CN202486623U - Walking mechanism of insulator detecting robot - Google Patents
Walking mechanism of insulator detecting robot Download PDFInfo
- Publication number
- CN202486623U CN202486623U CN201220137983XU CN201220137983U CN202486623U CN 202486623 U CN202486623 U CN 202486623U CN 201220137983X U CN201220137983X U CN 201220137983XU CN 201220137983 U CN201220137983 U CN 201220137983U CN 202486623 U CN202486623 U CN 202486623U
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- insulator
- spoke formula
- leg wheel
- detecting robot
- spoke
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Abstract
The utility model discloses a walking mechanism of an insulator detecting robot, comprising spoke type leg wheel components, a driving motor, a transmission component and a support component; the spoke type leg wheel components, the driving motor and the transmission component are mounted on the support component; the driving motor is connected with one or more spoke type leg wheel components rotating relatively to the support component through the transmission component. Single walking mechanism of the insulator detecting robot can be used, and a plurality of walking mechanisms of the insulator detecting robot can be used by cooperation. The walking mechanism of the insulator detecting robot provided by the utility model has the advantages of compact structure, fast movement speed, less number of short-circuit insulators, little abrasion for insulators, good security and protectiveness, and wide range of application, and adapts to a duplex horizontal insulator string, a single tension insulator string, a suspension insulator string and a V-shaped insulator string.
Description
Technical field
The utility model relates to a kind of mobile robot's travel mechanism, especially a kind ofly can be used to accomplish the high-tension line level, dangles, the testing of V-type insulator, to replace the charged detection machine people of edge substring of manual work.
Background technology
Along with the continuous development of China's electric system, power grid security, stable operation more and more come into one's own.Especially in the UHV (ultra-high voltage) of greatly developing in recent years, system for ultra-high voltage transmission; The safe operation of insulator has directly determined the investment and the security level of total system; For guaranteeing the electrical safety of ultra-high-tension power transmission line, after a period of time is used in the ultra-high-tension power transmission line operation, need the electric property of detection line; Particularly the insulation safety performance of insulator prevents the generation of phenomenons such as short circuit or short circuit.
The present domestic traditional detection mode that basically still adopts artificial work high above the ground; The staff carries instruments such as insulator detector and climbs up shaft tower; Detect all insulators on the tower by string, this mode labour intensity is big, the operation surrounding enviroment are abominable, and the hot line job security is low.
Chinese patent ZL200820232350.0 discloses a kind of insulator detecting robot; Comprise first Athey wheel, casing, second Athey wheel, displacement telescoping mechanism and probe driving mechanism; The displacement telescoping mechanism is installed on the casing; First and second Athey wheel is positioned at the casing both sides, is hinged with the displacement telescoping mechanism respectively, is connected with first and second stroke sensor on first and second Athey wheel respectively; The below of casing is provided with the probe driving mechanism.Analysis-by-synthesis, this patent mainly contains following shortcoming: its travel mechanism adopts the form of two Athey wheels, can only walk along the two insulator string serials of level, can't detect detection level list string strain insulator string, suspension insulator and V-type insulator chain.
Chinese patent ZL201120069946.5 discloses the insulator checkout equipment of a kind of high pressure and extra high voltage network; Comprise symmetrically arranged two ring supports; Be respectively arranged with climbing mechanism on two ring supports, connect through web joint between two climbing mechanisms; Climbing mechanism comprises symmetrically arranged two guide rails, on two guide rails card base mechanism is set respectively; Card base mechanism comprises carriage and pendulous device, and carriage comprises the card base slide block that is slidingly arranged on the guide rail, and pendulous device comprises the rocking key cover, and the rocking key cover is connected on the card base slide block through bearing; The rocking key cover is set on the rocking key axle, and rocking key puts and is installed with card base; The card base slide block is connected with the active drive step-servo motor, and the rocking key axle is connected with card base wobble drive servo control mechanism.Analysis-by-synthesis, this patent mainly contains following shortcoming: it is primarily aimed at the high pressure also detection of vertically disposed insulator in pairs, can't on level single string strain insulator string and V-type insulator chain, move; And its travel mechanism adopts claw to block alternately rising of insulator, and translational speed is slow, and detection efficiency is low.
One Chinese patent application 01102273.6 discloses a kind of high-voltage transmission line insulator live intelligent monitor; It includes the ring support that can be set in the insulator body periphery; The body of ring support is provided with can be along the insulator bottle along the climbing mechanism of creeping; Detection probe is arranged on ring support or the climbing mechanism, and its control circuit output connects the control end of control climbing mechanism, probe, and input connects the output terminal of probe; The detection action of control circuit control climbing mechanism, probe, and the output signal of receiving transducer.Analysis-by-synthesis, this patent mainly contains following shortcoming: its its travel mechanism has adopted claw to block the insulator edge equally, alternately rises, and translational speed is slow, and detection efficiency is low; Main detection level insulator chain dangles in detection, during the V-type insulator chain, because very smooth of insulator surface, caterpillar belt structure is creeped and skidded easily, operation inconvenience.
U.S. Patent Application Publication is: US2010/0100239A1 discloses a kind of insulator chain detection machine people machinery structure; Robot body is along charged suspension insulator to-and-fro movement; Comprise that scalable is installed in the driver module that robot body moves, the detection of electrons module around the insulator support up and down; Be used for robot body with the link block that feel trim actuator is connected is installed; The switch wing module of manually robot being removed from insulator, the measurement module of both sides insulator electrical characteristics, the controller of control robot action and the damaged damaged probe unit of detection insulator.But; What this patented claim was primarily aimed at is the detection of charged suspension insulator, and its structure comprises 3 driver modules, and each driver module is respectively by 3 motor-driven; 3 motor synchronous of control are relatively more difficult in control procedure, are easy to cause the whole centre-of gravity shift of robot to be difficult to control.
The utility model content
The purpose of the utility model is for overcoming the deficiency of above-mentioned prior art; The charged detection machine person walks of a kind of insulator chain mechanism is provided, its compact conformation, translational speed is fast; Continuity is good; Little to the insulator wearing and tearing, usable range is wide, can adapt to duplex level insulation substring, single string strain insulator string, suspension insulator and V-type insulator chain.
For realizing above-mentioned purpose, the utility model adopts following technical proposals:
A kind of insulator detecting robot travel mechanism is made up of spoke formula leg wheel component, drive motor, drive disk assembly and support component.
Said spoke formula leg wheel component, drive motor, drive disk assembly are installed on the support component, and drive disk assembly connects drive motor and spoke formula leg wheel component, and drive motor drives the relative support component rotation of spoke formula leg wheel component through drive disk assembly.
Said drive motor can drive one or more spoke formula leg wheel components through drive disk assembly and rotate synchronously.
Said spoke formula leg wheel component is made up of spoke formula runing rest and roller.
It is terminal that said roller is installed on spoke formula runing rest outer, and roller can adopt single group or many groups form.
Said spoke formula runing rest can be three spokes or the many spokes structure that is uniformly distributed with.
Said drive disk assembly can be by gear drive or is with transmission or chain sprocket transmission or turbine and worm etc. to form synchronously, and perhaps drive motor directly links to each other with spoke formula leg wheel component.
Said insulator detecting robot travel mechanism can singlely be used, and also can a plurality of cooperations use.
The principle of work of the utility model:
When going here and there in the utility model robot, be lifted on the suspension ring place with the insulation rope and get final product, behind the arrival installation site, adjustment robot running gear attitude guarantees that the terminal roller of travel mechanism steps down on the upper surface of insulator.
Dangle or the V-type insulator on when moving; After insulator chain held tightly by robot, the work of remote control drive motor was through gearing or direct spoke formula leg wheel component rotation by the motor-driven both sides; Being fixed on terminal roller alternately rises or descends; Slam the surface of insulator, under the effect of gravity, realize advancing or retreating of entire machine people; Roller all adopts nylon material, reduces the wearing and tearing to insulator surface.
When on level insulation, moving; After insulator chain held tightly by robot; The remote control drive motor is worked, and through gearing or directly by the spoke formula leg wheel component rotation of motor-driven both sides, is arranged on two terminal rollers front and back of driving arm and is misplaced; Front and back wheel contacts with the upper and lower surfaces of insulator respectively, realizes advancing or retreating of robot.
The beneficial effect of the utility model is, the utility model is owing to adopt said structure, and the driving arm of rotation drives roller and alternately rises, and realizes advancing or retreating of robot, and little to the insulator wearing and tearing, motion continuity is good, smooth running; Easy for installation, safe, travel mechanism contacts 2 insulator sheets at most, and short circuit insulator sheet number is few, meets the electric operating rule, and the testing of High-Voltage Insulation substring has been become the robot manipulating task that the person is safe from harm by artificial work high above the ground; Applied widely, applicable to the insulator testing of all porcelains and glass.
Description of drawings
Fig. 1 is the perspective view of the utility model;
Fig. 2 is the vertically insulated substring walking of a utility model synoptic diagram;
Wherein: 1 is spoke formula leg wheel component, and 2 is supporting mechanism, and 3 is back shaft, and 4 is drive disk assembly, and 5 is motor fixing seat, and 6 is drive motor, and 7 is spoke formula runing rest, and 8 is roller, and 9 is insulator chain.
Embodiment
Below in conjunction with accompanying drawing and embodiment the utility model is further specified.
The utility model is as shown in Figure 1, comprises spoke formula leg wheel component 1, supporting mechanism 2, drive motor 6, drive disk assembly 4 compositions.
Spoke formula leg wheel component 1, drive motor 6, drive disk assembly 4 are installed on the support component 2, and drive disk assembly 2 connects drive motor 6 and spoke formula leg wheel component 1, and drive motor 6 drives 1 relative support component 2 rotations of spoke formula leg wheel component through drive disk assembly 2.
Spoke formula leg wheel component 1 is made up of spoke formula runing rest 7 and roller 8.Fig. 1 adopts two groups of rollers 8, and Fig. 2 adopts 1 group of roller 8 to be installed on the outer end of spoke formula runing rest 7.
Four spoke structures of spoke formula runing rest cross mode.
Drive disk assembly 4 is made up of transmission gear.
The principle of work of the utility model:
When going here and there in the robot, be lifted on the suspension ring place with the insulation rope and get final product, behind the arrival installation site, adjustment robot running gear attitude guarantees that the terminal roller 8 of travel mechanism steps down on the upper surface of insulator.
Dangle or the V-type insulator on when moving; After insulator chain held tightly by robot, 6 work of remote control drive motor were through gearing 4 or direct spoke formula leg wheel component 1 rotation by motor 6 driving both sides; Being fixed on terminal roller 8 alternately rises or descends; Slam the surface of insulator 9, under the effect of gravity, realize advancing or retreating of entire machine people; Roller 8 all adopts nylon material, reduces the wearing and tearing to insulator surface.
When on level insulation, moving; After insulator chain held tightly by robot; 6 work of remote control drive motor through gearing 4 or directly by spoke formula leg wheel component 1 rotation of motor 6 driving both sides, are arranged on spoke formula runing rest 7 two terminal roller 8 front and back and are misplaced; Front and back wheel contacts with the upper and lower surfaces of insulator 9 respectively, realizes advancing or retreating of robot.
The utility model can also be used by the textural association of many groups previous embodiment.
The spoke formula leg wheel component 1 of the utility model also can be for one or more; Spoke formula runing rest 7 shapes can be Y shape (3 spoke bar) or cross type or five spoke bar types, as long as its shape can realize that in the robot operational process rotation is creeped and do not interfered with insulator continuously.
Spoke formula runing rest 7 is provided with at least one roller 8, and roller 8 adopts nylon material, reduces the friction to insulator surface, certainly, also roller can be set, directly utilizes the supporting leg of spoke formula runing rest 7 as whole travel mechanism.
The gearing 4 of the utility model also can be by synchronous band transmission or replacements such as chain sprocket transmission or turbine and worm, and perhaps drive motor 6 directly links to each other with the spoke formula leg wheel component 1 of rotation.
Though the above-mentioned accompanying drawing that combines is described the embodiment of the utility model; But be not restriction to the utility model protection domain; One of ordinary skill in the art should be understood that; On the basis of the technical scheme of the utility model, those skilled in the art need not pay various modifications that creative work can make or distortion still in the protection domain of the utility model.
Claims (3)
1. insulator detecting robot travel mechanism; It is characterized in that; Comprise spoke formula leg wheel component, drive motor, drive disk assembly and support component; Said spoke formula leg wheel component, drive motor, drive disk assembly are installed on the support component, and drive motor links to each other through one or more spoke formula leg wheel components of drive disk assembly with relative support component rotation.
2. insulator detecting robot travel mechanism as claimed in claim 1 is characterized in that, said spoke formula leg wheel component comprises spoke formula runing rest and roller, and it is terminal that said roller is installed on spoke formula runing rest outer, and roller adopts single group or many groups;
Said spoke formula runing rest is three spokes or the many spokes structure that is uniformly distributed with.
3. insulator detecting robot travel mechanism as claimed in claim 1 is characterized in that, said drive disk assembly is gear drive or is with transmission or chain sprocket transmission or turbine and worm synchronously that perhaps drive motor directly links to each other with spoke formula leg wheel component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220137983XU CN202486623U (en) | 2012-04-01 | 2012-04-01 | Walking mechanism of insulator detecting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220137983XU CN202486623U (en) | 2012-04-01 | 2012-04-01 | Walking mechanism of insulator detecting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202486623U true CN202486623U (en) | 2012-10-10 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201220137983XU Expired - Fee Related CN202486623U (en) | 2012-04-01 | 2012-04-01 | Walking mechanism of insulator detecting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202486623U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103921272A (en) * | 2013-01-12 | 2014-07-16 | 山东鲁能智能技术有限公司 | Insulator string intelligent detection robot and control method thereof |
| CN114089133A (en) * | 2021-11-18 | 2022-02-25 | 国网江苏省电力有限公司扬州供电分公司 | Horizontal simply connected strain insulator string live-line detection robot terminal tool |
-
2012
- 2012-04-01 CN CN201220137983XU patent/CN202486623U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103921272A (en) * | 2013-01-12 | 2014-07-16 | 山东鲁能智能技术有限公司 | Insulator string intelligent detection robot and control method thereof |
| CN103921272B (en) * | 2013-01-12 | 2016-06-22 | 山东鲁能智能技术有限公司 | Insulator chain Intelligent Measurement robot and control method thereof |
| CN114089133A (en) * | 2021-11-18 | 2022-02-25 | 国网江苏省电力有限公司扬州供电分公司 | Horizontal simply connected strain insulator string live-line detection robot terminal tool |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121010 Termination date: 20150401 |
|
| EXPY | Termination of patent right or utility model |