CN201421982Y - Transmission line robot walking device - Google Patents

Abstract

The utility model discloses a walking device for a transmission line robot. The utility model transmission line robot walking device comprises a main board and a plurality of synchronously running upper pressing wheels with centerlines located on the same horizontal plane installed on the main board and a lower pressing wheel cooperating with it for clamping the transmission line. , and a resetting device for upward pressing of the lower pressing wheels, wherein each lower pressing wheel is mounted on the main board through a suspension arm hinged on the main board. The utility model provides a transmission line robot walking device, which has the advantages of compact structure, safe and reliable operation and strong climbing ability.

Description

Transmission line robot walking device

(1) Technical field

The utility model relates to a walking device for a transmission line robot, in particular to a walking device which is hung on the transmission line and runs along the transmission line.

(2) Background technology

At present, robots have been widely used in the inspection, troubleshooting, and even deicing operations of power transmission lines. Certain climbing ability. Utility Model Patent No. 200720149079 of the China Intellectual Property Office discloses a high-voltage transmission line ground line inspection robot with a walking device, wherein the walking device includes a driving wheel arranged behind its frame and a driven wheel in front. The power mechanism, said two wheels are sheaves connected with the frame through the bracket, the robot is hung on the power transmission line through the groove of the sheave, and the robot is driven along the power transmission line through the driving wheel. However, since there is only one driving wheel, and the friction force between the driving wheel and the power transmission line that the driving robot relies on is only related to the robot's own weight and the friction coefficient between the driving wheel and the power transmission line, the friction force is relatively small, and the reaction force , that is, the power of the robot to run is relatively small, which makes the climbing ability of the robot insufficient. The driven wheel will produce a force that hinders the operation of the robot, which will increase the burden on the driving wheel, and the climbing ability of the robot is very poor. In addition, because the wind blows the transmission line, it is easy to swing, and the swinging transmission line is easy to separate from the driving wheel and the driven wheel, causing the robot to fall down, which poses a certain safety hazard.

(3) Contents of the invention

Therefore, the utility model aims at the above-mentioned defects of the current prior art, and provides a transmission line robot walking device, which has a compact structure, safe and reliable operation, and strong climbing ability.

The technical scheme that the utility model adopts is:

The utility model transmission line robot walking device comprises a main board and a plurality of synchronously running upper pressing wheels with centerlines located on the same horizontal plane installed on the main board and a lower pressing wheel cooperating with it for clamping the transmission line. , and a resetting device for upward pressing of the lower pressing wheels, wherein each lower pressing wheel is mounted on the main board through a suspension arm hinged on the main board.

Based on the technical scheme of the utility model, the mechanism formed by the cooperation of the upper and lower pressing wheels is the suspension device of the robot walking device of the power transmission line. First of all, because the upper and lower pressure wheels cooperate with each other, the rope groove is used to embed the transmission line, so it is not easy to disengage the transmission line, even if it is subjected to a large impact, because there is only one degree of freedom along the direction of the transmission line, Therefore, it is difficult to disengage, and the use safety and operation reliability are greatly improved. Secondly, since this scheme adopts a plurality of synchronously running upper pinch wheels and the matching lower pinch wheels, the friction surface increases, and the phenomenon of running slippage can basically be avoided. Even in rainy and snowy weather, transmission lines Ice can also effectively prevent slipping; on the other hand, under the condition that the total pressure is constant, since its friction surface is composed of upper and lower pressure wheels and the power transmission line matched with it, it is different from the friction pair in the background technology. Compared with the friction coefficient of this friction pair, the friction coefficient is obviously larger, and the driving force is also larger here. In summary, its climbing ability is significantly improved.

In addition, in order to facilitate the clamping of the transmission line, the upper pressing wheel is a driving wheel, and the lower pressing wheel is a pressing wheel with a movable axis. The lower pressing wheel can be opened and pressed into the transmission line. The reset device resets and clamps, which is convenient to use.

Further, there are three upper pinch wheels, and the lower pinch wheel is located below the space between adjacent upper pinch wheels, and its radius is greater than the distance between adjacent upper pinch wheels.

The reset device is a tension spring arranged on the suspension arm.

The tension spring is connected with the suspension arm through a wire rope passing through the fixed pulley above the suspension arm; wherein the other end of the tension spring is fixed on the ratchet mechanism with a backstop mechanism below it.

A handle is arranged coaxially with the ratchet of the ratchet mechanism.

The two ends of the handle are respectively connected with a steel wire rope connected with the fixed end of the lower part of the above-mentioned tension spring through a certain pulley, so that the two suspension arms are pulled apart or reset synchronously.

The backstop mechanism is a ratchet matched with the ratchet and its spring seat, and an unlocking device connected to the backstop mating surface of the ratchet through a tension spring.

The unlocking device includes a connecting plate fixed on the main board, and is installed on the connecting plate along the stretching direction of the tension spring connected to the pawl, and is connected to one end of the tension spring. of rotating blocks.

The cross section of the groove of the upper pressing wheel rope is V-shaped, and the cross section of the groove corresponding to the lower pressing wheel rope is an arc structure consistent with the curvature of the transmission line.

The above-mentioned transmission line robot walking device is characterized in that: the driving mechanism of the upper pinch wheel is a motor and a synchronous belt transmission mechanism connecting the motor and the input shaft of the upper pinch wheel.

(4) Description of drawings

The technical scheme of the utility model is further elaborated below in conjunction with the accompanying drawings, so that those skilled in the art can better understand the utility model, wherein:

Fig. 1 is a schematic front view of a structure of a power transmission line robot walking device in an embodiment of the present invention.

FIG. 2 is a schematic diagram of the structure corresponding to the left view of FIG. 1 .

Among the figure: 1, main board, 2, fixed pulley, 3, steel wire rope, 4, lower pressure wheel, 5, upper pressure wheel, 6, suspension arm, 7, extension spring, 8, handle, 9, ratchet, 10, Wire rope, 11, fixed pulley, 12, ratchet, 13, spring seat, 14, fixed pulley, 15, extension spring, 16, connecting plate, 17, rotating block, 18, motor, 19, transmission line, 20, synchronous belt transmission mechanism.

(5) Specific implementation methods

With reference to accompanying drawings 1 and 2, the transmission line robot walking device of the present embodiment includes a main board 1 and a plurality of synchronous operation mounted on the main board, and upper pressing wheels 5 whose center lines are located on the same horizontal plane and cooperate with it. The lower pressing wheel 4 for clamping the transmission line 19 and the reset device for pressing the lower pressing wheel upward, wherein each lower pressing wheel is mounted on the main board through a suspension arm 6 hinged on the main board. As for the main board mentioned therein, it does not constitute a specific limitation on this feature. From a mechanical point of view, the function embodied here is a rack. This embodiment is only a rational illustration of the technical solution of the utility model, and does not constitute a limit to its protection scope. The obvious deformation modes and equivalent replacement modes of its technical features shall fall within its protection scope.

There are three upper pressing wheels, and the lower pressing wheel is located below between adjacent upper pressing wheels, and its radius is greater than the contour spacing of adjacent upper pressing wheels, that is, five friction pairs are formed, which can effectively provide power. If there are too many friction pairs, even the rolling friction based on this solution will cause a decrease in efficiency. Therefore, the above-mentioned structure of five friction pairs is preferred in this solution. Naturally, a structure with three friction pairs consisting of two upper pinch wheels and one lower pinch wheel can be selected, and two suspension points can also be formed, which not only ensures the stability of operation, but also has relatively high power efficiency.

The reset device is a tension spring 7 arranged on the suspension arm, which has a simple structure and relatively low cost. Can be arranged on described suspension arm as extension spring itself, also can adopt pulley mechanism to be arranged on its below, certainly, here also can be provided with compression spring below said suspension arm, its effect is the same.

Further, in order to facilitate the pulling and reset of the control hanging wall, the tension spring is connected with the suspension arm through a steel wire rope 3 passing through the fixed pulley 2 above the suspension arm; wherein the other end of the tension spring is fixed on the On the ratchet mechanism with backstop mechanism.

The ratchet 9 of the ratchet mechanism is coaxially provided with a handle 8, which is convenient for manually operating the rotation of the ratchet, thereby facilitating the setting of the walking device.

The two ends of the handle are respectively connected with a steel wire rope 10 connected with the fixed end of the lower part of the above-mentioned extension spring through a certain pulley 11, so that the two suspension arms are pulled apart or reset synchronously.

The backstop mechanism is a ratchet 12 and its spring seat 13 matched with the ratchet, and an unlocking device connected to the backstop mating surface of the ratchet through a tension spring, which can manually control the unlocking of the ratchet. Easy to adjust ratchet.

The unlocking device includes a connecting plate 16 fixed on the main board and is installed on the connecting plate along the stretching direction of the extension spring connected to the pawl, and at one end of the extension spring Connected swivel block 17.

In order to increase the friction coefficient of the friction pair between the upper and lower pressing wheels and the transmission line, the groove cross section of the upper pressing wheel rope is a V-shaped structure, and the cross section of the corresponding lower pressing wheel rope groove is equal to the curvature of the transmission line. Consistent arc structure. On the other hand, the V-shaped structure facilitates the positioning of circular cross-section objects and is extremely convenient to use.

The driving mechanism of the upper pressing wheel is a motor 18 and a synchronous belt transmission mechanism 20 connecting the motor and the input shaft of the upper pressing wheel.

Claims (10)

1. A power transmission line robot walking device is characterized in that it comprises a main board (1) and a plurality of synchronous operation installed on the main board, the center line is located on the upper pressing wheel (5) of the same horizontal plane and cooperates with it The lower pressing wheel (4) for clamping the transmission line (19) and the reset device for pressing the lower pressing wheel upwards, wherein each lower pressing wheel passes through a suspension arm (6) hinged on the main board installed on the motherboard. 2. The transmission line robot walking device according to claim 1, characterized in that: there are three upper pressing wheels, and the lower pressing wheel is located below between adjacent upper pressing wheels, and its radius is larger than that of adjacent upper pressing wheels. Spacing of the pulley profile. 3. The transmission line robot walking device according to claim 2, characterized in that: the reset device is a tension spring (7) arranged on the suspension arm. 4. The power transmission line robot walking device according to claim 3, characterized in that: the tension spring is connected with the suspension arm by a wire rope (3) passing through the fixed pulley (2) above the suspension arm; The other end of spring is fixed on the ratchet mechanism with backstop mechanism below it. 5. The transmission line robot walking device according to claim 4, characterized in that: the ratchet (9) of the ratchet mechanism is coaxially provided with a handle (8). 6. The power transmission line robot walking device according to claim 5, characterized in that: the two ends of the handle are respectively connected with a fixed pulley (11) and a steel wire rope (10) connected to the lower fixed end of the above-mentioned extension spring, so that The two suspension arms are pulled apart or reset synchronously. 7. The power transmission line robot walking device according to claim 6, characterized in that: the backstop mechanism is a ratchet (12) and a spring seat (13) matched with the ratchet, and a tension spring The unlocking device connected to the backstop mating surface of the pawl. 8. The power transmission line robot walking device according to claim 7, characterized in that: the unlocking device includes a connecting plate (16) fixed on the main board and installed on the connecting plate along the connecting plate. The tension spring on the ratchet runs in the tension direction, and is connected to the rotating block (17) at one end of the tension spring. 9. The transmission line robot walking device according to claim 1, characterized in that: the cross section of the groove of the upper pressing wheel rope is a V-shaped structure, and the cross section of the corresponding lower pressing wheel rope groove is equal to the curvature of the transmission line Consistent arc structure. 10. The transmission line robot walking device according to one of claims 1 to 9, characterized in that: the driving mechanism of the upper pressing wheel is a motor (18) and a motor (18) connected to the input shaft of the upper pressing wheel Synchronous belt drive mechanism (20).

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