elevating arc 10 between two jaws; Road wheel 8 adopts polyurethane material.
Walking mechanism comprises the movable motor 1 that is installed on bearing 7 outsides and is connected in road wheel 8 on this movable motor 1 output shaft that road wheel 8 is positioned at support 7 inboards, walks on the overhead transmission line by race; Described coiling is two steel wire ropes 6, is set around in the same way on the reel 3, and when reel 3 rotated under the driving of clamping motor 2, two coilings of clip 12 and back clip 13 jaw ends made shell fragment stretch simultaneously before affecting;
The race of described front wheel 4 and rear wheel 5 and the coiling of passing through separately are in same plane, so that when front wheel 4 and rear wheel 5 rotations, coiling can not deviate from race.
Before the retaining part of the race of retaining part, road wheel 8 of clip 12 and back clip 13 be positioned at and can make on the same straight line that power transmission line walks, can clamp power transmission line effectively; The jaw front end retaining part of preceding clip 12 and back clip 13 is provided with sleeve 11, the frictional force that produces in the time of can reducing walking.
Shown in Fig. 4,5, the utility model operation principle is as follows:
The movable motor 1 rear drive road wheel 8 that powers on rotates forward or backwards, realizes that robot advances on overhead transmission line 19 or retreats.Clamping motor 2 drives reel 3 and rotates, will be around steel wire rope 6 tensions of top, clip 12, back clip 13 two ends under the engagement of elevating arc 10 are that rotation axis outwards rotates with elevating arc 10 centers before hauling, thereby realize the clamping of two clips, and spring 9 is an extended state; Change the rotation direction of clamping motor 2, steel wire rope 6 is loosened, under the terminal spring 9 restoring force effects of jaw, can realize unclamping of two clips.
When the utility model is walked on overhead ground wire 19, can be parked on the overhead ground wire 19 in robot under the situation about breaking down, need take off robot this moment from overhead ground wire 19.Clamping motor 2 loosens the steel wire rope 6 on the reel 3, restoring force effect at the terminal spring 9 of jaw, clip 12 or back clip 13 homings were opened before spring was pullled, jaw discharges the function of opening when having realized breaking down, again by other equipment that rolls off the production line, make the clamping walking mechanism can be easy to break away from ground wire, realize rolling off the production line.
As shown in Figure 6, be extra high voltage network obstacle environment schematic diagram.The main obstacles thing is stockbridge damper 16, insulator 17, overhanging golden tool and wire clamp 18, stockbridge damper 20 etc. on overhead ground wire 19.During practical application, need two groups of identical the utility model of structure are installed on respectively on the forward and backward arm of robot, forward and backward arm has rotational freedom and one-movement-freedom-degree, forward and backward arm is connected on the car body of robot by moving sets, drive by movable motor 1 during the utility model work, drive robot and on overhead transmission line, walk,, can advance and cross over the barrier on the overhead ground wire 19 along the line by the coordinated movement of various economic factors of robot car body and arm.
When driving robot, walking mechanism on overhead ground wire 19, walks with speed V, run into stockbridge damper 16 stop (shown in Fig. 7 a), the preceding clip 12 and the back clip 13 that walk in one group of mechanism of front end unclamp simultaneously, arm elongation before the robot, one group of mechanism of front end is raise, break away from overhead ground wire 19, walk in the walking mechanism drive machines people's car body and the arm walking of one group of mechanism of rear end, running into stockbridge damper 16 stops, at this moment, arm has been crossed the stockbridge damper 16 of below before the robot, preceding arm shrinks, and the fixture of one group of mechanism of front end is fallen on the overhead ground wire 19 again, and preceding clip 12 and back clip 13 clamp (shown in Fig. 7 b) simultaneously, after this arm will be crossed over stockbridge damper 16 behind the robot, and its process of crossing over stockbridge damper 16 is identical with preceding arm.
Current walking mechanism advances to overhanging golden tool 18 places and stops, the below of arm before robot car body moves to, the preceding clip 12 and the back clip 13 that walk in one group of mechanism of rear end unclamp simultaneously, back arm elongation, the fixture of the one group of mechanism that walks in the rear end is raise, break away from overhead ground wire 19, and around the revolute Rotate 180 of preceding arm °, walk around from the side of overhanging golden tool 18, after arriving overhead ground wire 19 tops of overhanging golden tool 18 fronts, back arm shrinks, and makes the fixture of the one group of mechanism that walks in the rear end get back to (shown in Fig. 7 c) on the overhead ground wire 19, arm is crossed over overhanging golden tool 18 then, and its process is identical with the back arm.
The process of crossing over stockbridge damper 20 is with the similar process of crossing over stockbridge damper 16, and the state after crossing is shown in Fig. 7 d.
Because the utility model road wheel 8 adopts polyurethane material, under the chucking power effect of preceding clip 12 and back clip 13, increase the normal pressure of 8 pairs of overhead ground wires 19 of road wheel, thereby increased frictional force, robot is upwards creeped along overhead ground wire 19.
Claims (7)
1. the travelling robot walking clipping mechanism with fault release function is walked on built on stilts transmission line, has the walking mechanism and the fixture that are installed on the bearing, it is characterized in that:
Described fixture comprises:
Clamping motor (2) is installed on the bearing (7), and output shaft is equipped with reel (3);
Reel (3), the coiling on it fore-stock (14) by being fixed in bearing (7) and the front wheel (4) on the after-poppet (15) and rear wheel (5) respectively are connected to the end of a jaw of preceding clip (12) and back clip (13);
Preceding clip (12) and back clip (13), the two has same structure, rotate by elevating arc (10) respectively and be installed on fore-stock (14) and the after-poppet (15), preceding clip (12) and back clip (13) lay respectively at the dead ahead and the dead astern of the road wheel (8) in the walking mechanism, each clip has two jaws, the end of jaw connects by spring (9), meshes by elevating arc (10) between two jaws.
2. by the described travelling robot walking clipping mechanism of claim 1 with fault release function, it is characterized in that: described walking mechanism comprises the movable motor (1) that is installed on the bearing (7) and is connected in road wheel (8) on this movable motor (1) output shaft that road wheel (8) walks on the overhead transmission line by race.
3. by the described travelling robot walking clipping mechanism with fault release function of claim 1, it is characterized in that: described coiling is two steel wire ropes, is set around in the same way on the reel (3).
4. by the described travelling robot walking clipping mechanism with fault release function of claim 1, it is characterized in that: described front wheel (4) and rear wheel (5) race and the coiling passed through separately are in same plane.
5. by the described travelling robot walking clipping mechanism with fault release function of claim 1, it is characterized in that: the retaining part of the race of the retaining part of preceding clip (12), road wheel (8) and back clip (13) is positioned at and can makes on the same straight line that power transmission line walks.
6. by the described travelling robot walking clipping mechanism with fault release function of claim 1, it is characterized in that: the jaw front end retaining part of preceding clip (12) and back clip (13) is provided with sleeve (11).
7. by the described travelling robot walking clipping mechanism with fault release function of claim 1, it is characterized in that: described road wheel (8) adopts polyurethane material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007201852165U CN201134644Y (en) | 2007-12-26 | 2007-12-26 | Walking clipping mechanism for maintenance robot with failure release function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007201852165U CN201134644Y (en) | 2007-12-26 | 2007-12-26 | Walking clipping mechanism for maintenance robot with failure release function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201134644Y true CN201134644Y (en) | 2008-10-15 |
Family
ID=40062913
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2007201852165U Expired - Lifetime CN201134644Y (en) | 2007-12-26 | 2007-12-26 | Walking clipping mechanism for maintenance robot with failure release function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201134644Y (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101471546B (en) * | 2007-12-26 | 2011-05-11 | 中国科学院沈阳自动化研究所 | Gripper mechanism with fault release function for walking of patrolling robot |
| CN102655314A (en) * | 2011-03-04 | 2012-09-05 | 中国科学院沈阳自动化研究所 | Broken strand crimping work robot mechanism of super-high-voltage power transmission line |
| CN104317296A (en) * | 2014-10-21 | 2015-01-28 | 山东鲁能智能技术有限公司 | Indoor multi-dimensional track intelligent inspection robot |
| CN105071291A (en) * | 2015-07-31 | 2015-11-18 | 洛阳理工学院 | Obstacle crossing clamping mechanism for deicing obstacle removing mechanical apparatus |
| CN106058721A (en) * | 2016-06-29 | 2016-10-26 | 南昌大学 | Ground wire clamp fixture of overhead transmission line inspection robot |
| CN107097207A (en) * | 2017-06-16 | 2017-08-29 | 桂林电子科技大学 | Can obstacle detouring Wire walking robot and its moving obstacle-crossing method |
| CN109036025A (en) * | 2018-10-31 | 2018-12-18 | 李文杰 | A kind of physics freely falling body experiment device for teaching |
| CN109546573A (en) * | 2018-12-14 | 2019-03-29 | 杭州申昊科技股份有限公司 | A kind of high altitude operation crusing robot |
| CN109526923A (en) * | 2018-12-21 | 2019-03-29 | 甘肃农业大学 | One plant intelligence spray robot |
| CN111614020A (en) * | 2020-06-18 | 2020-09-01 | 河北宏轩凯业电子科技有限公司 | Visual monitoring device for preventing overhead transmission line from being broken outside |
-
2007
- 2007-12-26 CN CNU2007201852165U patent/CN201134644Y/en not_active Expired - Lifetime
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101471546B (en) * | 2007-12-26 | 2011-05-11 | 中国科学院沈阳自动化研究所 | Gripper mechanism with fault release function for walking of patrolling robot |
| CN102655314A (en) * | 2011-03-04 | 2012-09-05 | 中国科学院沈阳自动化研究所 | Broken strand crimping work robot mechanism of super-high-voltage power transmission line |
| CN102655314B (en) * | 2011-03-04 | 2015-01-14 | 中国科学院沈阳自动化研究所 | Broken strand crimping work robot mechanism of super-high-voltage power transmission line |
| CN104317296B (en) * | 2014-10-21 | 2017-02-15 | 国网宁夏电力公司检修公司 | Indoor multi-dimensional track intelligent inspection robot |
| CN104317296A (en) * | 2014-10-21 | 2015-01-28 | 山东鲁能智能技术有限公司 | Indoor multi-dimensional track intelligent inspection robot |
| CN105071291A (en) * | 2015-07-31 | 2015-11-18 | 洛阳理工学院 | Obstacle crossing clamping mechanism for deicing obstacle removing mechanical apparatus |
| CN106058721A (en) * | 2016-06-29 | 2016-10-26 | 南昌大学 | Ground wire clamp fixture of overhead transmission line inspection robot |
| CN107097207A (en) * | 2017-06-16 | 2017-08-29 | 桂林电子科技大学 | Can obstacle detouring Wire walking robot and its moving obstacle-crossing method |
| CN107097207B (en) * | 2017-06-16 | 2023-08-29 | 桂林电子科技大学 | Obstacle surmounting walking wire robot and obstacle surmounting walking method thereof |
| CN109036025A (en) * | 2018-10-31 | 2018-12-18 | 李文杰 | A kind of physics freely falling body experiment device for teaching |
| CN109546573A (en) * | 2018-12-14 | 2019-03-29 | 杭州申昊科技股份有限公司 | A kind of high altitude operation crusing robot |
| CN109526923A (en) * | 2018-12-21 | 2019-03-29 | 甘肃农业大学 | One plant intelligence spray robot |
| CN111614020A (en) * | 2020-06-18 | 2020-09-01 | 河北宏轩凯业电子科技有限公司 | Visual monitoring device for preventing overhead transmission line from being broken outside |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101471546B (en) | Gripper mechanism with fault release function for walking of patrolling robot | |
| CN201134644Y (en) | Walking clipping mechanism for maintenance robot with failure release function | |
| CN100391771C (en) | Autonomous obstacles surmounting mechanism of grip hook composite type tour inspection robot | |
| CN202943630U (en) | Composite travelling and holding mechanism of patrol robot | |
| CN201332238Y (en) | Patrol inspection robot mechanism with lifting and clamping functions | |
| CN201504053U (en) | Pitch variable wheel arm composite inspection robot mechanism | |
| CN101771246B (en) | Inspection robot mechanism with lifting and clamping functions | |
| CN100337794C (en) | Super-voltage transmission line monitoring and detecting robot mechanism | |
| CN211034761U (en) | Cable laying device | |
| CN101771251B (en) | Moving obstacle-crossing mechanism of inspection robot | |
| CN111891242B (en) | Optical cable inspection robot capable of crossing obstacles | |
| CN102468621B (en) | Mobile robot being applicable to large span transmission line routing inspection | |
| CN102039591A (en) | Variable-pitch wheel-arm composite inspection robot mechanism | |
| CN100387405C (en) | Active obstacle travelling robot walking clipping mechanism | |
| CN103659815B (en) | A kind ofly be applicable to narrow inspection robot mechanism of patrolling and examining working space | |
| CN103862456A (en) | Walking clamping combined structure for inspection robot | |
| CN202763841U (en) | Inspection robot mechanism suitable for narrow inspection working space | |
| CN105870832A (en) | Three-arm composite inspection robot mechanism | |
| CN101771250B (en) | Inspection robot mechanism | |
| CN201383636Y (en) | Traveling and obstacle-navigation mechanism of inspection robot | |
| CN202014061U (en) | Broken-strand crimping operation robot mechanism for ultrahigh voltage power transmission line | |
| CN201383635Y (en) | Inspection robot mechanism | |
| CN103862454B (en) | A kind of three armlet shape inspection robot mechanisms | |
| CN111029971B (en) | Draw gear is used in cable laying of power supply company | |
| CN100358681C (en) | Wheel arm combined patrol inspection robot mechanism |
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 |