CN202004378U - Traveling arm of walking robot for transmission line - Google Patents
Traveling arm of walking robot for transmission line Download PDFInfo
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- CN202004378U CN202004378U CN201120087244XU CN201120087244U CN202004378U CN 202004378 U CN202004378 U CN 202004378U CN 201120087244X U CN201120087244X U CN 201120087244XU CN 201120087244 U CN201120087244 U CN 201120087244U CN 202004378 U CN202004378 U CN 202004378U
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 31
- 230000003028 elevating effect Effects 0.000 claims description 9
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 2
- 230000004888 barrier function Effects 0.000 abstract 1
- 239000000725 suspension Substances 0.000 abstract 1
- 239000004020 conductor Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
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Abstract
The utility model discloses a traveling arm of a walking robot for a transmission line. The traveling arm comprises a lifting component and a traveling component. The lifting component comprises a fixed sleeve, a lifting arm and a lifting motor, wherein the lower end of the lifting arm is extended into the fixed sleeve, and is in sliding fit with the fixed sleeve; and the lifting motor is in transmission fit with the lifting arm. The traveling component comprises a wheel stand, a traveling wheel and a traveling wheel driving motor, wherein the wheel stand is fixedly arranged at the top end of the lifting arm; the traveling wheel is arranged on the wheel stand in a rotational fit way; and the traveling wheel driving motor is in transmission fit with the traveling wheel. The traveling wheel is disconnected from a conducting wire by lifting the traveling component of the traveling arm, so that the traveling arm meets requirements on the barrier crossing function of the robot. Simultaneously, the traveling arm has a simple and compact structure and light weight. In addition, the design of an ejector wheel greatly improves the suspension reliability of the traveling arm on the conducting wire, and effectively enhances the traveling safety of the robot on the conducting wire.
Description
Technical field
The utility model relates to a kind of ground-engaging element of transmission line walking robot.
Background technology
Transmission line is the key link of electric energy transmitting in the electrical network, because long term exposure is in natural environment, lead normal take place to break thigh and damage, in addition, the atrocious weather situation also also causes huge threat to transmission line, severe snow and sleet weather appear in China south as in late January, 2008, whole damages of regional electric power, communication line have been caused, economy and social loss are huge, for ensure transmission line normally, operation safely, need often make an inspection tour, repair and remove processing such as icing to transmission line.
At present, main adopt artificial and the transmission line walking robot carries out above-mentioned processing to transmission line, manual type exists that precision is low, labour intensity is big, efficient is low, dangerous high shortcoming, and has the blind area; Adopt robot can well overcome above-mentioned shortcoming, existing robot is hung on the enterprising every trade of lead by the walking arm sling to walk also leaping over obstacles, but the obstacle detouring mode of the walking arm of existing robot has determined that its structure is complicated, weight is big, hung problems such as unreliable on lead, has limited the application of transmission line walking robot to a certain extent.
Therefore, need a kind of walking arm simple in structure of research and development, alleviate its weight, increase the degree of reliability that it hangs on lead.
Summary of the invention
In view of this, the utility model provides a kind of walking arm of transmission line walking robot, and this walking arm is realized obstacle detouring by the lifting road wheel, and is simple in structure, in light weight.
The walking arm of transmission line walking robot of the present utility model comprises lifting assembly and walking assembly; Described lifting assembly comprises that fixed muffle is stretched in fixed muffle, lower end and lifting arm that is slidingly matched with fixed muffle and the lifting motor that cooperates with the lifting arm transmission; Described walking assembly comprises the wheel carrier that is fixedly set in the lifting arm top, the traction drive motor that is set in rotation with the road wheel on the wheel carrier and cooperates with traction drive.
Further, described lifting motor is arranged in the fixed muffle, lifting motor cooperates with the lifting arm transmission by the elevating screw pair of nut, is provided with the lifting arm guide groove on the wall of fixed muffle vertically, fixedly installs the slide block that can reciprocatingly slide along the lifting arm guide groove on the lifting arm;
Further, also comprise the top wheel mechanism, described top wheel mechanism comprises top wheel lifting assembly and top wheel assembly, the wall of described fixed muffle is provided with the top wheel guide groove that is connected with the lifting arm guide groove, wheel guide groove in top is by axial direction part and seamlessly transit circumferential section of being connected in the axial direction part lower end and constitute, described top wheel lifting assembly comprises with the screw mandrel hypomere threaded engagement of elevating screw pair of nut and the lifting nut that can reciprocatingly slide along top wheel guide groove and passes the pole that the top is taken turns guide groove and fixedlyed connected with lifting nut, the top wheel assembly comprises the top wheel carrier that is fixedly set on the pole and is set in rotation with the top wheel on wheel carrier top, top, but form the structure of clamping lead between top wheel and the road wheel, the screw mandrel hypomere of described elevating screw pair of nut is opposite with the rotation direction of screw mandrel epimere screw thread;
Further, described top wheel mechanism also comprises the sleeve of back-off on pole, and wheel carrier lower end, described top is stretched in the sleeve and with sleeve and is slidingly matched, and is provided with the stage clip that two ends are withstood wheel carrier lower surface, top and pole upper surface respectively in the sleeve;
Further, described road wheel and top wheel are the circumferential outwards V-shaped groove V-arrangement of band wheel.
The beneficial effect of utility model: the walking arm of transmission line walking robot of the present utility model comprises lifting assembly and walking assembly; Lifting assembly comprises that fixed muffle is stretched in fixed muffle, lower end and lifting arm that is slidingly matched with fixed muffle and the lifting motor that cooperates with the lifting arm transmission; The walking assembly comprises the wheel carrier that is fixedly set in the lifting arm top, the traction drive motor that is set in rotation with the road wheel on the wheel carrier and cooperates with traction drive, break away from lead by the walking assembly that rises the walking arm by road wheel, make the walking arm satisfy the requirement that robot possesses the obstacle detouring function, simultaneously, this walking arm configuration is simply compact, in light weight, in addition, by top wheel design, the reliability that the walking arm is hung on lead increases greatly, has effectively strengthened the fail safe that robot walks on lead.
Description of drawings
Below in conjunction with drawings and Examples the utility model is further described.
Fig. 1 is a structural representation of the present utility model;
Fig. 2 for Fig. 1 not with the left view of top wheel mechanism;
Fig. 3 is the I place partial enlarged drawing among Fig. 2.
Embodiment
Fig. 1 is a structural representation of the present utility model, Fig. 2 for Fig. 1 not with the left view of top wheel mechanism, Fig. 3 be the I place partial enlarged drawing among Fig. 2, as shown in the figure: the walking arm of the transmission line walking robot of present embodiment comprises lifting assembly and the assembly of walking; Described lifting assembly comprises that fixed muffle 1 is stretched in fixed muffle 1, lower end and lifting arm 2 that is slidingly matched with fixed muffle 1 and the lifting motor 3 that cooperates with lifting arm 2 transmissions; Described walking assembly comprises the wheel carrier 4 that is fixedly set in lifting arm 2 tops, the traction drive motor 6 that is set in rotation with the road wheel 5 on the wheel carrier 4 and cooperates with road wheel 5 transmissions, lifting arm can rise under the driving of lifting motor and drive road wheel disengaging lead, satisfies the requirement that robot possesses the obstacle detouring function.
As further improvement in the technical proposal, described lifting motor 3 is arranged in the fixed muffle 1, lifting motor 3 cooperates with lifting arm 2 transmissions by the elevating screw pair of nut, be provided with lifting arm guide groove 1a on the wall of fixed muffle 1 vertically, fixedly install the slide block that can reciprocatingly slide along lifting arm guide groove 1a on the lifting arm 2, drive the lifting that the positive and negative rotation of screw mandrel can realize lifting arm by lifting motor, simple and compact for structure, help alleviating weight of equipment, improve flying power.
As further improvement in the technical proposal, above-mentioned walking arm also can be provided with the top wheel mechanism, described top wheel mechanism comprises top wheel lifting assembly and top wheel assembly, the wall of described fixed muffle 1 is provided with the top wheel guide groove 1b that is connected with lifting arm guide groove 1a, top wheel guide groove 1b is by axial direction part and seamlessly transit circumferential section of being connected in the axial direction part lower end and constitute, described top wheel lifting assembly comprises with the screw mandrel hypomere 7a threaded engagement of elevating screw pair of nut and the lifting nut 8 that can reciprocatingly slide along top wheel guide groove 1b and passes the pole 9 that the top is taken turns guide groove 1b and fixedlyed connected with lifting nut 8, the top wheel 11 that the top wheel assembly comprises the top wheel carrier 10 that is fixedly set on the pole 9 and is set in rotation with top wheel carrier 10 tops, but form the structure of clamping lead between top wheel 11 and the road wheel 5, the walking arm can reliablely and stablely be hung on the lead walks, increase fail safe, the screw mandrel hypomere 7a of described elevating screw pair of nut is opposite with the rotation direction of screw mandrel epimere 7b screw thread, when driving the lifting of the positive and negative rotation realization of screw mandrel lifting arm by lifting motor, also can drive top wheel mechanism lifting, and make the top wheel mechanism direction of motion opposite with the direction of motion of road wheel, both break away from lead simultaneously, under the effect of the circumferential section of top wheel guide groove, the top wheel mechanism can also be realized obstacle detouring thereby avoid conductor spacer around the rotational certain angle of fixed muffle.
As further improvement in the technical proposal, described top wheel mechanism also comprises the sleeve 12 of back-off on pole 9, wheel carrier lower end, described top is stretched in the sleeve 12 and with sleeve 12 and is slidingly matched, be provided with two ends in the sleeve 12 and withstand the stage clip 13 of top wheel carrier 10 lower surfaces and pole 9 upper surfaces respectively, both can guarantee the appropriate pressure of top wheel mechanism, and can make equipment be applicable to the lead of different-diameter again.
As further improvement in the technical proposal, described road wheel 5 and top wheel 11 are the circumferential outwards V-shaped groove V-arrangement of band wheel, adapt to the shape of round conductor, make running gear stable and reliable operation on lead.
Explanation is at last, above embodiment is only unrestricted in order to the explanation the technical solution of the utility model, although the utility model is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement the technical solution of the utility model, and not breaking away from the aim and the scope of technical solutions of the utility model, it all should be encompassed in the middle of the claim scope of the present utility model.
Claims (5)
1. the walking arm of a transmission line walking robot is characterized in that: comprise lifting assembly and walking assembly; Described lifting assembly comprises that fixed muffle (1) is stretched in fixed muffle (1), lower end and lifting arm (2) that is slidingly matched with fixed muffle (1) and the lifting motor (3) that cooperates with lifting arm (2) transmission; Described walking assembly comprises the wheel carrier (4) that is fixedly set in lifting arm (2) top, the traction drive motor (6) that is set in rotation with the road wheel (5) on the wheel carrier (4) and cooperates with road wheel (5) transmission.
2. the walking arm of transmission line walking robot according to claim 1, it is characterized in that: described lifting motor (3) is arranged in the fixed muffle (1), lifting motor (3) cooperates with lifting arm (2) transmission by the elevating screw pair of nut, be provided with lifting arm guide groove (1a) on the wall of fixed muffle (1) vertically, fixedly install the slide block that can reciprocatingly slide along lifting arm guide groove (1a) on the lifting arm (2).
3. the walking arm of transmission line walking robot according to claim 2, it is characterized in that: also comprise the top wheel mechanism, described top wheel mechanism comprises top wheel lifting assembly and top wheel assembly, the wall of described fixed muffle (1) is provided with the top wheel guide groove (1b) that is connected with lifting arm guide groove (1a), top wheel guide groove (1b) is by axial direction part and seamlessly transit circumferential section of being connected in the axial direction part lower end and constitute, described top wheel lifting assembly comprises with screw mandrel hypomere (7a) threaded engagement of elevating screw pair of nut and the lifting nut (8) that can reciprocatingly slide along top wheel guide groove (1b) and passes the pole (9) that the top is taken turns guide groove (1b) and fixedlyed connected with lifting nut (8), the top wheel assembly comprises the top wheel carrier (10) that is fixedly set on the pole (9) and is set in rotation with the top wheel (11) on top wheel carrier (10) top, top wheel (11) with road wheel (5) but between the structure of formation clamping lead, the screw mandrel hypomere (7a) of described elevating screw pair of nut is opposite with the rotation direction of screw mandrel epimere (7b) screw thread.
4. the walking arm of transmission line walking robot according to claim 3, it is characterized in that: described top wheel mechanism also comprises the sleeve (12) of back-off on pole (9), wheel carrier lower end, described top is stretched in the sleeve (12) and with sleeve (12) and is slidingly matched, and is provided with the stage clip (13) that two ends are withstood top wheel carrier (10) lower surface and pole (9) upper surface respectively in the sleeve (12).
5. according to the walking arm of any described transmission line walking robot of claim 1-4, it is characterized in that: described road wheel (5) and top wheel (11) are the circumferentially outside V-shaped groove V-arrangement wheel of band.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120087244XU CN202004378U (en) | 2011-03-29 | 2011-03-29 | Traveling arm of walking robot for transmission line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120087244XU CN202004378U (en) | 2011-03-29 | 2011-03-29 | Traveling arm of walking robot for transmission line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202004378U true CN202004378U (en) | 2011-10-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201120087244XU Expired - Fee Related CN202004378U (en) | 2011-03-29 | 2011-03-29 | Traveling arm of walking robot for transmission line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202004378U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102227067A (en) * | 2011-03-29 | 2011-10-26 | 重庆市电力公司超高压局 | Walking arm of walking robot in transmission line |
| CN104875179A (en) * | 2015-05-29 | 2015-09-02 | 南京理工大学 | Power system segmented automatic inspection robot |
| CN104959986A (en) * | 2015-05-29 | 2015-10-07 | 南京理工大学 | Combined track type automatic 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 |
| CN106025909A (en) * | 2016-05-12 | 2016-10-12 | 国网山东省电力公司检修公司 | Four-mechanical-arm climbing line-patrolling robot mechanical structure and obstacle crossing method thereof |
| CN107856752A (en) * | 2017-11-10 | 2018-03-30 | 孙哲涛 | Walking clipping mechanism for high voltage cable crusing robot |
-
2011
- 2011-03-29 CN CN201120087244XU patent/CN202004378U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102227067A (en) * | 2011-03-29 | 2011-10-26 | 重庆市电力公司超高压局 | Walking arm of walking robot in transmission line |
| CN102227067B (en) * | 2011-03-29 | 2013-07-10 | 重庆市电力公司检修分公司 | Walking arm of walking robot in transmission line |
| CN104875179A (en) * | 2015-05-29 | 2015-09-02 | 南京理工大学 | Power system segmented automatic inspection robot |
| CN104959986A (en) * | 2015-05-29 | 2015-10-07 | 南京理工大学 | Combined track type automatic 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 |
| CN106025909A (en) * | 2016-05-12 | 2016-10-12 | 国网山东省电力公司检修公司 | Four-mechanical-arm climbing line-patrolling robot mechanical structure and obstacle crossing method thereof |
| CN107856752A (en) * | 2017-11-10 | 2018-03-30 | 孙哲涛 | Walking clipping mechanism for high voltage cable crusing robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: STATE ELECTRIC NET CROP. Effective date: 20120919 Owner name: MAINTENANCE BRANCH COMPANY OF CHONGQING ELECTRIC P Free format text: FORMER OWNER: CHONGQING POWER COMPANY EXTRA HIGH VOLTAGE BUREAU Effective date: 20120919 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20120919 Address after: 400039 No. 92 Torch Road, Erlang hi tech Zone, Chongqing hi tech Development Zone Patentee after: Chongqing Electric Power Corporation Maintenance Branch Patentee after: State Grid Corporation of China Address before: 400039 No. 92 Torch Road, Erlang hi tech Zone, Chongqing hi tech Development Zone Patentee before: Chongqing Power Company Extra High Voltage Bureau |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20111005 Termination date: 20190329 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |