CN203293182U - Three-arm annular inspection tour robot mechanism - Google Patents

Three-arm annular inspection tour robot mechanism Download PDF

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Publication number
CN203293182U
CN203293182U CN2012206745353U CN201220674535U CN203293182U CN 203293182 U CN203293182 U CN 203293182U CN 2012206745353 U CN2012206745353 U CN 2012206745353U CN 201220674535 U CN201220674535 U CN 201220674535U CN 203293182 U CN203293182 U CN 203293182U
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CN
China
Prior art keywords
arm
tire
wheel
rotationally
jaw
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CN2012206745353U
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Chinese (zh)
Inventor
韩旭升
姜勇
郭敏
王洪光
何文进
岳湘
曾晓蕾
凌烈
罗名魁
景凤仁
乐贵贤
孙鹏
孙强
王军
王建宏
石启邦
潘治江
朱镜勋
杨春
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenyang Institute of Automation of CAS
Duyun Power Supply Bureau of Guizhou Power Grid Co Ltd
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Shenyang Institute of Automation of CAS
Duyun Power Supply Bureau of Guizhou Power Grid Co Ltd
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Publication date
Application filed by Shenyang Institute of Automation of CAS, Duyun Power Supply Bureau of Guizhou Power Grid Co Ltd filed Critical Shenyang Institute of Automation of CAS
Priority to CN2012206745353U priority Critical patent/CN203293182U/en
Application granted granted Critical
Publication of CN203293182U publication Critical patent/CN203293182U/en
Withdrawn - After Issue legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model relates to a mobile robot mechanism, and particularly to a three-arm annular inspection tour robot mechanism. The mechanism includes a front grip hook mechanism, a lower grip hook mechanism, and a rear grip hook mechanism, a front rocking arm mechanism, a lower rocking arm mechanism, a rear rocking arm mechanism, and a center wheel. One end of each of the front rocking arm mechanism, the lower rocking arm mechanism, and the rear rocking arm mechanism is connected with the center wheel via a rotating mechanism, the other end of each of the front rocking arm mechanism, the lower rocking arm mechanism, and the rear rocking arm mechanism is rotationally connected with one end of each of a front rocking arm, a lower rocking arm, and a rear rocking arm via a front pitching mechanism, a lower pitching mechanism, and a rear pitching mechanism, the other end of each of the front rocking arm, the lower rocking arm, and the rear rocking arm is rotationally connected with the front grip hook mechanism, the lower grip hook mechanism, and the rear grip hook mechanism via revolving mechanisms, the other end of each of the front grip hook mechanism, the lower grip hook mechanism, and the rear grip hook mechanism is provided with a walking mechanism walked on a transmission line and a clamping mechanism for clamping the transmission line, the front pitching mechanism, the lower pitching mechanism, and the rear pitching mechanism are same in structure and includes revolute joints and driving motors, and the front revolving mechanism, the lower revolving mechanism, and the rear revolving mechanism are same in structure and include revolute joints and driving motors. The three-arm annular inspection tour robot mechanism provided has the capability of crossing complex obstacles such as drainage wires and is suitable for various conditions of wires such as grounding wires and lead wires; in addition, the three-arm annular inspection tour robot mechanism provided has the advantages of simple structure, strong obstacle crossing capability, and wide application range.

Description

Three armlet shape inspection robot mechanisms
Technical field
The utility model relates to mobile robot mechanism, specifically a kind of three armlet shape inspection robot mechanisms.
Background technology
Transmission line of electricity is the very important part of power system, in order to guarantee it, safely and steadily runs, and need to regularly carry out walkaround inspection.The method that the current power transmission line data-logging adopts mainly contains manual inspection and helicopter routing inspection.The efficiency of manual inspection is low, and labour intensity is large, and is dangerous high; The cost of helicopter routing inspection is high, patrols and examines quality and is subject to climatic effect.Therefore, the robot that needs development can carry communication and inspection instrument replaces manually transmission line of electricity being carried out to automatic detecting, to raise the efficiency, guarantees the safe operation of transmission line of electricity.in existing EHV transmission line patrol robot mechanism, most of composite moving mechanism that is formed by wheel type mobile and composite rod Mechanism Combination that adopts is (referring to document 1:Jun Sawada, Kazuyuki Kusumoto, Tadashi Munakata, Yasuhisa Maikawa, Yoshinobu Ishikawa, " A Mobile Robot For Inspection of Power Transmission Lines ", IEEE Trans.Power Delivery, 1991, Vol.6, No.1:pp..309-315, document 2:Mineo Higuchi, Yoichiro Maeda, Sadahiro Tsutani, Shiro Hagihara, " Development of a Mobile Inspection Robot for Power Transmission Lines ", J.of the Robotics Society of Japan, Japan, Vol.9, No.4, pp.457-463, 1991), Multi-degree-of-freedom moving mechanism (the document 3:Shin-ichi Aoshima that perhaps adopts many group mobile units to be composed in series, Takeshi Tsujimura, Tetsuro Yabuta, " A Wire Mobile Robot with Multi-unit Structure ", IEEE/RSJ Intermational Workshop on Intelligent Robots and Systems ' 89, Sep.4-6, 1989, Tsukuba, Japan, pp.414-421).Complex structure, the weight of these mechanisms are large, and obstacle climbing ability is poor, can not cross over the more complicated circuitry obstacles such as drainage thread, can not be applied to the circuit environment that conductor cross-section is less, and obstacle detouring process complexity and the obstacle detouring time long.
The utility model content
In order to overcome above-mentioned travel mechanism complex structure, weight is large, can not cross over the complex barrier things such as drainage thread, can not adapt to the deficiencies such as circuit environment that conductor cross-section is less, the purpose of this utility model is to provide a kind of three armlet shape inspection robot mechanisms that can cross over drainage thread, patrol and examine at the wire of different cross section.This inspection robot mechanism is lightweight, simple in structure, and obstacle climbing ability is strong, can adapt to circuit environment complicated and changeable, and the obstacle detouring process is simple and the obstacle detouring time is short.
The purpose of this utility model is achieved through the following technical solutions
The utility model comprises centre wheel, rocker arm body, luffing mechanism, swing arm, slew gear and tire mechanism, wherein rocker arm body is at least three, uniform along the circumferencial direction of centre wheel, one end of each rocker arm body is rotationally connected with described centre wheel respectively, one end of the other end of each rocker arm body and swing arm is rotationally connected by luffing mechanism, and the other end of described swing arm and tire mechanism are rotationally connected by slew gear; Described tire mechanism is included in the walking mechanism of walking on power transmission line and the clamp mechanism that clamps power transmission line.
wherein: described rocker arm body rocking arm driven wheel, rocker arm support and Rocker arm-motor, wherein an end of rocker arm support is rotationally connected by rotating mechanism and centre wheel, the other end is equipped with the rocking arm driven wheel, and this rocking arm driven wheel drives rotation by the Rocker arm-motor that is arranged on rocker arm support, the external peripheral surface of described centre wheel is shaped with tooth, with the rocking arm driven wheel, is meshed, and between described rocking arm driven wheel and centre wheel, forms planet circular system, described tire mechanism comprises wheel carrier, road wheel, movable motor, right jaw, left jaw and clamping motor, wherein an end of wheel carrier is connected with the output of slew gear, road wheel is rotatably installed on wheel carrier, and drives, on power transmission line, walks by the movable motor that is fixed on wheel carrier, described right jaw and left jaw are rotatably installed in respectively the other end of wheel carrier by gear shaft, on right jaw and left jaw, be respectively equipped with elevating arc, elevating arc on two jaws is intermeshing, arbitrary jaw drives by the clamping motor that is fixed on wheel carrier, and the elevating arc on two jaws forms gear pair and connects, elevating arc on described right jaw and left jaw is the semicircle cambered surface of parcel wire, the interior semicircle cambered surface of the interior semicircle cambered surface of described right jaw and left jaw is clamped in the surrounding of power transmission line, described rocker arm body comprises the front arm mechanism that structure is identical, lower shake-changing arm mechanism and rear arm mechanism, luffing mechanism comprises the front luffing mechanism that structure is identical, lower luffing mechanism and rear luffing mechanism, swing arm comprises front swing arm, lower swing arm and rear-swing arm, slew gear comprises the front slew gear that structure is identical, lower slew gear and rear slew gear, tire mechanism comprises the front tire mechanism that structure is identical, lower tire mechanism and rear tire mechanism, wherein an end and the centre wheel of front arm mechanism are rotationally connected by rotating mechanism, one end of the other end and front swing arm is rotationally connected by front luffing mechanism, the other end of front swing arm and front tire mechanism are rotationally connected by front slew gear, one end and the centre wheel of lower shake-changing arm mechanism are rotationally connected by rotating mechanism, and an end of the other end and lower swing arm is rotationally connected by lower luffing mechanism, and the other end of lower swing arm and lower tire mechanism are rotationally connected by lower slew gear, one end and the centre wheel of rear arm mechanism are rotationally connected by rotating mechanism, and an end of the other end and rear-swing arm is rotationally connected by rear luffing mechanism, and the other end of rear-swing arm and rear tire mechanism are rotationally connected by rear slew gear, described rotating mechanism is the passive rotation joint, and front arm mechanism, lower shake-changing arm mechanism and rear arm mechanism are rotationally connected by rotating mechanism and centre wheel.
Advantage of the present utility model and good effect are:
1. obstacle climbing ability is strong, can span transmission line on the barrier such as drainage thread.The utility model takes full advantage of the separate design of road wheel and jaw, and the routing motion of road wheel and jaw can make robot cross over the more complicated circuitry obstacles such as drainage thread.
2. network adaptability is strong.When circuit was milder, the traction drive robot walked fast in the continuous moving mode, and when line slope was larger, robot can clamp power transmission line by jaw, and step type moves ahead.
3. the obstacle detouring process is simple, and obstacle detouring speed is fast.The utility model adopts three armlet shape mechanisms, and by two arm hanging wires, another armlet makes tire mechanism rack across obstacle around moving, the simple arm of obstacle detouring action, and obstacle detouring speed is fast.
4. kinetic stability is strong.The utility model adopts three armlet shape mechanisms, and three arms all have adjustability, so the modified heart ability of robot is strong, under different operating modes, can, according to the different easy adjustment robot pose of circuit environment, improve the stability of robot.
5. range of application is wider.The device people adopts tire separate type composite structure, and robot can be walked on the different circuit environment such as wire and ground wire.
The accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present utility model;
Fig. 2 is the structural representation of tire mechanism in Fig. 1;
Fig. 3 is the structural representation of rocker arm body in Fig. 1;
Fig. 4 is obstacle environment schematic diagram;
Fig. 5 a is one of description schematic diagram of the utility model step type obstacle detouring action;
Fig. 5 b be the utility model step type obstacle detouring action the description schematic diagram two;
Fig. 5 c be the utility model step type obstacle detouring action the description schematic diagram three;
Fig. 5 d be the utility model step type obstacle detouring action the description schematic diagram four;
Fig. 6 a is one of description schematic diagram of the utility model walking obstacle detouring action;
Fig. 6 b be the utility model walking obstacle detouring action the description schematic diagram two;
Fig. 6 c be the utility model walking obstacle detouring action the description schematic diagram three;
Fig. 6 d be the utility model walking obstacle detouring action the description schematic diagram four;
wherein: 1 is front tire mechanism, 2 is front swing arm, 3 is front arm mechanism, wheel centered by 4, 5 is lower shake-changing arm mechanism, 6 is lower swing arm, 7 is lower tire mechanism, 8 is rear arm mechanism, 9 is rear-swing arm, 10 is rear tire mechanism, 11 is front slew gear, 12 is front luffing mechanism, 13 is lower slew gear, 14 is lower luffing mechanism, 15 is rotating mechanism, 16 is rear luffing mechanism, 17 is rear slew gear, 18 is wheel carrier, 19 is road wheel, 20 is right jaw, 21 is left jaw, 22 is the rocking arm driven wheel, 23 is rocker arm support, 24 is power transmission line, 25 is parallel groove clamp, 26 is strain clamp, 27 is stockbridge damper, 28 is suspension clamp, 29 is drainage thread, 30 is anchor support, 31 is tangent tower.
The specific embodiment
The utility model is described in further detail below in conjunction with accompanying drawing.
The utility model comprises centre wheel 4, rocker arm body, luffing mechanism, swing arm, slew gear and tire mechanism, wherein rocker arm body is at least three, uniform along the circumferencial direction of centre wheel 4, one end of each rocker arm body is rotationally connected with described centre wheel 4 respectively, one end of the other end of each rocker arm body and swing arm is rotationally connected by luffing mechanism, and the other end of described swing arm and tire mechanism are rotationally connected by slew gear; Described tire mechanism is included in the walking mechanism of walking on power transmission line 24 and clamps the clamp mechanism of power transmission line 24.
as shown in Figure 1, the rocker arm body of the present embodiment, luffing mechanism, swing arm, slew gear and tire mechanism are respectively three, rocker arm body comprises the front arm mechanism 3 that structure is identical, lower shake-changing arm mechanism 5 and rear arm mechanism 8, luffing mechanism comprises the front luffing mechanism 12 that structure is identical, lower luffing mechanism 14 and rear luffing mechanism 16, swing arm comprises front swing arm 2, lower swing arm 6 and rear-swing arm 9, slew gear comprises the front slew gear 11 that structure is identical, lower slew gear 13 and rear slew gear 17, tire mechanism comprises the front tire mechanism 1 that structure is identical, lower tire mechanism 7 and rear tire mechanism 10.
One end (lower end) of front arm mechanism 3 is rotationally connected by rotating mechanism 15 with centre wheel 4, the other end (upper end) is rotationally connected by front luffing mechanism 12 with an end (lower end) of front swing arm 2, the other end of front swing arm 2 (upper end) is rotationally connected by slew gear with an end of front tire mechanism 1, and the other end of front tire mechanism is provided with the walking mechanism of walking on power transmission line 24 and clamps the clamp mechanism of power transmission line 24; One end (upper end) of lower shake-changing arm mechanism 5 is rotationally connected by rotating mechanism 15 with centre wheel 4, the other end (lower end) is rotationally connected by lower luffing mechanism 14 with an end (upper end) of lower swing arm 6, the other end of lower swing arm 6 (lower end) is rotationally connected by lower slew gear 13 with an end of lower tire mechanism 7, and the other end of lower tire mechanism 10 is provided with the walking mechanism of walking on power transmission line 24 and clamps the clamp mechanism of power transmission line 24; One end (lower end) of rear arm mechanism 8 is rotationally connected by rotating mechanism 15 with centre wheel 4, the other end (upper end) is rotationally connected by rear luffing mechanism 16 with an end (lower end) of rear-swing arm 9, the other end of rear-swing arm 9 (upper end) is rotationally connected by rear slew gear 17 with an end of rear tire mechanism 10, and the other end of rear tire mechanism 10 is provided with the walking mechanism of walking on power transmission line 24 and clamps the clamp mechanism of power transmission line 24.
As shown in Figure 2, front tire of the present utility model mechanism 1, lower tire mechanism 7 are identical with rear tire mechanism 10 structures, comprise wheel carrier 18, road wheel 19, movable motor, right jaw 20, left jaw 21 and clamping motor, wherein an end of wheel carrier 18 is connected with the output of slew gear, road wheel 19 is installed in rotation on wheel carrier 18 by live axle, and drives walking on power transmission line 24 by the movable motor that is fixed in equally on wheel carrier 18; Above road wheel 19, be provided with the right jaw 20 and the left jaw 21 that by gear shaft, are rotatably installed in respectively wheel carrier 18 other ends, right jaw 20 and left jaw 2) on be respectively equipped with elevating arc, elevating arc on two jaws is intermeshing, arbitrary jaw drives by the clamping motor that is fixed on wheel carrier 18, this enforcement is that right jaw 20 drives jaw by clamping motor and steps up and unclamp, and the elevating arc on two jaws forms gear pair and connects.Clamping motor drives right jaw 20 and rotates, and drives left jaw 21 backward rotation, makes clamp or unclamps power transmission line 24, plays the effect that clamps or unclamp.Elevating arc on right jaw 20 and left jaw 21 is the semicircle cambered surface of parcel wire, and the interior semicircle cambered surface of right jaw 20 and the interior semicircle cambered surface of left jaw 21 are clamped in the surrounding of power transmission line 24.
As shown in Figure 3, before of the present utility model, under, rear arm mechanism 3,5,8 structures are identical, comprise rocking arm driven wheel 22, rocker arm support 23 and Rocker arm-motor, one end and the centre wheel 4 of the rocker arm support 23 in front arm mechanism 3 are rotationally connected by rotating mechanism 15; rocking arm driven wheel 22 is installed in rotation on the other end of rocker arm support 23 by gear shaft, and this rocking arm driven wheel 22 drives rotation by the Rocker arm-motor that is arranged on rocker arm support 23; The external peripheral surface of centre wheel 4 is shaped with tooth; rocking arm driven wheel 22 and centre wheel 4 external toothings; rocking arm driven wheel 24 forms planet circular systems with centre wheel 4 by rocker arm support 23, by the rotation of rocking arm driven wheel 22, can drive rocker arm support 23 actuation mechanism 15 that rotates and rotate.One end and the centre wheel 4 of the rocker arm support 23 in lower shake-changing arm mechanism 5 are rotationally connected by rotating mechanism 15; rocking arm driven wheel 22 is installed in rotation on the other end of rocker arm support 23 by gear shaft, and this rocking arm driven wheel 22 drives rotation by the Rocker arm-motor that is arranged on rocker arm support 23; The external peripheral surface of centre wheel 4 is shaped with tooth; rocking arm driven wheel 22 and centre wheel 4 external toothings; rocking arm driven wheel 24 forms planet circular systems with centre wheel 4 by rocker arm support 23, by the rotation of rocking arm driven wheel 22, can drive rocker arm support 23 actuation mechanism 15 that rotates and rotate.One end and the centre wheel 4 of the rocker arm support 23 in rear arm mechanism 8 are rotationally connected by rotating mechanism 15; rocking arm driven wheel 22 is installed in rotation on the other end of rocker arm support 23 by gear shaft, and this rocking arm driven wheel 22 drives rotation by the Rocker arm-motor that is arranged on rocker arm support 23; The external peripheral surface of centre wheel 4 is shaped with tooth; rocking arm driven wheel 22 and centre wheel 4 external toothings; rocking arm driven wheel 24 forms planet circular systems with centre wheel 4 by rocker arm support 23, by the rotation of rocking arm driven wheel 22, can drive rocker arm support 23 actuation mechanism 15 that rotates and rotate.Rotating mechanism 15 of the present utility model is the passive rotation joint, without motor, drives.
As shown in Figure 4, for extra high voltage network obstacle environment, in the circuit environment, the main Types of shaft tower is anchor support 30 and tangent tower 31, major obstacle thing on anchor support 30 is strain clamp 26, drainage thread 29 and parallel groove clamp 25, and the major obstacle thing on tangent tower 31 is suspension clamp 28 and stockbridge damper 27.Because drainage thread 29 does not add tensile force in advance, so drainage thread 29 is the stretched wire shape.Mobile apparatus of the present utility model is driven by the road wheel motor, and direct drive mobile robot advances and across obstacle along the line by road wheel 11.
Operation principle of the present utility model is:
As shown in Fig. 5 a~5d, be robot step type obstacle detouring:
Inspection robot mechanism is walked on power transmission line 24, when the road wheel 19 in current tire mechanism 1 runs into the obstacles such as fire-resistant wire clamp 26, drainage thread 29, parallel groove clamp 25, the rocking arm driven wheel 22 of lower shake-changing arm mechanism 5 rotates counterclockwise under the driving of Rocker arm-motor, because centre wheel 4 is fixed, therefore driving lower shake-changing arm mechanism 5 rotates counterclockwise by rotating mechanism 15, under lower shake-changing arm mechanism 5 drove by lower luffing mechanism 14, tire mechanism 7 rotated counterclockwise, make robot center of gravity reach, rear tire mechanism 1 lifts from power transmission line 24, is single armed hanging wire state; Lower slew gear 13 rotates, under driving, tire mechanism 7 rotates, slew gear 11 revolutions simultaneously, because only having road wheel 19 hanging wires in front tire mechanism 1, make the axle centre of the road wheel 19 in lower tire mechanism 7 and drainage thread 29 in a plane, lower luffing mechanism 14 rotates, and the right jaw 20 under driving in tire mechanism 7 and left jaw 21 are near drainage thread 29, and clamping motor drives right jaw 20 and left jaw 21 clamps drainage thread 29.
rear slew gear 17 rotates, make the axle centre of the road wheel 19 in rear tire mechanism 10 vertical with power transmission line 24, rocking arm driven wheel 22 in rear arm mechanism 8 rotates counterclockwise, driving rear arm mechanism 8 rotates counterclockwise by the center of rotating mechanism 15 around centre wheel 4, rear slew gear 17 rotates, after driving, tire mechanism 10 rotates, front slew gear 11 revolutions, make the axle centre of the road wheel 19 in rear tire mechanism 10 and drainage thread 29 in a plane, rear luffing mechanism 16 rotates, right jaw 20 after driving in tire mechanism 10 and left jaw 21 are near drainage thread 29, clamping motor drives right jaw 20 and left jaw 21 clamps drainage thread 29.
rocking arm driven wheel 22 in front arm mechanism 3 rotates counterclockwise, driving front arm mechanism 3 rotates counterclockwise by the center of rotating mechanism 15 around centre wheel 4, make 1 off-line of front tire mechanism, front slew gear 11 rotates, make the axle centre of the road wheel 19 in front tire mechanism 1 vertical with power transmission line 24, rocking arm driven wheel 22 in front arm mechanism 3 rotates counterclockwise, driving front arm mechanism 3 rotates counterclockwise by the center of rotating mechanism 15 around centre wheel 4, make front tire mechanism 1 be positioned at the below of drainage thread 29, front slew gear 11 revolutions, make the axle centre of the road wheel 19 in front tire mechanism 1 and drainage thread 29 in a plane, front luffing mechanism 12 rotates, right jaw 20 before driving in tire mechanism 1 and left jaw 21 are near drainage thread 29, clamping motor drives right jaw 20 and left jaw 21 clamps drainage thread 29.
Current, under, after the right jaw in 1,7,10 3 tire mechanisms of rear tire mechanism 20 all clamps drainage thread 29 with left jaw 21, just can drive 22 rotations of rocking arm driven wheel by the Rocker arm-motor in rocker arm body separately, and then drive rocker arm body in drainage thread 29 previous step step ground walkings, until cross over strain clamp 26, complete smoothly, more front tire mechanism 1 and rear tire mechanism 10 are retracted on power transmission line 24.
As shown in Fig. 6 a~6d, be robot ambulation formula obstacle detouring:
While when the road wheel 19 in tire mechanism 1 before inspection robot mechanism, running into the obstacles such as damper 27, suspension clamp 28, the rocking arm driven wheel 22 of lower shake-changing arm mechanism 5 clockwise rotates, driving lower shake-changing arm mechanism 5 clockwise rotates by rotating mechanism 15, under lower shake-changing arm mechanism 5 drove by lower luffing mechanism 14, tire mechanism 7 clockwise rotated, make to move after the robot center of gravity, front tire mechanism 1 lifts; Road wheel 19 in rear tire mechanism 10 drives rotation by movable motor, driving inspection robot mechanism integral body moves ahead, when the road wheel 19 in tire mechanism 10 after inspection robot mechanism runs into stockbridge damper 27 obstacle such as grade, rocking arm driven wheel 22 in lower shake-changing arm mechanism 5 rotates counterclockwise, driving lower shake-changing arm mechanism 5 rotates counterclockwise by rotating mechanism 15, under lower shake-changing arm mechanism 5 drove by lower luffing mechanism 14, tire mechanism 7 rotated counterclockwise, make robot center of gravity reach, front tire mechanism 1 line of fall, and the road wheel 19 that makes rear tire mechanism 10 is higher than stockbridge damper 27; Road wheel 19 in front tire mechanism 1 rotates by the driving of movable motor, and then driving inspection robot mechanism integral body moves ahead, make rear tire mechanism 10 cross over stockbridge dampers, rocking arm driven wheel 22 in lower shake-changing arm mechanism 5 clockwise rotates, driving lower shake-changing arm mechanism 5 clockwise rotates by rotating mechanism 15, make to move on to center after the robot center of gravity rear tire mechanism 10 line of falls.
Inspection robot mechanism is crossed over the process and the similar process of crossing over strain clamp 26 of drainage thread 29, parallel groove clamp 25.
Front slew gear 11 of the present utility model, lower slew gear 13 and rear slew gear 17 are prior art, and can adopt as the patent No. is that ZL200910187853.X, utility model name are called disclosed slew gear in a kind of both arms four-wheel-type inspection robot mechanism; Front luffing mechanism 12 of the present utility model, lower luffing mechanism 14 and rear luffing mechanism 16 are prior art, and can adopt as the patent No. is that ZL200910187853.X, utility model name are called disclosed luffing mechanism in a kind of both arms four-wheel-type inspection robot mechanism.

Claims (8)

1. armlet shape inspection robot mechanism, it is characterized in that: comprise centre wheel (4), rocker arm body, luffing mechanism, swing arm, slew gear and tire mechanism, wherein rocker arm body is at least three, uniform along the circumferencial direction of centre wheel (4), one end of each rocker arm body is rotationally connected with described centre wheel (4) respectively, one end of the other end of each rocker arm body and swing arm is rotationally connected by luffing mechanism, and the other end of described swing arm and tire mechanism are rotationally connected by slew gear; Described tire mechanism is included in the walking mechanism of the upper walking of power transmission line (24) and clamps the clamp mechanism of power transmission line (24).
2. by three armlet shape inspection robot mechanisms claimed in claim 1, it is characterized in that: described rocker arm body rocking arm driven wheel (22), rocker arm support (23) and Rocker arm-motor, wherein an end of rocker arm support (23) is rotationally connected by rotating mechanism (15) and centre wheel (4), the other end is equipped with rocking arm driven wheel (22), and this rocking arm driven wheel (22) drives rotation by the Rocker arm-motor that is arranged on rocker arm support (23).
3. by three armlet shape inspection robot mechanisms claimed in claim 2, it is characterized in that: the external peripheral surface of described centre wheel (4) is shaped with tooth, with rocking arm driven wheel (22), be meshed, between described rocking arm driven wheel (22) and centre wheel (4), form planet circular system.
4. by three armlet shape inspection robot mechanisms claimed in claim 1, it is characterized in that: described tire mechanism comprises wheel carrier (18), road wheel (19), movable motor, right jaw (20), left jaw (21) and clamping motor, wherein an end of wheel carrier (18) is connected with the output of slew gear, it is upper that road wheel (19) is rotatably installed in wheel carrier (18), and drive, at power transmission line (24), above walk by the movable motor that is fixed on wheel carrier (18); Described right jaw (20) and left jaw (21) are rotatably installed in respectively the other end of wheel carrier (18) by gear shaft, on right jaw (20) and left jaw (21), be respectively equipped with elevating arc, elevating arc on two jaws is intermeshing, arbitrary jaw drives by the clamping motor that is fixed on wheel carrier (18), and the elevating arc on two jaws forms gear pair and connects.
5. by three armlet shape inspection robot mechanisms claimed in claim 4, it is characterized in that: the elevating arc on described right jaw (20) and left jaw (21) is the semicircle cambered surface of parcel wire.
6. by three armlet shape inspection robot mechanisms claimed in claim 5, it is characterized in that: the interior semicircle cambered surface of described right jaw (20) and the interior semicircle cambered surface of left jaw (21) are clamped in the surrounding of power transmission line (24).
7. by claim 1, 2 or 4 described three armlet shape inspection robot mechanisms, it is characterized in that: described rocker arm body comprises the front arm mechanism (3) that structure is identical, lower shake-changing arm mechanism (5) and rear arm mechanism (8), luffing mechanism comprises the front luffing mechanism (12) that structure is identical, lower luffing mechanism (14) and rear luffing mechanism (16), swing arm comprises front swing arm (2), lower swing arm (6) and rear-swing arm (9), slew gear comprises the front slew gear (11) that structure is identical, lower slew gear (13) and rear slew gear (17), tire mechanism comprises the front tire mechanism (1) that structure is identical, lower tire mechanism (7) and rear tire mechanism (10), wherein an end of front arm mechanism (3) and centre wheel (4) are rotationally connected by rotating mechanism (15), one end of the other end and front swing arm (2) is rotationally connected by front luffing mechanism (12), the other end of front swing arm (2) and front tire mechanism (1) are rotationally connected by front slew gear (11), one end of lower shake-changing arm mechanism (5) and centre wheel (4) are rotationally connected by rotating mechanism (15), one end of the other end and lower swing arm (6) is rotationally connected by lower luffing mechanism (14), and the other end of lower swing arm (5) and lower tire mechanism (7) are rotationally connected by lower slew gear (13), one end of rear arm mechanism (8) and centre wheel (4) are rotationally connected by rotating mechanism (15), one end of the other end and rear-swing arm (9) is rotationally connected by rear luffing mechanism (12), and the other end of rear-swing arm (9) and rear tire mechanism (10) are rotationally connected by rear slew gear (17).
8. by three armlet shape inspection robot mechanisms claimed in claim 7, it is characterized in that: described rotating mechanism (15) is the passive rotation joint, and front arm mechanism (3), lower shake-changing arm mechanism (5) and rear arm mechanism (8) are rotationally connected by rotating mechanism (15) and centre wheel (4).
CN2012206745353U 2012-12-07 2012-12-07 Three-arm annular inspection tour robot mechanism Withdrawn - After Issue CN203293182U (en)

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Application Number Priority Date Filing Date Title
CN2012206745353U CN203293182U (en) 2012-12-07 2012-12-07 Three-arm annular inspection tour robot mechanism

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Application Number Priority Date Filing Date Title
CN2012206745353U CN203293182U (en) 2012-12-07 2012-12-07 Three-arm annular inspection tour robot mechanism

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103862454A (en) * 2012-12-07 2014-06-18 中国科学院沈阳自动化研究所 Annular three-arm routing inspection robot mechanism

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103862454A (en) * 2012-12-07 2014-06-18 中国科学院沈阳自动化研究所 Annular three-arm routing inspection robot mechanism
CN103862454B (en) * 2012-12-07 2015-12-16 中国科学院沈阳自动化研究所 A kind of three armlet shape inspection robot mechanisms

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