CN203367875U - Clamp-type wire-walking robot - Google Patents
Clamp-type wire-walking robot Download PDFInfo
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- CN203367875U CN203367875U CN2013203980341U CN201320398034U CN203367875U CN 203367875 U CN203367875 U CN 203367875U CN 2013203980341 U CN2013203980341 U CN 2013203980341U CN 201320398034 U CN201320398034 U CN 201320398034U CN 203367875 U CN203367875 U CN 203367875U
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- connecting rod
- walking
- clamp
- arm
- power transmission
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Abstract
The utility model discloses a clamp-type wire-walking robot, which rotationally surmount an obstacle based on clamping a power transmission line by a single arm. The robot includes a walking arm A, a walking arm B, upper clamp plates, lower clamp plates and a box body. The upper clamp plates and the lower clamp plates include a walking assembly and a lifting assembly. The upper parts of the walking arm A and walking arm B are connected with respective upper plates and lower plates and the lower parts of the walking arm A and walking arm B are connected with the box body respectively. Under a condition that the obstacle needs to be surmounted, one of the walking arms clamp tightly the power transmission line and makes the box body rotate so that the obstacle is bypassed and the other walking arm moves forwards and then clamps tightly the power transmission line and thus the obstacle is surmounted through repeat of the process. The clamp-type wire-walking robot is especially applicable to conditions in which the power transmission line is large in bending angle and uphill and downhill angles.
Description
Technical field
What the present invention relates to is a kind of electric wire walking robot, particularly a kind of clip electric wire walking robot.
Background technology
In order to ensure the safe operation of power circuit, often need to be patrolled and examined circuit, most be take manual inspection as main.Due to circumstance complication, the manual work difficulty is large, along with the development of Robotics, based on Robotics the power transmission line crusing robot carry out less important work, be a development trend.Current power transmission line crusing robot running gear general using adopts the roller walking, defect be across the obstacle ability a little less than, especially when crossing over pylon during in the face of crooked, the upper and lower great power transmission line of the gradient angle roller walking robot be difficult to competent.
Through the prior art literature search is found, 2011.06.29 the China Patent No. application number of announcing is 2010105963498, name is called: Intelligent walking mechanism for inspecting operating condition of high-voltage line, and this technical descriptioon is: " comprise walking arm I (1), walking arm II (2), guide rail (3) and box assembly, described walking arm I (1) and walking arm II (2) include rotary components, lifting assembly and walking assembly, described rotary components comprises electric rotating machine (4) and is fixedly installed on the walking arm mount pad (5) on guide rail (3), described lifting assembly comprises the cursor (6) be rotatably assorted with walking arm mount pad (5), the lifting arm (7) be slidably matched with cursor (6) and the lifting motor (8) coordinated with lifting arm (7) transmission, described electric rotating machine (4) transmission coordinates cursor (6), described walking assembly comprises wheel carrier (9), front and back are set up in parallel in wheel carrier (9) upper driving wheel (10) and auxiliary wheel (11) for walking on the line, wheel carrier (9) is fixedly connected on lifting arm (7) top, be equipped with movable motor (12) with driving wheel (10) transmission, described box assembly comprises the casing (13) that can reciprocatingly slide along guide rail (3) and is arranged at the drive motors (14) on casing (13)." the scalable and rotation of two walking arms of this this walking mechanism of technical scheme, supported by two-wheel, and can pass through the box body-sliding center-of-gravity regulating; while crossing over pylon; one of them walking arm is as support, and obstacle is avoided in another walking arm lifting rotation, rely on the single armed leaping over obstacles of walking.This mechanism can cross over preferably the horizontal curvature circuit when crossing over pylon, but it remains and relies on roller (driving wheel) walking fully, during the upper and lower bending of pylon power transmission line of power transmission line greatly especially pass through in to(for) upper and lower gradient angle, this walking mechanism just may can't be passed through due to wheel slip.
Summary of the invention
For above problem, the present invention has announced a kind of clip electric wire walking robot, is specially adapted to power transmission line in large, the upper and lower large situation of the gradient of angle of bend.
Technical scheme is: clip electric wire walking robot, clamp power transmission line rotation leaping over obstacles based on single armed, and by casing, connecting rod A, connecting rod B, train wheel bridge, lower plate, formed; Described train wheel bridge is comprised of V-arrangement rubber wheels B, motor A, brake, motor B, train of reduction gears, helical wheel, roller; Described lower plate is comprised of V-arrangement rubber wheels A, spring, thimble, potentiometer, brake, motor B, train of reduction gears, helical wheel, roller; It is rectangular configuration that described connecting rod A, connecting rod B are positioned at casing top, and a side has concavo-convex lateral road, this concavo-convex lateral road of helical wheel interlock in clamping plate.。
Described clip electric wire walking robot is further characterized in that: connecting rod A, connecting rod B are connected with casing by roller bearing; Connecting rod A, connecting rod B are equipped with circular tooth disk and motor C interlock in casing, and connecting rod A, connecting rod B, under the drive of motor C, can make casing take connecting rod as center of circle rotation.
The accompanying drawing explanation
Fig. 1 is clip electric wire walking robot outside drawing; Fig. 2 is clip electric wire walking robot connecting rod and upper and lower clamp region figure; Fig. 3 is the concavo-convex lateral road enlarged drawing of the helical wheel interlock of clip electric wire walking robot.
Embodiment
Below in conjunction with accompanying drawing, the present invention is further described.
As shown in Figure 1, Figure 2, Figure 3 shows, clip electric wire walking robot, by casing (2), connecting rod A(4), connecting rod B(5), train wheel bridge (1), lower plate (3) form; Wherein train wheel bridge (1) is by V-arrangement rubber wheels B(19), motor A(20), brake (21), motor B(14), train of reduction gears (13), helical wheel (12), roller (10) form; Lower plate (3) is by V-arrangement rubber wheels A(18), spring (17), thimble (15), potentiometer (16), brake (21), motor B(14), train of reduction gears (13), helical wheel (12), roller (10) form; Connecting rod A(4), connecting rod B(5) to be positioned at casing (2) top be rectangular configuration, a side has concavo-convex lateral road (11), this concavo-convex lateral road (11) of helical wheel (12) interlock in upper and lower clamping plate.
As shown in Figure 1 and Figure 2, be further characterized in that: connecting rod A(4), connecting rod B(5), by roller bearing (6), with casing (2), be connected; Connecting rod A(4), connecting rod B(5) circular tooth disk (7) and motor C(8 are installed in casing (2)) interlock, connecting rod A(4), connecting rod B(5) at motor C(8) drive under, can make casing (2) take connecting rod and rotate as the center of circle, the equipment such as casing lays battery, control circuit in (2), patrol and examine.
Clip electric wire walking robot according to said structure, in accessible walking situation, connecting rod A(4), connecting rod B(5) the V-arrangement rubber wheels B(19 of train wheel bridge (1)) be affiliated on power transmission line, by motor B(14) drive V-arrangement rubber wheels B(19) rotate this robot walked on power transmission line.
Under needs surmount obstacles situation or in the very big situation of the gradient, V-arrangement rubber wheels A(18), V-arrangement rubber wheels B(19) locked by brake (21), suppose connecting rod A(4) front.The helical wheel (12) of the train wheel bridge connecting rod A(4) (1), lower plate (3) is at connecting rod A(4) turn in concavo-convex lateral road (11), make upper and lower clamping plate at connecting rod A(4) on move in opposite directions, mutually clamp, the turn that the clamping dynamics detected and controlled helical wheel (12) by spring (17), thimble (15), potentiometer (16) realizes, finally makes lower plate firm grip power transmission line.Connecting rod B(5) train wheel bridge (1), lower plate (3) also utilize helical wheel (12) at connecting rod B(5) turn in concavo-convex lateral road (11), move as rightabout, thereby unclamp power transmission line; Then connecting rod A(4) one-armed clamping power transmission line, with from rotating as the center of circle, allow connecting rod B(5) front; Connecting rod B(5) its train wheel bridge (1), lower plate (3) move in opposite directions again, the firm grip power transmission line.And so forth, until pass through obstacle.
Claims (2)
1. a clip electric wire walking robot, is characterized in that by casing (2), connecting rod A(4), connecting rod B(5), train wheel bridge (1), lower plate (3) form; Wherein train wheel bridge (1) is by V-arrangement rubber wheels B(19), motor A(20), brake (21), motor B(14), train of reduction gears (13), helical wheel (12), roller (10) form; Lower plate (3) is by V-arrangement rubber wheels A(18), spring (17), thimble (15), potentiometer (16), brake (21), motor B(14), train of reduction gears (13), helical wheel (12), roller (10) form; Connecting rod A(4), connecting rod B(5) to be positioned at casing (2) top be rectangular configuration, a side has concavo-convex lateral road (11), this concavo-convex lateral road (11) of helical wheel (12) interlock in clamping plate.
2. according to the described a kind of clip electric wire walking robot of right 1, it is characterized in that: connecting rod A(4), connecting rod B(5), by roller bearing (6), with casing (2), be connected; Connecting rod A(4), connecting rod B(5) circular tooth disk (7) and motor C(8 be installed in casing (2)) interlock, connecting rod A(4), connecting rod B(5) at motor C(8) drive under, can make casing (2) take connecting rod and rotate as the center of circle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203980341U CN203367875U (en) | 2013-07-05 | 2013-07-05 | Clamp-type wire-walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203980341U CN203367875U (en) | 2013-07-05 | 2013-07-05 | Clamp-type wire-walking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203367875U true CN203367875U (en) | 2013-12-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013203980341U Expired - Fee Related CN203367875U (en) | 2013-07-05 | 2013-07-05 | Clamp-type wire-walking robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN203367875U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110518533A (en) * | 2019-08-15 | 2019-11-29 | 周书乐 | A kind of automatic snow cleaner of power circuit |
| CN111959870A (en) * | 2020-09-03 | 2020-11-20 | 临沂星宁手套有限公司 | Auxiliary packing device for production of labor protection gloves |
-
2013
- 2013-07-05 CN CN2013203980341U patent/CN203367875U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110518533A (en) * | 2019-08-15 | 2019-11-29 | 周书乐 | A kind of automatic snow cleaner of power circuit |
| CN111959870A (en) * | 2020-09-03 | 2020-11-20 | 临沂星宁手套有限公司 | Auxiliary packing device for production of labor protection gloves |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131225 Termination date: 20180705 |