CN203025284U - Intelligent detection robot climbing mechanism of insulator chain - Google Patents
Intelligent detection robot climbing mechanism of insulator chain Download PDFInfo
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- CN203025284U CN203025284U CN 201320014485 CN201320014485U CN203025284U CN 203025284 U CN203025284 U CN 203025284U CN 201320014485 CN201320014485 CN 201320014485 CN 201320014485 U CN201320014485 U CN 201320014485U CN 203025284 U CN203025284 U CN 203025284U
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- insulator chain
- climbing mechanism
- transmission shaft
- insulator
- robot climbing
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Abstract
The utility model discloses an intelligent detection robot climbing mechanism of an insulator chain. The intelligent detection robot climbing mechanism comprises a rack, transmission shafts, a driving motor and driving brackets, wherein the transmission shafts are respectively arranged at front and back ends of the rack and are parallel to each other; the driving motor is connected with the two transmission shafts through a transmission chain to synchronously drive; each transmission shaft is provided with two driving brackets with a pre-set distance in a matched manner; the driving brackets are axially-symmetrical rod pieces which are vertically connected to the transmission shafts and take axes of the transmission shafts as references; and the driving brackets on the front and back transmission shafts have a corner difference which is greater than or equal to 45 degrees and is less than or equal to 135 degrees. The climbing mechanism disclosed by the utility model is compact in structure and high in movement speed.
Description
Technical field
The utility model relates to a kind of insulator chain Intelligent Measurement robot climbing mechanism, particularly, relates to the climbing mechanism of a kind of anchor support insulator Intelligent Measurement robot.
Background technology
Along with the 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 investment and the security level of whole 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, the electric property that needs detection line, the insulation safety performance of insulator particularly, the generation of the phenomenon such as prevent short circuit or open circuit.
Insulator is to be used for the insulation component that wire is connected with steel tower on aerial high-voltage power transmission line, have two basic roles, namely support and prevent that electric current from going back to ground, these two effects must be guaranteed, insulator should not cause various electric stresss to lose efficacy because environment and electric load condition change, otherwise insulator just can not produce required effect, can damage use and the operation life of whole piece circuit.
Different according to mounting structure, insulator chain can divide vertically insulated substring and level insulation substring, and inclination insulator chain, certainly, due to the needs of installing, general as vertically insulated substring is not definitely vertical, but can be called vertically insulated substring within the vertical direction certain angle scope.It is evident that, be applied to the robot that vertically insulated substring detects and will overcome terrestrial gravitation, and climb for the design feature of insulator chain, its basic structure characteristics are, insulator chain is comprised of some joints, and there is formal space usually in internode.
The shaft tower that bears wire tension that hangs wire or split conductor with strain insulator string is called anchor support, is the pylon with the direction tractive wire of basic horizontal, certainly due to the impact of gravity, and can abswolute level.Here said insulator chain, be exactly the level insulation substring basically on anchor support.
Along with the development of needs and the intelligent robot of hommization popularization of homework, at present, increasing intelligent robot is applied in power circuit polling or equipment Inspection.As Chinese CN201331558Y utility model patent in, a kind of insulator detecting robot with two Athey wheel structures is disclosed, be used for the detection of horizontal twin insulator strings, it crosses over described formal space by crawler belt, and carries out the guiding of direction of travel by the retention device on both sides.But obviously such as the robot of crawler belt and wheeled construction and be not suitable for the detection of vertical insulator string, can reliability service in order to guarantee robot, usually need to be at the guide frame of assisting at direct of travel, complicated structure.Obviously in addition be a bit, insulator chain is much porcelain spare, and the surface is very smooth, is difficult to make robot to obtain good drive environment.
China CN202013392U utility model patent discloses a kind of robot that vertically insulated substring detects that can be used for, comprise symmetrically arranged two ring supports, be respectively arranged with climbing mechanism on two ring supports, connect by web joint between two climbing mechanisms; Be to adapt to the climbing on vertically insulated substring, climbing mechanism comprises symmetrically arranged two guide rails, and card base mechanism is set respectively on two guide rails; And card base mechanism comprises carriage and pendulous device, and carriage comprises the card base slide block that is slidably arranged on guide rail, and pendulous device comprises the rocking key cover, and the rocking key cover is connected on the card base slide block by bearing, complex structure; And in actual use, need a series of motion to match, inevitably produce the connection problem of a motion link, efficient is lower.In addition, its body is larger, carries difficulty, and how in the open air high-tension line, and the defective that is not easy to carry can have a strong impact on the convenience of its actual use.
China CN1165775C utility model patent discloses a kind of robot with the ring support that can be sheathed on the insulator body periphery, climbing mechanism and detection probe are set on this ring support, obviously, due to insulator chain two ends connection, ring support is sleeved on to be needed on insulator chain to coordinate by supplementary structure, otherwise can't complete suit, the structure that this is auxiliary, as two joints or the two above match-place mouths of joint and structure, caused the complicacy of himself structure.In addition, it still adopts guide-rail structure, and coordinates claw structure, and volume is still larger, and the bodily form is heavy and be difficult to carry.Simultaneously, the claw structure action is slower, and detection efficiency is lower.Usually, this class detection machine people need in the situation that outage detects, affect the normal fortune operation of circuit.
Because present public technology is subject to all Restricted requirements, the insulator detection technique is not promoted.The present domestic traditional detection mode that substantially still adopts artificial work high above the ground, the staff carries the instruments such as insulator detector and climbs up shaft tower, detect all insulators on tower by string, this mode labour intensity is large, the operation surrounding enviroment are abominable, and live-working safety is low.
The utility model content
For this reason, the utility model provides a kind of compact conformation, the fast insulator of translational speed to detect climbing mechanism, is a kind of new carrier that can satisfy the insulator detection.
For realizing utility model purpose of the present utility model, the technical scheme that adopts is:
A kind of insulator chain Intelligent Measurement robot climbing mechanism comprises:
Frame;
Transmission shaft respectively arranges one and be parallel to each other in the front and back end of described frame;
Drive motor connects two described transmission shafts by driving-chain, with driven in synchronism;
Driving arm, two driving arms with preset space length are installed to pairing on each transmission shaft, and this driving arm is the rotational symmetry bar spare that vertically is connected on described transmission shaft and take drive shaft axis as benchmark, and the described driving arm on the transmission shaft of front and back has more than or equal to 45 degree less than or equal to the outer corner differences of 135 degree.
Detect climbing mechanism according to insulator of the present utility model, by a pair of synchronously driven transmission shaft, be connected to the driving arm on transmission shaft, and the drive motor of configuration is realized driving, parts used are few, and structure is compact, and are in addition corresponding, under this configuration condition, said frame also can be fairly simple.In this article, adopt the propelling of moving with the hand of driving arm, both avoided the defective that wheel type traveling mechanism can not be creeped on insulator chain, also can take the crawler type walking mechanism complex structure, and the difficult defective in location on insulator chain, thereby relatively small and exquisite structure makes it can have applicability widely.The caterpillar chassis walking is slow, moves with the hand walking and can overcome this point, and duty is analogous to wheel, guarantees to have the speed of travel faster.
Above-mentioned insulator detects climbing mechanism, and described outer corner difference is 90 degree.
Above-mentioned insulator detects climbing mechanism, and described frame is the both sides substrate that be arranged in parallel, and both sides substrate and two described transmission shafts combine rectangular frame by bearing seat.
Above-mentioned insulator detects climbing mechanism, and described drive motor is arranged in described framework, and be configured to one drive simultaneously before and after transmission shaft drive motor or arrange one group drive respectively before and after the drive shaft motor.
Above-mentioned insulator detects climbing mechanism, and drive motor will be connected with transmission shaft by synchronous drive mechanism; Described gear train is that toothed belt transmission is realized or gear passes.
Above-mentioned insulator detects climbing mechanism, and described driving arm end is provided with to the inside and overhangs, and consists of one or one group of scroll wheel of semi-girder.
Above-mentioned insulator detects climbing mechanism, also comprises the guide piece that is connected in frame two side lower parts, and this guide piece comprises be used to the guiding sled that supports described frame and the guiding sled that is used for auxiliary guiding that is connected outside support connection downwards.
Above-mentioned insulator detects climbing mechanism, described guiding sled be two ends warpage and slide plate face greater than 1 times of band detects the insulator chain pitch less than 3 times of insulator chain pitches.
Above-mentioned insulator detects climbing mechanism, and described support is that axis is at the cylinder spare of inboard.
The beneficial effects of the utility model are: by a pair of synchronously driven transmission shaft, be connected to the driving arm on transmission shaft, and the drive motor of configuration is realized driving, parts used are few, and structure is compact, and are in addition corresponding, under this configuration condition, said frame also can be fairly simple.In this article, adopt the propelling of moving with the hand of driving arm, both avoided the defective that wheel type traveling mechanism can not be creeped on insulator chain, also can take the crawler type walking mechanism complex structure, and the difficult defective in location on insulator chain, thereby relatively small and exquisite structure makes it can have applicability widely.The caterpillar chassis walking is slow, moves with the hand walking and can overcome this point, and duty is analogous to wheel, guarantees to have the speed of travel faster.
Description of drawings
Fig. 1 detects the structural representation of climbing device in climbing mechanism according to a kind of insulator of the present utility model.
Fig. 2 detects the structural representation of climbing mechanism according to a kind of insulator of the present utility model.
In figure: 1, scroll wheel, 2, transmission shaft, 3, Timing Belt, 4, spring bearing, 5, motor supporting base, 6, hold down gag, 7, contact roller, 8, large synchronous pulley, 9, small synchronous pulley, 10, shaft coupling, 11, support connecting base, 12, drive motor, 13, the side group plate, 14, bearing baffle, 15, driving arm, 16, climbing device, 17, supplemental support, 18, the guiding sled, 19, support.
Embodiment
Below in conjunction with Figure of description and embodiment, the utility model is described further:
With reference to Figure of description 1, should be appreciated that said herein in take climbing mechanism as benchmark, be inwardly that to point to climbing mechanism inner.
And about the front and back end, take direct of travel as reference, simultaneously, the left and right is also take working direction as reference, and at the left and right sides of working direction, thereby in the plane that all around limits, the concept of up and down is also restrained.
About some term, as driving-chain, be to be understood that, in mechanical field, driving-chain is the gearing that is in turn connected to form by some transmission components, and driving-chain is not chain-drive mechanism, and it comprises as gear drive, tape handler, leverage gear train etc.
Detect climbing mechanism with reference to a kind of insulator shown in Figure of description 1, its basic structure comprises:
Frame, can narrow sense during in this article some are used be interpreted as in mechanical field General Definition about frame, in other are used, also can be understood as support, the understanding of a Relative Generalized, as the installation matrix of miscellaneous part, those skilled in the art should have clearly understanding according to follow-up content.
As matrix is installed, certainly, frame also exists as matrix is installed, and as the implication of frame itself, transmission shaft 2 is installed, and respectively arranges one and be parallel to each other in the front and back end of described frame, and as shown in Figure 1, front and back are a transmission shaft 2 respectively.
This paper introduces drive motor 12 and drives transmission shaft 2, ought to belong to the machine of mechanical field, has namely had power part, but this does not affect the restriction of protection domain, and drive motor connects two described transmission shafts 2 by driving-chain, with driven in synchronism.
Be understandable that at this, drive motor should be arranged on frame.
The part that drives as this mechanism's output so is driving arm 15, two driving arms with preset space length are installed to pairing on each transmission shaft, thereby, be that bus is the characteristics of the solid of revolution of curve according to insulator, the driving arm that pairing is used forms the structure of riding, form the holding force of a pair of balance, guarantee mechanism's traveling comfort; Simultaneously, this driving arm is for vertically to be connected on described transmission shaft 2 and the rotational symmetry bar spare take drive shaft axis as benchmark, structure is moved with the hand in formation, further, be similar in order to form the drive form that the people takes a step, and the described driving arm on the transmission shaft of front and back has more than or equal to 45 degree less than or equal to the outer corner difference of 135 degree, can guarantee in a period of time, certain a pair of driving arm 15 is in running order, about outer corner difference, 45 degree are equal to 135 degree in fact, therefore, what also can be similar to is interpreted as that 45 degree to the outer corner difference of 90 degree, form the structure of taking a step.
About outer corner difference, be preferably 90 degree, guarantee the continuity that drives.
And about the fore-and-aft clearance of two transmission shafts 2, obviously be that impact drives one of successional factor, but the structure due to both arduousnesses of constraint is not mechanism itself, but depend on the pitch of insulator chain, therefore, on such architecture basics, those skilled in the art easily realizes the specific design of spacing.
In great majority were used, described frame can be with reference to structure as shown in Figure 1, but transmission shaft does not consist of the ingredient of frame, crossbeam connects both sides substrate 13 but adopt independently, form rigid frame, like this, relatively simple in the selection of transmission shaft bearing.At this moment, frame is the understanding of mechanical field routine.
And in the structure shown in Figure of description 1, described frame is the framework that two described transmission shafts and side group plate 13 assembly that be arranged in parallel that are provided with two transmission shafts bearings form, at this time, spring bearing 4 suffered the load more complicated, the cost of spring bearing own is high, but structure can be compacter.
In further embodiments, transmission shaft is tubular axis, and support sleeve is in tubular axis and connect the both sides substrate.
And then as shown in Figure 1, described drive motor 12 is arranged in described framework, and the drive motor output shaft is parallel to described transmission shaft 2, and like this, motor falls in framework, make not to the utmost mechanism's compact overall structure, and center of gravity guarantees operation stability near the mechanism center.In structure shown in Figure 1, drive motor 12 is connected on the side group plate by motor supporting base 5 rigidity.
The frame of aforementioned formation, just consisted of the foundation of this mechanism, in actual applications as carrier, be configured to the detection machine people, as in actual applications, so that the side group plate 13 of drive motor 12 not to be installed, installing mechanism is won in succession, be used for the carrier as other parts of robot, be arranged on mechanism wins in succession as controller, pick-up unit etc.What this paper related generally to is climbing mechanism, and the construction robot is repeated no more.
In structure shown in Figure 1, the problem of keeping in check between driving arm 15 and drive motor 12, those skilled in the art's structure accordingly should understand, the structures shape of insulator the radial dimension of driving arm can be not oversize, and in the mechanism for this type of, needed drive motor 12 is also not too large, is easy to just can avoid with conflict.
As previously mentioned, about driving-chain, can adopt gear drive, chain-drive mechanism, perhaps leverage gear train etc. is as gear drive, in theory in the transmission of longer distance, gear drive is heavier, if not, by the introducing of bevel gear, by gear shaft as transmission shaft, can realize growing the transmission of distance, as shown in Figure 1, motor output end arranges bevel gear, just can realize growing the transmission of distance by the gear shaft that is orthogonal to motor shaft so.
In certain embodiments, adopt synchronous belt drive mechanism, compact conformation, and shock-absorbing capacity is good, is fit in the abominable application of running environment.Accordingly, as shown in Figure 1, described drive motor 12 is connected with the small synchronous pulley 9 of synchronous belt drive mechanism by shaft coupling 10, and corresponding large synchronous pulley 8 is connected on described transmission shaft 2.
The transmission efficiency of tape handler is relatively low, even if synchronous belt drive mechanism also can cause its transmission efficiency not as gear drive because of a variety of causes, therefore, described synchronous belt drive mechanism is provided with tensioning system, increases v-belt contact angle, improve transmission efficiency, and mode is jumped band.
In structure shown in Figure 1, adopt tension pulley mechanism, as shown in Fig. 1 right side, on needs tensioning zone face, contact roller 7 is set.
In other are used, can adopt with the adjustable structure of transmission shaft, adjust transmission shaft 2 and carry out tensioning with the centre distance of motor shaft.
Can also adopt the swing span structure in certain embodiments, be supported in a swing as transmission shaft 2 and add, utilize swing span to adjust said centre distance in the position of different corners.This complicated structure had better not adopt in great majority are used.
Insulator surface is provided with coating, and in order to reduce the damage to insulator surface, described driving arm end is provided with and overhangs to the inside and consist of the scroll wheel 1 of semi-girder, and as shown in Figure 1, the variation kinetic friction is rolling friction, reduces friction factor.
In structure shown in Figure 1, the scroll wheel of pairing suits the rotary surface of insulator, forms reasonable location and drive environment.
Preferably, this climbing mechanism can also selectively configure the guide piece that is connected in frame two side lower parts, and this guide piece comprises be used to the guiding sled that supports described frame and the guiding sled 18 that is used for auxiliary guiding that is connected 19 connections of outside support downwards.Thereby the guiding sled consists of the support of essence, and climbing device 16 can not produce violent pitching.Simultaneously, it is higher that this structure can not form again the such center of gravity of track structure, and locate in poor shape situation.In structure as shown in Figure 2, branched guiding sled 18 forms the semi-surrounding structure, forms good positioning action, improves the climbing mechanism reliability of operation.
In order to guarantee reliability of operation, simultaneously, the quantity of the least possible minimizing short circuit insulator, described guiding sled 18 detects the insulator chain pitch less than 3 times of insulator chain pitches for two ends warpage and slide plate face greater than 1 times of band.
Best selection is, adopts the scheme of twice insulator chain pitch, neither can produce because of the vibration when the insulator transition, and the insulator quantity of termination mostly is 3 most.
Further, the stability when climbing in order to improve, and make structure be tending towards compact, described support 19 is that axis is at the cylinder spare of inboard.
the description of embodiment of the present utility model being made in conjunction with Figure of description, supportive scheme for scope that the utility model is asked for protection, should not consist of concrete restriction to its protection domain, it will be understood by those skilled in the art that, on the basis of the disclosed technical scheme of the utility model, in conjunction with prior art and technology contents disclosed herein based on the similar technology problem, adopt essentially identical technological means, reach essentially identical technique effect, do not need those skilled in the art to pay the simple modification of creative work, within replacement or distortion must fall into protection domain of the present utility model.
Claims (9)
1. an insulator chain Intelligent Measurement robot climbing mechanism, is characterized in that, comprising:
Frame;
Transmission shaft (2) respectively arranges one or one group in the front and back end of described frame;
Drive motor (12) connects described transmission shaft (2) by gear train;
Driving arm (15), one or one group of driving arm that preset space length is arranged are installed to pairing on each transmission shaft, and this driving arm is for vertically being connected on described transmission shaft (2), and the described driving arm on the transmission shaft of front and back has more than or equal to 45 degree less than or equal to the outer corner differences of 135 degree.
2. insulator chain Intelligent Measurement according to claim 1 robot climbing mechanism, is characterized in that, described outer corner difference is 90 degree.
3. insulator chain Intelligent Measurement according to claim 1 robot climbing mechanism, is characterized in that, described frame is the both sides substrate (13) that be arranged in parallel, and both sides substrate and two described transmission shafts combine rectangular frame by bearing seat.
4. insulator chain Intelligent Measurement according to claim 3 robot climbing mechanism, it is characterized in that, described drive motor (12) is arranged in described framework, and be configured to one drive simultaneously before and after transmission shaft drive motor or arrange one group drive respectively before and after the drive shaft motor.
5. insulator chain Intelligent Measurement according to claim 4 robot climbing mechanism, is characterized in that, drive motor (12) will be connected with transmission shaft by synchronous drive mechanism; Described gear train is that toothed belt transmission is realized or gear passes.
6. insulator chain Intelligent Measurement according to claim 1 robot climbing mechanism, is characterized in that, described driving arm end is provided with to the inside and overhangs, and consist of one or one group of scroll wheel (1) of semi-girder.
7. insulator chain Intelligent Measurement according to claim 1 robot climbing mechanism, it is characterized in that, also comprise the guide piece that is connected in frame two side lower parts, this guide piece comprises be used to the guiding sled that supports described frame and the guiding sled (18) that is used for auxiliary guiding that is connected outside support (19) connection downwards.
8. insulator chain Intelligent Measurement according to claim 7 robot climbing mechanism, is characterized in that, described guiding sled (18) for two ends warpage and slide plate face greater than 1 times of insulator chain pitch to be detected less than 3 times of insulator chain pitches.
9. according to claim 7 or 8 described insulator chain Intelligent Measurement robot climbing mechanisms, is characterized in that, described support (19) is that axis is at the cylinder spare of inboard.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320014485 CN203025284U (en) | 2013-01-11 | 2013-01-11 | Intelligent detection robot climbing mechanism of insulator chain |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320014485 CN203025284U (en) | 2013-01-11 | 2013-01-11 | Intelligent detection robot climbing mechanism of insulator chain |
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| Publication Number | Publication Date |
|---|---|
| CN203025284U true CN203025284U (en) | 2013-06-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320014485 Expired - Lifetime CN203025284U (en) | 2013-01-11 | 2013-01-11 | Intelligent detection robot climbing mechanism of insulator chain |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203025284U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103753559A (en) * | 2014-01-17 | 2014-04-30 | 东北大学 | Suspension insulator climbing mechanism |
| CN103991488A (en) * | 2014-03-25 | 2014-08-20 | 国家电网公司 | Climbing device of intelligent detection robot for insulator strings and control method of climbing device |
-
2013
- 2013-01-11 CN CN 201320014485 patent/CN203025284U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103753559A (en) * | 2014-01-17 | 2014-04-30 | 东北大学 | Suspension insulator climbing mechanism |
| CN103753559B (en) * | 2014-01-17 | 2015-07-29 | 东北大学 | A kind of suspension insulator climbing mechanism |
| CN103991488A (en) * | 2014-03-25 | 2014-08-20 | 国家电网公司 | Climbing device of intelligent detection robot for insulator strings and control method of climbing device |
| CN103991488B (en) * | 2014-03-25 | 2016-08-17 | 国家电网公司 | A kind of insulator chain Intelligent Measurement robot climbing device and control method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: 250101 B, 1-202, Qilu Software Park, Ji'nan hi tech Development Zone (Lixia District, Shandong) Patentee before: SHANDONG LUNENG INTELLIGENCE TECHNOLOGY Co.,Ltd. |
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| CP03 | Change of name, title or address | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130626 |
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| CX01 | Expiry of patent term |