CN202103365U - Transmission line equipotential stride type robot - Google Patents
Transmission line equipotential stride type robot Download PDFInfo
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- CN202103365U CN202103365U CN2011201554035U CN201120155403U CN202103365U CN 202103365 U CN202103365 U CN 202103365U CN 2011201554035 U CN2011201554035 U CN 2011201554035U CN 201120155403 U CN201120155403 U CN 201120155403U CN 202103365 U CN202103365 U CN 202103365U
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Abstract
The utility model discloses a transmission line equipotential stride type robot, which comprises a housing, wherein an inner cavity is formed in the housing, four first buffer rods are arranged on the inner cavity, the first buffer rods are provided with a travelling motor, a travelling grooved wheel is arranged on the travelling motor, two stride type obstacle supports are arranged in the inner cavity, each obstacle support comprises a U-shaped supporting base, the U-shaped supporting base is connected with two connecting rods through a rotating shaft, the two connecting rods are hinged with the supporting base, the supporting base is provided with a second buffer rod, the second buffer rod is provided with a stride type roller support, the stride type roller support is provided with a stride type roller, a control cabinet and a first motor are arranged in the inner cavity, the first motor is provided with a first chain wheel and a second wheel gear, the rotating shaft of the stride type obstacle support at the left side is provided with a second chain wheel, the second chain wheel is connected with the first chain wheel through a first chain, a third wheel gear is meshed with a second wheel gear, the shaft of the third wheel gear is provided with a fourth chain wheel, the rotating shaft of the stride type obstacle support at the right side is provided with a third chain wheel, and the third chain wheel is connected with the fourth chain wheel through a second chain.
Description
Technical field
The utility model relates to a kind of transmission line equipotential great-leap-forward robot.
Background technology
Overhead transmission line especially supertension line is among the wild environment for a long time; The foreign matter that kite, hot house tarpaulin, plastic film etc. jeopardize the transmission line security of operation often is suspended on the supertension line; Like untimely cleaning, then very easily influence electric power and normally carry.Mainly be to adopt the labor cleaning to the removing that is suspended on foreign matter on the overhead transmission line at present, promptly observe and confirm then to remove foreign matter in the foreign matter position by staff's work high above the ground through personnel's range estimation or by telescope; But said method exists that labour intensity is big, the dangerous height of work high above the ground and the lower defective of efficient, is difficult to do the trick.Can be though have at present overhead transmission line walking and the intelligent robot who detects in real time, the operation of removing obstacles in conductor spacer and the stockbridge damper can't be crossed over by present this robot on like many wires of 500kV overhead transmission line, promptly can't stride straight line pole; The scope that makes robot remove obstacles receives very big restriction, and walking is extremely unstable; Be prone to drop; Thereby, make existing obstacle removing robot be difficult to apply, mostly still adopt the artificial method of removing.In addition, the mechanisms such as mechanical arm of existing robot all are installed on its outside, make entire machine people outside that more bifurcated arranged, and significantly having increased slings robot hangs on the difficulty on the overhead transmission line.In the process of hanging; The external members such as mechanical arm that robot very easily occurs twine overhead wire, robot both was in can't normally hangs the awkward circumstances that also can't take off, in case above-mentioned situation occurs; Carry out manual work even send the staff to climb up high tower again; Also be difficult to robot is taken off, finally often have to cut off just and can take off robot, must cause enormous economic loss to the user with twining circuit with robot.
The utility model content
The purpose of the utility model provides a kind of transmission line equipotential great-leap-forward robot, and it is the obstacle removing robot that is exclusively used in the 500kV overhead transmission line; Can pass through straight line pole smoothly, not receive the obstruction of conductor spacer and stockbridge damper, walking is stable to be difficult for dropping; And; Its convenient suspension can be avoided robot and circuit to twine, thereby can solve the problem that prior art exists.
The purpose of the utility model realizes through following technical scheme: transmission line equipotential great-leap-forward robot; Comprise housing; Offer inner chamber in the housing, four first buffer bars of top fixed installation of inner chamber, first guide post of every first buffer bar stretches out housing movable motor is installed outward; The walking sheave is installed on the output shaft of movable motor, and the walking sheave is positioned at the front upper place of housing; The bottom of inner chamber is that the center line left-right symmetric is installed two leaping over obstacles supports with the inner chamber axis, and the leaping over obstacles support is connected and composed by U-shaped bearing, connecting rod, supporting seat, second buffer bar, leap roller support and leap roller; The U-shaped bearing vertically is installed in the inner chamber, and the U-shaped bearing is fixedly connected with housing, on the U-shaped bearing rotating shaft is installed; A connecting rod is respectively installed at the two ends of rotating shaft; The rear end of connecting rod is fixedly connected with rotating shaft, and the front end of connecting rod is hinged with the two ends of supporting seat respectively, and second buffer bar is installed on the supporting seat; Second guide post of second buffer bar passes supporting seat leap roller support is installed, and crosses over to install on the roller support and crosses over roller; Housing each side offer a groove, groove is corresponding with the leaping over obstacles support; Installation and control case in the inner chamber is installed first motor on the control cabinet, first sprocket wheel and second gear are installed on the output shaft of first motor, and second sprocket wheel is installed in the upper end of the rotating shaft of left side leaping over obstacles support, and second sprocket wheel is connected through first chain with first sprocket wheel; The 3rd gear is installed in the inner chamber, the 3rd gear and second gears engaged, the axle of the 3rd gear is gone up the 4th sprocket wheel is installed, and the 3rd sprocket wheel is installed in the upper end of the rotating shaft of right side leaping over obstacles support, and the 3rd sprocket wheel is connected with the 4th sprocket wheel through second chain; Mounting rod is installed on the top of housing, and the shooting rolling disc is installed on the mounting rod, and the shooting hinge seat is installed on the shooting rolling disc, on the shooting hinge seat camera is installed; One side installation manipulator arm of housing, mechanical arm is positioned at inner chamber, offers on housing and the mechanical arm corresponding side walls and is convenient to the open-work that mechanical arm stretches out.
For further realizing the purpose of the utility model; Can also adopt following technical scheme to realize: the axle of said walking sheave is provided with backstay, and spacing sheave hinge seat is installed in the inner chamber, and spacing sheave hinge seat is fixedly connected with the upper inside wall of housing; On the spacing sheave hinge seat rotation axis is installed; Rotation axis and backstay spatial vertical are installed the lever and first gear on the rotation axis, spacing sheave is installed on the lever; The axle of spacing sheave is gone up limiting plate is installed, and limiting plate is vertical with the shaft space of first buffer bar; The axle of the 3rd gear is gone up first leading screw is installed, and the periphery of first leading screw is installed second nut, and tooth bar and sliding sleeve are installed on second nut; The inner chamber internal fixation is installed slide rail, and slide rail cooperates with sliding sleeve, the tooth bar and first gears engaged; Offer location notch on the limiting plate, location notch is corresponding one by one with backstay.Parallelly in the said inner chamber be provided with two grid spacers, the control cabinet and first motor are between two grid spacers.The lower end of the rotating shaft lower end of said left side leaping over obstacles support and the rotating shaft of right side leaping over obstacles support passes housing respectively a balancing weight respectively is installed outward; The corresponding end of two balancing weights all is an arc surface.Described first buffer bar comprises the first buffer bar housing, offers first on the sidewall of the first buffer bar housing and passes through groove, and first guide post is installed in the first buffer bar housing; The periphery of first guide post is provided with first spacing block set; First spacing block set is provided with first gag lever post, and first gag lever post is positioned at first and passes through groove, and the periphery of first guide post is pacified first spring; One end of first spring contacts with first spacing block set, the preceding end in contact of the other end of first spring and the first buffer bar housing.Described second buffer bar comprises the second buffer bar housing, offers second on the sidewall of the second buffer bar housing and passes through groove, and second guide post is installed in the second buffer bar housing; The periphery of second guide post is provided with second spacing block set; Second spacing block set is provided with second gag lever post, and second gag lever post and second passes through groove and cooperates, and the periphery of second guide post is installed second spring; One end of second spring contacts with second spacing block set, and the other end of second spring contacts with the second buffer bar housing.Said mechanical arm comprises the motor sheath, and motor sheath and housing are hinged, and second motor is installed in the motor sheath; On the motor sheath fairlead is installed, first mechanical arm is installed in the fairlead, offer endoporus in first mechanical arm; Second leading screw is installed in the endoporus, and an end of second leading screw is connected with the output shaft of second motor, and second leading screw is threaded with first mechanical arm; One end of first mechanical arm stretches out outer second mechanical arm of installing of fairlead, and the rear end of second mechanical arm and first mechanical arm are hinged, and the front end of second mechanical arm is installed the 3rd motor; On the output shaft of the 3rd motor rotating seat is installed; One side of rotating seat is installed emery wheel pole, and emery wheel pole going up installed emery wheel, the opposite side installation manipulator of rotating seat.
The good effect of the utility model is: but conductor spacer and stockbridge damper on its fast and stable ground spanning overhead line; Can easily pass straight line pole; On overhead transmission line, there is the object that it is caused obstruction hardly, can and removes the barrier on the circuit in tour on the whole overhead transmission line, easy to utilize; Have the ability to substitute fully the manual work work of removing obstacles, have advantage safely and efficiently.When suspension, in its leaping over obstacles support and all collapsible income of the mechanical arm robot housing, make the robot outside except that road wheel and camera, almost not have branch; And road wheel and camera all are higher than all overhead transmission lines in the suspension process; Can not twine, thereby, leaping over obstacles support and the mechanical arm and the circuit winding of robot can effectively be prevented; Avoid occurring both can't normally hanging work, situation about can't take off again.After robot suspension was accomplished, robot can launch voluntarily, so that stabilized walking on the line.The utility model also has compactness simple for structure, cheap for manufacturing cost and easy to operate advantage.
Description of drawings
Fig. 1 is the said transmission line equipotential of a utility model great-leap-forward robot construction sketch map; Fig. 2 is that the B of Fig. 1 is to structural representation; Fig. 3 opens in running order structural representation after the exhibition of the said transmission line equipotential of the utility model great-leap-forward robot; Fig. 4 is that the C of Fig. 3 is to structural representation; Fig. 5 is the A-A sectional structure sketch map of Fig. 1; Fig. 6 is the left TV structure sketch map of Fig. 3; Fig. 7 is the structural representation of said first buffer bar; Fig. 8 is the structural representation of second buffer bar shown in the figure; Fig. 9 is the structural representation of said mechanical arm; Figure 10 is the D-D sectional structure sketch map of Fig. 9.
Numerals: a housing 2 cavity three first buffer rod 4 walking sheave 5 positioning rod 6 7 camera mounting rod rotating hinge base plate 8 camera camera 10 9 sheave hinge stopper lever 12, Block 11 first gear 13 limit sheave 14-bit limit plate 15 detents 16 first sprocket 17 second sprocket 18 first chain 19 chain 21 third sprocket 20 second sprocket 22 second gear 23 Fourth third gear 24 first motor 25 control box 26 is positioned bulkhead 27 with weights 28 across the barrier crossing bracket 29 auxiliary rollers 30 roll 31 roll holder 32 supporting base spanning 33 second buffer rod 34 35U-shaped groove bearing 36 lower link 37 upper line 38 Line 39 walking motor shaft 40 slides 43 42 41 first screw nut 45 sleeve 44 second first buffer rod housing 46 first guide rod 47 first through slot 48 first spring 49 first limit rod 50 first limit 51-bit bump stopper second guide rod 52 second 53 second bump stopper rods 54 through the second spring 55, the second groove 56 a second buffer rod housing 57 robot arm 58 the second electric motor 60 of sheath 59 two screw hole 62 of the second arm 61 63 third motor 64 rotating wheel 65 wheel strut 66, Block 67 robotic manipulator 69 68 first guide sleeve 70 rack.
Embodiment
The described transmission line equipotential of the utility model great-leap-forward robot; As shown in Figure 1; It comprises housing 1, offers inner chamber 2 in the housing 1, four first buffer bars 3 of top fixed installation of inner chamber 2; First guide post 46 of every first buffer bar 3 stretches out the housing 1 outer movable motor 40 of installing, and walking sheave 4 is installed on the output shaft of movable motor 40.Robot is hung on the overhead transmission line through walking sheave 4 for convenient, like Fig. 5 and shown in Figure 6, all walking sheaves 4 all are positioned at the front upper place of housing 1.As shown in Figure 1, the bottom of inner chamber 2 is that the center line left-right symmetric is installed two leaping over obstacles supports 28 with inner chamber 2 axis.Like Fig. 1 and shown in Figure 6, each leaping over obstacles support 28 by U-shaped bearing 35, connecting rod 36, supporting seat 32, second buffer bar 33, cross over roller support 31 and cross over roller 30 and connect and compose; U-shaped bearing 35 vertically is installed in the inner chamber 2, and U-shaped bearing 35 is fixedly connected with housing 1, and rotating shaft 39 is installed on the U-shaped bearing 35; A connecting rod 36 is respectively installed at the two ends of rotating shaft 39; The rear end of connecting rod 36 is fixedly connected with rotating shaft 39, and the front end of connecting rod 36 is hinged with the two ends of supporting seat 32 respectively, and second buffer bar 33 is installed on the supporting seat 32; Second guide post 51 of second buffer bar 33 passes supporting seat 32 outer installations and crosses over roller support 31, crosses over to install on the roller support 31 and crosses over roller 30.Housing 1 each side offer a groove 34, groove 34 is corresponding with leaping over obstacles support 28; When connecting rod 36 position as shown in Figure 1 Rotate 180 degree to position shown in Figure 3; The front end of connecting rod 36 can be positioned at groove 34; Thereby maximum possible shifts out second buffer bar 33 and leap roller 30 outside the housing 1; Closely contact with overhead transmission line so that cross over roller 30, the walking of robot is play the guiding role.Installation and control case 25 in the inner chamber 2 is installed existing control device, storage battery and existing wireless signal transmission and receiving systems such as Programmable Logic Controller in the control cabinet 25, make things convenient for the staff on the ground robot to be carried out remote control.As shown in Figure 1; First motor 24 is installed on the control cabinet 25; First sprocket wheel 16 and second gear 22 are installed on the output shaft of first motor 24, and the upper end of the rotating shaft 39 of left side leaping over obstacles support 28 is installed second sprocket wheel, 17, the second sprocket wheels 17 and is connected through first chain 18 with first sprocket wheel 16; The 3rd gear 23 is installed in the inner chamber 2; The 3rd gear 23 and 22 engagements of second gear; The axle of the 3rd gear 23 is gone up the 4th sprocket wheel 21 is installed, and the upper end of the rotating shaft 39 of right side leaping over obstacles support 28 is installed the 3rd sprocket wheel 19, the three sprocket wheels 19 and is connected with the 4th sprocket wheel 21 through second chain 20.Staff for ease of ground can understand the situation on the overhead transmission line at any time, and is so that remote-controlled robot is accomplished cleaning work, as shown in Figure 1; Mounting rod 6 is installed on the top of housing 1; Shooting rolling disc 7 is installed on the mounting rod 6, shooting hinge seat 8 is installed on the shooting rolling disc 7, on the shooting hinge seat 8 camera 9 is installed; Camera 9 is hinged with shooting hinge seat 8, the shooting angle of shooting rolling disc 7 and shooting hinge seat 8 rotatable adjustment cameras 9.Be to realize cleaning work, a side installation manipulator arm 57 of housing 1, mechanical arm 57 is positioned at inner chamber 2, offers on housing 1 and mechanical arm 57 corresponding side walls to be convenient to the open-work that mechanical arm 57 stretches out the foreign material on the circuit are cleared up.
Before the cleaning, utilize existing lifting machine such as crane that robot is hung on the overhead transmission line earlier, this moment, leaping over obstacles support 28 and mechanical arm 57 as Fig. 1 and shown in Figure 5 all the contraction in housing 1 of robot were collected, in case twine with circuit.After being hung on walking sheave 4 on the upper layer circuit 37 of overhead transmission line, make upper layer circuit 37 be positioned at the suspension work that walking sheave 4 is promptly accomplished robot.After the robot suspension is accomplished; Lifting machine still can not be removed, at this moment, and staff's remote control control cabinet 25; Control cabinet 25 controls first motor 24 rotates; First motor 24 rotates through the rotating shaft 39 that first sprocket wheel 16, first chain 18 and second sprocket wheel 17 drive left side leaping over obstacles supports 28 on the one hand, and the rotating shaft 39 of left side leaping over obstacles support 28 drives connected connecting rod 36 position as shown in Figure 1 turnbacks to position shown in Figure 3, will cross over roller 30 and second buffer bar 33 shifts out outside the housing 1; As shown in Figure 3, make and cross over roller 30 and lower floor's circuit 38 contact matching.Walking sheave 4 with cross over roller two places and overhead transmission line contact matching about in the of 30, availablely guarantee machine stabilized walking on overhead transmission line.Leaping over obstacles support 28 can be removed lifting machine after launching, robot can be on overhead transmission line independent ambulation.Second buffer bar 33 is always to provide crosses over the pretightning force that roller 30 compresses lower floor's circuit 38, and first buffer bar 3 makes walking sheave 4 tightly bite upper layer circuit 37 for walking sheave 4 provides downward pretightning force.
During cleaning, the image remote control control cabinet 25 that the staff takes according to camera 9, control cabinet 25 control movable motors 40 rotate, and movable motor 40 drives walking sheave 4 and rotates, and moves along overhead transmission line thereby drive robot.Each walking sheave 4 all is independent ambulation power sources.When near the foreign material on the circuit, control cabinet 25 control mechanical arms 57 are extractd the foreign material on the circuit by stretching out in the housing 1.For preventing that further crossing over roller 30 breaks away from lower floor's circuit 38, crosses over the top of roller support 31 help roll 29 is installed.
In the traveling process of robot on overhead transmission line; The mode that walking sheave 4 is crossed over conductor spacer or stockbridge damper is following: first walking sheave 4 that runs into conductor spacer or stockbridge damper at first can upwards lift by relative housing 1 under the effect of conductor spacer or stockbridge damper; Be at this moment; Other walking sheaves 4 still closely are hooked together with circuit, guarantee that robot can firmly be hung on the circuit; After first walking sheave 4 strode across conductor spacer or stockbridge damper, can under the drive of connected first buffer bar 3, reset articulated with circuit again.Second, third moves with the leap that the 4th walking sheave 4 repeats last walking sheave 4 successively.In the process of walking, guarantee a walking sheave 4 all the time when breaking away from circuit work leap conductor spacer or stockbridge damper action, other three walking sheaves 4 clench circuit, make robot keep stablizing.
Fall down for preventing that further robot and overhead transmission line break away from, like Fig. 1, Fig. 3, Fig. 5 and shown in Figure 6, the axle of said walking sheave 4 is provided with backstay 5; As shown in figures 1 and 3, spacing sheave hinge seat 10 is installed in the inner chamber 2, spacing sheave hinge seat 10 is fixedly connected with the upper inside wall of housing 1; On the spacing sheave hinge seat 10 rotation axis is installed; Rotation axis and backstay 5 spatial vertical are installed the lever 11 and first gear 12 on the rotation axis, spacing sheave 13 is installed on the lever 11; The axle of spacing sheave 13 is gone up limiting plate 14 is installed, and limiting plate 14 is vertical with the shaft space of first buffer bar 3; The last periphery that first leading screw, 41, the first leading screws 41 are installed of the axle of the 3rd gear 23 is installed second nut, 44, the second nuts 44 and is threaded with first leading screw 41; Tooth bar 70 and sliding sleeve 43 are installed on second nut 44; Inner chamber 2 internal fixation are installed slide rail 42, and slide rail 42 cooperates with sliding sleeve 43 and prevents 44 rotations of second nut, and the tooth bar 70 and first gear 12 mesh; Offer location notch 15 on the limiting plate 14, location notch 15 is corresponding one by one with backstay 5.
When leaping over obstacles support 28 launches; Second gear 22 drives the 3rd gear 23 and rotates; The 3rd gear 23 drives second nut 44 through first leading screw 41 and moves as straight line, makes tooth bar 70 drive first gear 12 and rotates, thereby make spacing sheave 13 upwards rotate 90 degree; Location notch 15 on the limiting plate 14 and backstay 5 be corresponding matching one by one, and spacing sheave 13 cooperates with the sheave 4 of walking upper layer circuit 37 is fixedly clamped up and down.At this moment; Walking sheave 4, spacing sheave 13, limiting plate 14 and housing 1 connect and compose a closed-loop upper layer circuit 37 are firmly locked; Even walking sheave 4 separates with upper layer circuit 37, upper layer circuit 37 still can't guarantee that robot can be by falling on the overhead transmission line by deviating from the above-mentioned closed-loop; Avoid the robot crash or the situation of hurting sb.'s feelings to take place, fail safe is higher.
When making leaping over obstacles support 28 closed not can with first motor 24 and control cabinet 25 collisions, guarantee first motor 24 and control cabinet 25 operate as normal.As shown in figures 1 and 3, parallelly in the said inner chamber 2 be provided with two grid spacers 26, the control cabinet 25 and first motor 24 are between two grid spacers 26.
Stable for the walking of further guaranteeing robot, to shown in Figure 4, the lower end of rotating shaft 39 lower ends of said left side leaping over obstacles support 28 and the rotating shaft 39 of right side leaping over obstacles support 28 passes respectively a balancing weight 27 respectively is installed outside the housing 1 like Fig. 1; Two balancing weights, 27 corresponding ends all are arc surfaces.When leaping over obstacles support 28 launched, balancing weight 27 as Fig. 3 and rotation shown in Figure 4 90 degree moved forward the center of gravity of robot, make the bottom of robot more closely compress overhead transmission line, thereby, guarantee the stabilized walking of robot.
As shown in Figure 7; Described first buffer bar 3 comprises that offering first on the sidewall of the first buffer bar housing, 45, the first buffer bar housings 45 passes through in groove 47, the first buffer bar housings 45 first guide posts 46 are installed; The periphery of first guide post 46 is provided with first spacing block set 50; First spacing block set 50 be provided with first gag lever post, 49, the first gag lever posts 49 be positioned at first pass through groove 47, the first guide posts 46 periphery pacify first spring 48; One end of first spring 48 contacts with first spacing block set 50, the preceding end in contact of the other end of first spring 48 and the first buffer bar housing 45.First buffer bar 3 applies the pretightning force of stinging tight overhead transmission line through 46 pairs of walkings of first guide post sheave 4.
As shown in Figure 8; Described second buffer bar 33 comprises that offering second on the sidewall of the second buffer bar housing, 56, the second buffer bar housings 56 passes through in groove 55, the second buffer bar housings 56 second guide posts 51 are installed; The periphery of second guide post 51 is provided with second spacing block set 52; Second spacing block set 52 is provided with second gag lever post, 53, the second gag lever posts 53 and second and passes through groove 55 and cooperate, and the periphery of second guide post 51 is installed second spring 54; One end of second spring 54 contacts with second spacing block set 52, and the other end of second spring 54 contacts with the second buffer bar housing 56.
It is following to remove experience design mechanical arm 57 structures according to long-term overhead transmission line: like Fig. 9 and shown in Figure 10, said mechanical arm 57 comprises motor sheath 58, and is as shown in Figure 1; Motor sheath 58 is hinged with housing 1, and second motor 59 is installed in the motor sheath 58, fixed installation fairlead 69 on the motor sheath 58; Install in first mechanical arm, 68, the first mechanical arms 68 in the fairlead 69 and offer endoporus 61, second leading screw 60 is installed in the endoporus 61; One end of second leading screw 60 is connected with the output shaft of second motor 59, and second leading screw 60 is threaded with first mechanical arm 68, and an end of first mechanical arm 68 stretches out fairlead 69 outer second mechanical arms 62 of installing; The rear end of second mechanical arm 62 and first mechanical arm 68 are hinged; The front end of second mechanical arm 62 is installed rotating seat 66 is installed on the output shaft of the 3rd motor 63, the three motors 63, and a side of rotating seat 66 is installed emery wheel pole 65; Emery wheel 64, the opposite side installation manipulator 67 of rotating seat 66 are installed on the emery wheel pole 65; Shown in figure 10, the cross section of first mechanical arm 68 and fairlead 69 is rectangles.Second motor 59 is that first mechanical arm 68 provides the power that moves relative to fairlead 69 straight lines; Thereby can make first mechanical arm 68 drive second mechanical arm 62 and accurately move a segment distance; The situation that is suitable for foreign material winding overhead transmission line is comparatively complicated, adopts when not directly taking by force.The 3rd motor 63 can drive emery wheel 64 through rotating seat 66 and rotate with manipulator 67, so that the staff selects one of which that foreign material are handled between manipulator 67 and emery wheel 64 according to the different situations of foreign material.
The described technical scheme of the utility model is not restricted in the scope of the described embodiment of the utility model.The utility model not technology contents of detailed description is known technology.
Claims (7)
1. transmission line equipotential great-leap-forward robot; It is characterized in that: comprise housing (1); Offer inner chamber (2) in the housing (1), top fixed installation four first buffer bars (3) of inner chamber (2), first guide post (46) of every first buffer bar (3) stretch out the outer movable motor (40) of installing of housing (1); Walking sheave (4) is installed on the output shaft of movable motor (40), and walking sheave (4) is positioned at the front upper place of housing (1); The bottom of inner chamber (2) is that the center line left-right symmetric is installed two leaping over obstacles supports (28) with inner chamber (2) axis, and leaping over obstacles support (28) is connected and composed by U-shaped bearing (35), connecting rod (36), supporting seat (32), second buffer bar (33), leap roller support (31) and leap roller (30); U-shaped bearing (35) vertically is installed in the inner chamber (2); U-shaped bearing (35) is fixedly connected with housing (1); U-shaped bearing (35) is gone up rotating shaft (39) is installed, and a connecting rod (36) is respectively installed at the two ends of rotating shaft (39), and the rear end of connecting rod (36) is fixedly connected with rotating shaft (39); The front end of connecting rod (36) is hinged with the two ends of supporting seat (32) respectively; Supporting seat (32) is gone up second buffer bar (33) is installed, and second guide post (51) of second buffer bar (33) passes supporting seat (32) leap roller support (31) is installed, and leap roller support (31) is gone up to install and crossed over roller (30); Housing (1) each side offer a groove (34), groove (34) is corresponding with leaping over obstacles support (28); The interior installation and control case of inner chamber (2) (25); Control cabinet (25) is gone up first motor (24) is installed; First sprocket wheel (16) and second gear (22) are installed on the output shaft of first motor (24); Second sprocket wheel (17) is installed in the upper end of the rotating shaft (39) of left side leaping over obstacles support (28), and second sprocket wheel (17) is connected through first chain (18) with first sprocket wheel (16); The 3rd gear (23) is installed in the inner chamber (2); The 3rd gear (23) and second gear (22) engagement; The axle of the 3rd gear (23) is gone up the 4th sprocket wheel (21) is installed; The 3rd sprocket wheel (19) is installed in the upper end of the rotating shaft (39) of right side leaping over obstacles support (28), and the 3rd sprocket wheel (19) is connected with the 4th sprocket wheel (21) through second chain (20); Mounting rod (6) is installed on the top of housing (1), and mounting rod (6) is gone up shooting rolling disc (7) is installed, and shooting rolling disc (7) is gone up shooting hinge seat (8) is installed, and shooting hinge seat (8) is gone up camera (9) is installed; One side installation manipulator arm (57) of housing (1), mechanical arm (57) is positioned at inner chamber (2), offers on housing (1) and mechanical arm (57) corresponding side walls and is convenient to the open-work that mechanical arm (57) stretches out.
2. transmission line equipotential great-leap-forward according to claim 1 robot; It is characterized in that: the axle of said walking sheave (4) is provided with backstay (5), and spacing sheave hinge seat (10) is installed in the inner chamber (2), and spacing sheave hinge seat (10) is fixedly connected with the upper inside wall of housing (1); Spacing sheave hinge seat (10) is gone up rotation axis is installed; Rotation axis and backstay (5) spatial vertical is installed lever (11) and first gear (12) on the rotation axis, lever (11) is gone up spacing sheave (13) is installed; The axle of spacing sheave (13) is gone up limiting plate (14) is installed, and limiting plate (14) is vertical with the shaft space of first buffer bar (3); The axle of the 3rd gear (23) is gone up first leading screw (41) is installed; The periphery of first leading screw (41) is installed second nut (44), and second nut (44) is gone up tooth bar (70) and sliding sleeve (43) are installed, and inner chamber (2) internal fixation is installed slide rail (42); Slide rail (42) cooperates with sliding sleeve (43); Tooth bar (70) and first gear (12) engagement are offered location notch (15) on the limiting plate (14), location notch (15) is corresponding one by one with backstay (5).
3. transmission line equipotential great-leap-forward according to claim 1 robot, it is characterized in that: parallel two grid spacers (26) that are provided with in the said inner chamber (2), control cabinet (25) and first motor (24) are positioned between two grid spacers (26).
4. transmission line equipotential great-leap-forward according to claim 1 robot is characterized in that: the lower end of rotating shaft (39) lower end of said left side leaping over obstacles support (28) and the rotating shaft (39) of right side leaping over obstacles support (28) passes the outer balancing weight (27) of respectively installing of housing (1) respectively; The corresponding end of two balancing weights (27) all is an arc surface.
5. transmission line equipotential great-leap-forward according to claim 1 robot; It is characterized in that: described first buffer bar (3) comprises the first buffer bar housing (45); Offer first on the sidewall of the first buffer bar housing (45) and pass through groove (47); First guide post (46) is installed in the first buffer bar housing (45), and the periphery of first guide post (46) is provided with first spacing block set (50), and first spacing block set (50) is provided with first gag lever post (49); First gag lever post (49) is positioned at first and passes through groove (47); The periphery of first guide post (46) is pacified first spring (48), and an end of first spring (48) contacts with first spacing block set (50), the preceding end in contact of the other end of first spring (48) and the first buffer bar housing (45).
6. transmission line equipotential great-leap-forward according to claim 1 robot; It is characterized in that: described second buffer bar (33) comprises the second buffer bar housing (56); Offer second on the sidewall of the second buffer bar housing (56) and pass through groove (55); Second guide post (51) is installed in the second buffer bar housing (56), and the periphery of second guide post (51) is provided with second spacing block set (52), and second spacing block set (52) is provided with second gag lever post (53); Second gag lever post (53) and second passes through groove (55) and cooperates; The periphery of second guide post (51) is installed second spring (54), and an end of second spring (54) contacts with second spacing block set (52), and the other end of second spring (54) contacts with the second buffer bar housing (56).
7. transmission line equipotential great-leap-forward according to claim 1 robot, it is characterized in that: said mechanical arm (57) comprises motor sheath (58), motor sheath (58) is hinged with housing (1); Second motor (59) is installed in the motor sheath (58); Motor sheath (58) is gone up fairlead (69) is installed, and first mechanical arm (68) is installed in the fairlead (69), offers endoporus (61) in first mechanical arm (68); Second leading screw (60) is installed in the endoporus (61); One end of second leading screw (60) is connected with the output shaft of second motor (59), and second leading screw (60) is threaded with first mechanical arm (68), and an end of first mechanical arm (68) stretches out outer second mechanical arm (62) of installing of fairlead (69); The rear end of second mechanical arm (62) and first mechanical arm (68) are hinged; The front end of second mechanical arm (62) is installed the 3rd motor (63), and rotating seat (66) is installed on the output shaft of the 3rd motor (63), and a side of rotating seat (66) is installed emery wheel pole (65); Emery wheel pole (65) going up installed emery wheel (64), the opposite side installation manipulator (67) of rotating seat (66).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201554035U CN202103365U (en) | 2011-05-16 | 2011-05-16 | Transmission line equipotential stride type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201554035U CN202103365U (en) | 2011-05-16 | 2011-05-16 | Transmission line equipotential stride type robot |
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| Publication Number | Publication Date |
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| CN202103365U true CN202103365U (en) | 2012-01-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011201554035U Expired - Lifetime CN202103365U (en) | 2011-05-16 | 2011-05-16 | Transmission line equipotential stride type robot |
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| CN (1) | CN202103365U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102290739A (en) * | 2011-05-16 | 2011-12-21 | 山东电力集团公司超高压公司 | Electric transmission line equipotential leaping robot |
| CN103904583A (en) * | 2014-03-21 | 2014-07-02 | 上海大学 | Railway traction power supply line swing arm type patrolling mobile robot |
| CN105904430A (en) * | 2016-04-22 | 2016-08-31 | 上海电机学院 | Five-line simultaneous patrol spider type bar-crossing robot and bar-crossing control method thereof |
| CN111864629A (en) * | 2020-08-04 | 2020-10-30 | 钱南林 | Urban railway inspection robot and using method thereof |
-
2011
- 2011-05-16 CN CN2011201554035U patent/CN202103365U/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102290739A (en) * | 2011-05-16 | 2011-12-21 | 山东电力集团公司超高压公司 | Electric transmission line equipotential leaping robot |
| CN102290739B (en) * | 2011-05-16 | 2013-04-03 | 山东电力集团公司超高压公司 | Electric transmission line equipotential leaping robot |
| CN103904583A (en) * | 2014-03-21 | 2014-07-02 | 上海大学 | Railway traction power supply line swing arm type patrolling mobile robot |
| CN103904583B (en) * | 2014-03-21 | 2016-11-23 | 上海大学 | A kind of rail traction supply lines swing arm line walking moves robot |
| CN105904430A (en) * | 2016-04-22 | 2016-08-31 | 上海电机学院 | Five-line simultaneous patrol spider type bar-crossing robot and bar-crossing control method thereof |
| CN111864629A (en) * | 2020-08-04 | 2020-10-30 | 钱南林 | Urban railway inspection robot and using method thereof |
| CN111864629B (en) * | 2020-08-04 | 2021-07-09 | 万金芬 | Urban railway inspection robot and using method thereof |
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