CN202231393U - High-voltage wire deicing obstacle surmounting robot - Google Patents

High-voltage wire deicing obstacle surmounting robot Download PDF

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Publication number
CN202231393U
CN202231393U CN2011203134705U CN201120313470U CN202231393U CN 202231393 U CN202231393 U CN 202231393U CN 2011203134705 U CN2011203134705 U CN 2011203134705U CN 201120313470 U CN201120313470 U CN 201120313470U CN 202231393 U CN202231393 U CN 202231393U
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CN
China
Prior art keywords
arm
pair
deicing
motor
wheel
Prior art date
Application number
CN2011203134705U
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Chinese (zh)
Inventor
朱健林
原所先
陈陆淼
李建军
王一冰
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东北大学
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Application filed by 东北大学 filed Critical 东北大学
Priority to CN2011203134705U priority Critical patent/CN202231393U/en
Application granted granted Critical
Publication of CN202231393U publication Critical patent/CN202231393U/en

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Abstract

The utility model discloses a high-voltage wire deicing obstacle surmounting robot which is composed of a moving body, a traveling mechanism and a deicing mechanism, wherein control system and driving system of each of the traveling mechanism and the deicing mechanism are fixedly connected on the moving body; the traveling mechanism comprises a front arm, a middle arm and a rear arm; each of the front arm and the rear arm is a combined structure of four connecting rods and a lead screw nut pair, a lead screw is connected with a traveling obstacle surmounting motor, and the tail end of each of the front and rear arms is provided with a traveling wheel and a clamping wheel; the structure of the middle arm is the same to that of the front arm and the rear arm, and the tail end of the middle arm is provided with two traveling wheels; the deicing mechanism comprises a straight gear pair, a bevel wheel pair and a chain wheel structure, the straight gear pair is connected with a deicing motor, and a gear of the straight gear pair and a chain wheel are coaxial; the output end of the chain wheel structure is connected with the bevel wheel pair, the tail end of the power output shaft of the bevel wheel pair is connected with a profiling deicing knife, and the tail end of the power input shaft of the bevel wheel pair is connected with an ice skate support plate; and the ice skate support plate is connected with the lead screw nut pair through a push rod and a joint ball pair, and the lead screw nut pair is connected with a deicing obstacle surmounting motor.

Description

A kind of deicing of high-voltage wires barrier-surpassing robot
Technical field
The utility model relates to high-voltage line and patrols and examines protector, is specifically related to a kind of deicing of high-voltage wires barrier-surpassing robot.
Background technology
Existing high-voltage line equipment basically all has only inspection function, and drops into practice seldom.The patent No. is that 200410020490.8 patent of invention provides a kind of EHV transmission line patrol robot mechanism; It is made up of moving body, back arm, preceding arm; Wherein: moving body is made up of body and road wheel, and road wheel is installed on the body through horizontally rotating pair and moving sets, and grasps mutually with line; Body links to each other with forward and backward arm respectively through revolute pair, and the arm end is a paw; Said before arm, the back arm structure identical, wherein each arm is made up of upper arm, underarm two parts, upper arm is connecting rod and ball-screw and slide block combining structure, through horizontally rotate the pair be connected with underarm, underarm is big stroke telescoping mechanism.While, ice and snow weather increased difficulty for the high-voltage line maintenance work of China because weather is changeable, and this robot can only carry out the action of line walking obstacle detouring, then can't remove if amass when ice and snow is arranged on the high-voltage line.If the high-voltage line walking and the deicing function of robot are combined as a whole, then not only can solve the dangerous problem of high-voltage line heavy burden, can also effectively ensure related work personnel's safety.
Summary of the invention
Patrol and examine the shortcomings and deficiencies of equipment to having high-voltage line now, the utility model provides the deicing of high-voltage wires barrier-surpassing robot of a kind of walking automatically, obstacle detouring and deicing.
For realizing above-mentioned purpose; The technical scheme that the utility model adopts is: a kind of deicing of high-voltage wires barrier-surpassing robot; Form control system, the drive system of fixedly connected walking mechanism and deicing mechanism on the mobile body by mobile body, walking mechanism and deicing mechanism; Walking mechanism comprises forearm, intermediate arm and postbrachium; Forward and backward two arms are four connecting rods and screw pair combining structure; Leading screw links to each other with the moving obstacle-crossing motor; Two arm ends are equipped with a road wheel and one chucking wheel, and intermediate arm agent structure and forearm, postbrachium are identical, and end is provided with two road wheels and a chucking is taken turns; Deicing mechanism comprises spur gear pair, bevel gear pair and chain sprocket structure; Spur gear pair links to each other with the deicing motor, the gear of spur gear pair and sprocket coaxiality, and it is secondary that the chain sprocket structure output connects bevel gear; The secondary power output shaft of bevel gear is terminal to connect profiling except that skates; The terminal skates gripper shoe that connects of the secondary power input shaft of bevel gear, the skates gripper shoe is connected screw pair by push rod and joint ball are secondary, and screw pair links to each other with deicing obstacle detouring motor.
The structure of said forearm, postbrachium comprises leading screw, nut, push rod, chucking wheel, road wheel, main arm, paw and assistant's arm, and the bearing of moving obstacle-crossing motor and main arm, assistant's arm is fixed on and moves on the body, and main arm is connected with bearing through revolute pair with assistant's arm; The end of main arm fixedly movable motor reaches the road wheel that is directly driven by movable motor, and road wheel is positioned at the electric wire top and contacts with electric wire, and assistant's arm connects paw through revolute pair; Paw and main arm are through the revolute pair interconnection; The terminal fixed card bearing up pulley of paw, the chucking wheel is positioned at the below of electric wire, and cooperates the clamping high-tension bus-bar with road wheel; Main arm connects a push rod through revolute pair below main arm and revolute pair that paw is connected; The end of push rod is through the revolute pair attaching nut, and nut cooperates with leading screw, and leading screw connects the moving obstacle-crossing motor.
Said chain sprocket structure is made up of drive sprocket, chain and driven sprocket, and drive sprocket is coaxial with the gear of spur gear pair, and driven sprocket is coaxial with the power input gear of bevel gear pair.
The utility model moving obstacle-crossing course of action is: in the robot ambulation process; When walking mechanism ran into catenary and stockbridge damper, the moving obstacle-crossing motor obtained power supply and drives the leading screw rotation, through the rotation of leading screw; Make the nut reach; The drive push rod orders about main arm and rearward swings, and main arm, assistant's arm, paw and base are formed quadric chain, and the swing backward of main arm drives the also swing backward of assistant's arm; Road wheel is separated with electric wire with the chucking wheel, and robot continues to move ahead under the promotion of intermediate arm and postbrachium; When walking mechanism surmounted obstacles, the opposite spin of moving obstacle-crossing driven by motor leading screw made and moves behind the nut that main arm and assistant's arm be swing forward then, drove road wheel and chucking and took turns and turn back to the origin-location and contact with electric wire again.
Deicing obstacle detouring course of action is: when deicing mechanism ran into barrier, deicing obstacle detouring motor obtained the power supply rotation, through the rectilinear motion that is converted into nut that is rotated in the forward of its motor output shaft of feed screw nut adjutant; The nut reach; Make push rod receive power forward, push rod one end is through the joint attaching nut, and the other end connects the skates supporting bracket through the joint; The skates supporting bracket is restricted on the direction of nut reach; Thereby through the joint ball side effect the preceding shifting movement of nut is decomposed into two skates supporting brackets rightabout rotatablely moving in perpendicular, makes except that skates to break away from electric wire, realize obstacle detouring; After deicing mechanism clears the jumps, the reverse rotation of deicing obstacle detouring motor, it is closed to drive two skates supporting brackets through screw pair and push rod, returns to operating state.
The beneficial effect of the utility model is:
⑴ the utility model electrical control is simply easy, and deicing mechanism is set, and can be implemented in walking on the high-voltage line, deicing and obstacle detouring action simultaneously, and the safety that the guarantee high-voltage line is patrolled and examined especially suits to use at cold, wet environment with efficient;
⑵ be provided with the chucking wheel can overcome certain electric wire amount of deflection, increases the frictional force of clamping, prevents that effectively road wheel from skidding, and improves mechanical efficiency.
Description of drawings
Fig. 1 is the robot overall structure sketch map of the utility model embodiment;
Fig. 2 is the walking mechanism sketch map of the utility model embodiment;
Fig. 3 is the deicing mechanism sketch map of the utility model embodiment;
Fig. 4 is the walking mechanism walking states sketch map of the utility model embodiment;
Fig. 5 is the walking mechanism off-line state sketch map of the utility model embodiment;
Fig. 6 is the deicing mechanism working state schematic representation of the utility model embodiment;
Fig. 7 is the deicing mechanism off-line state sketch map of the utility model embodiment;
Among the figure: 1 base, 2 casings, 3 postbrachiums, 4 electric wires, 5 intermediate arms, 6 forearms, 7 deicing mechanisms, 8 catenaries, 9 stockbridge dampers;
A1 moves body, the A2 leading screw, and the A3 nut, A4 moving obstacle-crossing motor, A5 push rod I, A6 tightens wheel, A7 road wheel, A8 movable motor, A9 master's arm, A10 paw, assistant's A11 arm;
B1 deicing motor, B2 skates supporting bracket, the B3 power output gear, the B4 profiling removes skates, B5 power input gear, B6 push rod II, B7 screw pair, B8 deicing obstacle detouring motor, B9 joint, B10 spur gear pair, B11 driven sprocket, B12 chain, B13 drive sprocket.
Embodiment
Below in conjunction with accompanying drawing and embodiment the utility model is further specified.
Like Fig. 1, Fig. 2, shown in Figure 3; The deicing of high-voltage wires barrier-surpassing robot; Be made up of mobile body A1, walking mechanism and deicing mechanism 7, move body A1 and comprise base 1 and casing 2, control system, the drive system of walking mechanism and deicing mechanism 7 is fixedly connected on the base 1 and is arranged in the casing 2; Walking mechanism comprises forearm 6, intermediate arm 5 and postbrachium 3; Forward and backward two arms are four connecting rods and screw pair combining structure; Leading screw A2 links to each other with moving obstacle-crossing motor A4; Two arm ends are equipped with a road wheel A7 and one chucking wheel A6, and intermediate arm 5 agent structures and forearm 6, postbrachium 3 are identical, and end is provided with two road wheel A7 and a chucking is taken turns A6; Deicing mechanism 7 comprises spur gear pair B10, bevel gear pair and chain sprocket structure; Spur gear pair B10 links to each other with deicing motor B1; Chain sprocket structure is made up of drive sprocket B13, chain B12 and driven sprocket B11; Drive sprocket B13 is coaxial with the gear of spur gear pair B10, and the bevel gear pair is made up of power input gear B5 and power output gear B3, and driven sprocket B11 is coaxial with power input gear B5; The secondary power output gear B3 of bevel gear shaft end connects profiling and removes skates B4; The secondary power input gear B5 of bevel gear shaft end connects skates supporting bracket B2, and skates supporting bracket B2 is connected screw pair B7 through push rod and joint ball are secondary, and the leading screw of screw pair B7 links to each other with deicing obstacle detouring motor B8.
The structure of said forearm 6, postbrachium 3 comprise leading screw A2, nut A3,, push rod I A5, chucking wheel A6, road wheel A7, main arm A9, paw A10 and assistant's arm A11; The bearing of moving obstacle-crossing motor A4 and main arm A9, assistant's arm A11 is fixed on and moves on the body A1, and main arm A9 is connected with bearing through revolute pair with assistant's arm A11, and the end of main arm A9 fixedly movable motor A8 reaches the road wheel A7 that is directly driven by movable motor A8; Road wheel A7 is positioned at electric wire 4 tops and contacts with electric wire 4; Assistant's arm A11 connects paw A10 through revolute pair, and paw A10 and main arm A9 are through revolute pair interconnection, the terminal fixed card bearing up pulley A6 of paw A10; Chucking wheel A6 is positioned at the below of electric wire 4; And cooperate clamping electric wire 4 with road wheel A7, and main arm A9 connects a push rod I A5 through revolute pair below main arm A9 and revolute pair that paw A10 is connected, and the end of push rod I A5 is through revolute pair attaching nut A3; Nut A3 cooperates with leading screw A2, and leading screw A2 connects moving obstacle-crossing motor A4.
Robot ambulation obstacle detouring course of action is: like Fig. 5, shown in Figure 6, in the robot ambulation process, when walking mechanism runs into catenary 8 with stockbridge damper 9; Moving obstacle-crossing motor A4 obtains power supply and drives leading screw A2 rotation; Through the rotation of leading screw A2, make nut A3 reach, drive push rod I A5 orders about main arm A9 and rearward swings; Main arm A9, assistant's arm A11, paw A10 and base 1 are formed quadric chain; The swing backward of main arm A9 drives also swing backward of assistant's arm A11, and road wheel A7 is separated with electric wire with chucking wheel A6, and robot continues to move ahead under the promotion of intermediate arm 5 and postbrachium; When walking mechanism surmounted obstacles, moving obstacle-crossing motor A4 drove leading screw A2 opposite spin, made to move behind the nut A3, and main arm A9 and assistant's arm A11 be swing forward then, drove road wheel A7 and took turns A6 and turn back to the origin-location and contact with electric wire again with tightening.
Deicing obstacle detouring course of action is: like Fig. 7, shown in Figure 8; When deicing mechanism 7 ran into barrier, deicing obstacle detouring motor B8 obtained the power supply rotation, being rotated in the forward of its motor output shaft was converted into the rectilinear motion of nut through screw pair B7; The nut reach; Make push rod II B6 receive power forward, push rod II B6 one end is through joint B9 attaching nut, and the other end connects skates supporting bracket B2 through joint B9; Skates supporting bracket B2 is restricted on the direction of nut reach; Thereby through the joint ball side effect the preceding shifting movement of nut is decomposed into two skates supporting bracket B2 rightabout rotatablely moving in perpendicular, makes except that skates to break away from electric wire, realize obstacle detouring; After deicing mechanism 7 clears the jumps, deicing obstacle detouring motor B8 reverse rotation, it is closed to drive two skates supporting bracket B2 through screw pair B7 and push rod II B6, returns to operating state.

Claims (3)

1. a deicing of high-voltage wires barrier-surpassing robot is characterized in that: be made up of mobile body, walking mechanism and deicing mechanism, move the control system, the drive system that are fixedly connected walking mechanism and deicing mechanism on the body; Walking mechanism comprises forearm, intermediate arm and postbrachium; Forward and backward two arms are four connecting rods and screw pair combining structure; Leading screw links to each other with the moving obstacle-crossing motor; Two arm ends are equipped with a road wheel and one chucking wheel, and intermediate arm agent structure and forearm, postbrachium are identical, and end is provided with two road wheels and a chucking is taken turns; Deicing mechanism comprises spur gear pair, bevel gear pair and chain sprocket structure; Spur gear pair links to each other with the deicing motor, the gear of spur gear pair and sprocket coaxiality, and it is secondary that the chain sprocket structure output connects bevel gear; The secondary power output shaft of bevel gear is terminal to connect profiling except that skates; The terminal skates supporting bracket that connects of the secondary power input shaft of bevel gear, the skates supporting bracket is connected screw pair through push rod and joint ball are secondary, and screw pair links to each other with deicing obstacle detouring motor.
2. deicing of high-voltage wires barrier-surpassing robot according to claim 1 is characterized in that the structure of said forearm, postbrachium comprises leading screw, nut, push rod, chucking wheel, road wheel, main arm, paw and assistant's arm, and the bearing of moving obstacle-crossing motor and main arm, assistant's arm is fixed on and moves on the body; Main arm is connected with bearing through revolute pair with assistant's arm; The end of main arm fixedly movable motor reaches the road wheel that is directly driven by movable motor, and road wheel is positioned at the electric wire top and contacts with electric wire, and assistant's arm connects paw through revolute pair; Paw and main arm are through the revolute pair interconnection; The terminal fixed card bearing up pulley of paw, the chucking wheel is positioned at the below of electric wire, and cooperates the clamping high-tension bus-bar with road wheel; Main arm connects a push rod through revolute pair below main arm and revolute pair that paw is connected; The end of push rod is through the revolute pair attaching nut, and nut cooperates with leading screw, and leading screw connects the moving obstacle-crossing motor.
3. deicing of high-voltage wires barrier-surpassing robot according to claim 1; It is characterized in that said chain sprocket structure is made up of drive sprocket, chain and driven sprocket; Drive sprocket is coaxial with the gear of spur gear pair, and driven sprocket is coaxial with the power input gear of bevel gear pair.
CN2011203134705U 2011-08-25 2011-08-25 High-voltage wire deicing obstacle surmounting robot CN202231393U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2011203134705U CN202231393U (en) 2011-08-25 2011-08-25 High-voltage wire deicing obstacle surmounting robot

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Application Number Priority Date Filing Date Title
CN2011203134705U CN202231393U (en) 2011-08-25 2011-08-25 High-voltage wire deicing obstacle surmounting robot

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102946080A (en) * 2012-12-03 2013-02-27 双鸭山电业局 Ice coating removing device of electric transmission line
CN103247990A (en) * 2013-04-17 2013-08-14 燕山大学 Double-ratchet-wheel cable deicing robot
CN103701081A (en) * 2014-01-13 2014-04-02 吉林大学 Power transmission line deicing robot
CN103840415A (en) * 2012-11-25 2014-06-04 赵彦杰 High-voltage wire deicing device
CN104917130A (en) * 2015-07-15 2015-09-16 东北大学 Line patrol deicing robot and obstacle crossing method thereof
CN105197120A (en) * 2015-09-07 2015-12-30 罗文凤 Obstacle surmounting machine for high voltage transmission line
CN106684798A (en) * 2016-12-29 2017-05-17 三峡大学 Inclinable deicing robot
CN109773808A (en) * 2019-03-20 2019-05-21 杭州申昊科技股份有限公司 A kind of crusing robot
CN109818296A (en) * 2019-03-20 2019-05-28 杭州申昊科技股份有限公司 A kind of release mechanism and its crusing robot with release mechanism
CN111106570A (en) * 2020-02-25 2020-05-05 燕山大学 Deicing obstacle-surmounting robot for high-voltage line

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103840415A (en) * 2012-11-25 2014-06-04 赵彦杰 High-voltage wire deicing device
CN102946080A (en) * 2012-12-03 2013-02-27 双鸭山电业局 Ice coating removing device of electric transmission line
CN103247990A (en) * 2013-04-17 2013-08-14 燕山大学 Double-ratchet-wheel cable deicing robot
CN103247990B (en) * 2013-04-17 2015-07-22 燕山大学 Double-ratchet-wheel cable deicing robot
CN103701081A (en) * 2014-01-13 2014-04-02 吉林大学 Power transmission line deicing robot
CN103701081B (en) * 2014-01-13 2017-01-25 吉林大学 Power transmission line deicing robot
CN104917130A (en) * 2015-07-15 2015-09-16 东北大学 Line patrol deicing robot and obstacle crossing method thereof
CN105197120A (en) * 2015-09-07 2015-12-30 罗文凤 Obstacle surmounting machine for high voltage transmission line
CN106684798A (en) * 2016-12-29 2017-05-17 三峡大学 Inclinable deicing robot
CN106684798B (en) * 2016-12-29 2018-03-16 三峡大学 Tiltable deicing robot
CN109773808A (en) * 2019-03-20 2019-05-21 杭州申昊科技股份有限公司 A kind of crusing robot
CN109818296A (en) * 2019-03-20 2019-05-28 杭州申昊科技股份有限公司 A kind of release mechanism and its crusing robot with release mechanism
CN111106570A (en) * 2020-02-25 2020-05-05 燕山大学 Deicing obstacle-surmounting robot for high-voltage line
CN111106570B (en) * 2020-02-25 2020-11-06 燕山大学 Deicing obstacle-surmounting robot for high-voltage line

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C14 Grant of patent or utility model
GR01 Patent grant
C17 Cessation of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20120523

Termination date: 20120825