CN203645244U - Brake wheel-double-half-wheel opening-closing type on-line travelling mechanism - Google Patents

Abstract

The utility model relates to a brake wheel-double-half-wheel opening-closing type on-line travelling mechanism. The brake wheel-double-half-wheel opening-closing type on-line travelling mechanism is characterized in that a travelling wheel comprises two parts which refer to a power half wheel and a servo half wheel, the power half wheel is connected to an L-shaped travelling motor supporting seat, a travelling motor shaft penetrates through a bearing inner ring and is connected with the power half wheel, an opening-closing mechanism has an effect of opening and closing the power half wheel and the servo half wheel, a screw rod nut and a linear bearing are connected to a lifting plate, a linear guide rail of the linear bearing is fixedly connected on a base plate, the lifting plate is driven by an electric ball screw rod, and a clamp brake device and the travelling wheel clamp a wire tightly and are controlled by a steering engine. The beneficial effects of the brake wheel-double-half-wheel opening-closing type on-line travelling mechanism are that the control is simple, the power consumption is low, the reliability is high, the occupied space is small, the travelling mechanism can be used for avoiding obstacles, the efficiency for tour inspection is improved, and the adaptability is high.

Description

A kind of brake wheel-bis-is partly taken turns walking mechanism on open-close type line

Technical field

The utility model relates to walking mechanism on a kind of line, specifically the walking Bi Zhang mechanism of crusing robot on a kind of line.

Background technology

Towards high voltage, long distance, high-power future development, because ultra-high-tension power transmission line long term exposure is in field, easily there is aging circuit, insulator dust suction in current power transmission technology, has larger harm, causes huge loss to society.The mode of traditional polling transmission line mainly contains two kinds: ground ocular estimate and aerophotographic method.Ground ocular estimate is to look in the distance at ground observation by naked eyes or use, because transmission line distribution is multi-point and wide-ranging, and geographical conditions complexity, line walking workman need to cross over mountain after mountain, and wades across a river, on foot or drive to patrol and examine, the method labour intensity is large, and operating efficiency and detection accuracy are low, poor reliability.Aerophotographic method is flown along the line by helicopter, produces images in the camera or naked eyes detection, and this method danger coefficient is large, technical difficulty is high.Artificial maintenance difficulty, on development line, walking mechanism is inexorable trend.At present, on the existing line in the whole world, walking mechanism is mainly with wheel-connecting rod combined type, (referring to document: J. Sawada, K. Kusumoto, T. Munakata, et al, A mobile robot for inspection of power transmission lines[A], IEEE Transactions on Power Delivery, vol..6, no. 1, pp. 309-315, 1991.Xinglong Zhu, Jiping Zhou, et al, An Autonomous Obstacles Negotiating Inspection .Robot for Extra-High Voltage Power Transmission Lines[C], Control, Automation, Robotics and Vision, pp.5-6, 2006 .J.Katrasnik, F. pernus, B.likar, B. New Robot for Power Line Inspection[A], Robotics, Automation and Mechatronics, 2008 IEEE Conference on pp.1198-1199 appoint will refined, the research and implementation of inspection robot for high-voltage transmission lines control system, Shanghai: Shanghai University, 18-19 Jiang Yong Wang Hong light etc., four connecting rod adjustable mass center inspection robot mechanisms, publication number is 202997424U Chinese patent, an open day 2013-6-12), in existing walking mechanism, there are the following problems: quality is large, Ability of Resisting Disturbance is weak, energy consumption is high, control difficulty is high, complex structure etc.

Summary of the invention

For solve existing mechanism quality large, control that difficulty is high, complex structure problem, the utility model proposes a kind of brake wheel-bis-and partly take turns walking mechanism on open-close type line.

The utility model solves the technical scheme that its technical problem adopts: a kind of brake wheel-bis-is partly taken turns walking mechanism on open-close type line, comprise road wheel, traction drive motor, L-type movable motor bearing, elevating mechanism, pincers brake gear, open-and-close mechanism, lifter plate, base plate, screw mandrel drive motors, wherein road wheel is divided into two parts, formed by power half wheel and servo-actuated half wheel, power half wheel is connected by telescopic spherical pin with servo-actuated half wheel, power half wheel is connected on L-type movable motor bearing by the flange bearing at center, traction drive motor is connected with power half wheel through bearing inner race, open-and-close mechanism is made up of the first pole and the second pole and first connecting rod and second connecting rod and docking screw, L-type movable motor bearing connects with first fold masthead transverse plane with bolt, the medium position of the first pole and the second pole is hinged with the first support bar and the second support bar respectively, and the first support bar and the second support bar are fixed on base plate, the first pole and the second pole lower end are hinged with first connecting rod and second connecting rod respectively, L-type connecting rod support on first connecting rod and second connecting rod and lifter plate is hinged, feed screw nut and linear bearing are connected on lifter plate, and the line slideway in linear bearing is fixed on base plate,

Wherein, elevating mechanism is realized by ball screw, and freely, the other end of ball screw is fixed on base plate in one end of ball screw, and screw mandrel drive motors is connected with base plate by lead screw motor bearing;

Pincers brake gear is made up of servo-actuated brake wheel and steering wheel, and steering wheel is connected on L-type movable motor bearing by L-type steering wheel bearing, and brake wheel and road wheel are tight by wire clamp, by the state of steering wheel control brake wheel;

Under lead screw motor drives, lifter plate can rise or decline, and under the drive of lifter plate, the first pole, the second pole will rotate around the first support bar, the second support bar respectively, realize the folding of power half wheel and servo-actuated half wheel.

Power half wheel and servo-actuated half wheel can separate also engageable, when while running into obstacle, the obstacle of line top is as insulator, can pass through, the obstacle pincers brake wheel as slightly loose in crimping spool, stockbridge damper etc. of being close to line if run into can directly pass through, straightway can directly pass through, in the time of the larger wire of climbable gradient, can allow brake wheel clamp, to increase normal pressure.

The beneficial effects of the utility model are:

1, control simply, low in energy consumption, adopt the robot of this structure in the time of obstacle detouring, only need control steering wheel, lead screw motor, movable motor, except detecting obstacle and patrolling and examining, do not need to use extra transducer, therefore control simple, low in energy consumption;

2, reliability is high, and the use force closure of pincers brake gear and shape are sealed, makes road wheel can be close to high-voltage line walking;

3, adopt bar linkage structure, the space taking is little, and quality is little, and the space of pole 1 and pole 2 can be used for keeping away barrier, has improved and has patrolled and examined efficiency;

4, strong adaptability, pincers brake gear has increased two and half normal pressures of taking turns, and increases the ruling grade that can climb, has also strengthened Ability of Resisting Disturbance, applied range.

Brief description of the drawings

Below in conjunction with drawings and Examples, the utility model is further illustrated.

Fig. 1 is structure diagram of the present utility model.

Fig. 2 is the partial enlarged drawing of I part in Fig. 1.

Fig. 3 is that the part of Fig. 1 is to view (having removed the first support bar and the second support bar).

Fig. 4 is the cutaway view of road wheel in Fig. 1.

Fig. 5 is B part enlarged drawing in Fig. 4.

Fig. 6 is a kind of example state diagram (a) of this structure of application.

Fig. 7 is a kind of example state diagram (b) of this structure of application.

Fig. 8 is a kind of example state diagram (c) of this structure of application.

Fig. 9 is a kind of example state diagram (d) of this structure of application.

Figure 10 is a kind of example state diagram (e) of this structure of application.

Shown in figure: 1. servo-actuated half wheel, 2. power half wheel, 3. L-type movable motor bearing, 4. flange bearing, 5. traction drive motor, 6.L type steering wheel bearing, 7. the first pole, 8. steering wheel, 9. brake wheel crank, 10. brake wheel, 11. second flange bearings, 12. servo-actuated half wheel shafts, 13. second poles, 14. first connecting rods, 15. ball screws, 16. second connecting rods, 17. feed screw nuts, 18. lifter plates, 19. plane thrust bearings, 20. base plates, 21. lead screw motor bearings, 22. stop nuts, 23. screw mandrel drive motors, 24. smooth line slideways, 25. linear bearings, 26.L type connecting rod support, 27. first support bars, 28. second support bars, 29. wires, 30. spherical pins, 31. preloading springs, 32. pretension bolts.

In Fig. 6-10, example robot has used 3 this structure parallel connections, and by barrier larger on wire, rectangular structure is gravity center adjusting mechanism, is defined as slide unit, is defined as successively from right to left pawl 1, pawl 2, pawl 3.

Embodiment

At Fig. 1, Fig. 2, in Fig. 3, power is partly taken turns 2 and is connected with motor rotation axis by the bolt at its outer step place, for reliable transmission, this bolt should contact with the plane place of motor rotation axis, power is partly taken turns 2 and is driven electric bearing 3 to be connected by the first flange bearing 4 and L-type, to be connected that (benefit of this kind of way is to weaken the suffered Moment of motor shaft herein, to avoid its distortion), power is partly taken turns 2 and is adopted the slight interference of basic hole system to be connected with flange bearing 4, flange bearing 4 adopts the slight interference of basic shaft system to be connected with L-type drive motors bearing 3, because flange bearing is that standard component and power partly take turns 2, 5 rotating shafts of traction drive motor, the axiality of having relatively high expectations between L-type movable motor bearing 3, L-type movable motor bearing 4 is connected with traction drive motor 5 use screws, L-type travel driving motor bearing 3 is connected with the first pole 7 by bolt, L-type steering wheel bearing 6 is by bolt and the first pole 7, L-type movable motor bearing 3 connects, can ensure two bearing intensity, brake wheel crank 9 and brake wheel 10 are with being dynamically connected, L-type steering wheel bearing 6 lower planes are milled with square groove, steering wheel 8 is absorbed in this square groove and is connected with it by bolt.The first pole 7 is by hinged to connected nut and the first support bar 27, the first support bar 27 use bolts are connected to base plate 20, first pole 7 other ends are by hinged to connected nut and first connecting rod 16, first connecting rod 16, second connecting rod 14 is by hinged to connecting bolt and L-type connecting rod support 26, L-type connecting rod support 26 use bolts are connected on lifter plate 18, lifter plate 18 is also distributed with feed screw nut 17, linear bearing 25, line slideway 24 is through the endoporus of straight line linear bearing 25, lower end is connected on base plate, line slideway Main Function is the moment of torsion of balance ball screw mandrel 15 while rotating, on base plate 20, there is two-way counterbore, the pine end of plane thrust bearing 19 is near two planes of base plate 20, this point is very important, the lower end step of ball screw 15 is close to the upper surface of base plate 20 plane thrust bearing 19 above, stop nut 22 and ball screw 15 below external screw thread screw, should suitably control pretightning force herein, therefore ball screw 15 is just by good being fixed on base plate 20, only retain rotational freedom.Screw mandrel drive motors bearing 21 use bolts are connected on base plate 20, screw mandrel drive motors 23 use bolts are connected on screw mandrel drive motors bearing 21, the rotating shaft of screw mandrel drive motors 23, the hole of ball screw 15 lower ends should have good linearity, avoid screw mandrel drive motors 23 stalls, servo-actuated half wheel shaft 12 one end cars have multidiameter, this end is through flange bearing 11, cascaded surface should contact with flange bearing 11 flanges, flange bearing 11 outer rings coordinate with servo-actuated 1 endoporus of partly taking turns, and reinforce by the servo-actuated screwed hole of opening at 1 shaft hole edge of partly taking turns, servo-actuated rotating shaft 12 other ends of partly taking turns are threaded with the second pole 13 use, herein in order to improve intensity, should use coarse thread, the second pole 13 is by hinged to connecting bolt and the second support bar 28, the second support bar 28 is bolted on base plate 20, the second pole 13 lower ends are by hinged to connecting bolt and second connecting rod 16.

Servo-actuated distance of partly taking turns 1 to first pole 7 and the second pole 13 intersection point places is greater than distance of obstacle under line.

At Fig. 4, in embodiment illustrated in fig. 5, power is partly taken turns 2 and is evenly equipped with 3 or 4 dark counterbores around, countersunk head end has been attacked internal thread, spherical pin 30 and countersunk head end contact, spherical pin 30 inside are equipped with blind hole, the blind hole bottom of spherical pin 30 is close in preloading spring one end, the other end is close to pretension bolt 32, pretension bolt 32 is partly taken turns 2 band internal thread holes with being threaded with power, spherical pin 30 can do rectilinear motion in partly taking turns 1 uniform hole servo-actuated, when spherical pin 30 contacts servo-actuated suitably compressed while partly taking turns 1, once in motion just extends while partly taking turns in 1 uniform hole to servo-actuated, because the surperficial spherical end surface of spherical pin 30 is more smooth, therefore less to servo-actuated 1 the frictional force of partly taking turns, can suitably shorten simultaneously, can avoid rigid shock, in the time that two and half take turns merging, road wheel can move hardly, therefore adopts two and half of this kind of asymmetric distribution to take turns merging and is easier to.

In the embodiment shown in Fig. 6-10, (a), initial condition in the time that there is barrier in front is pawl 1, pawl 2, pawl 3 is all closed, brake wheel crank is in vertical position, (b), slide unit is moved to the left equilbrium position, pawl 1 is opened, pawl 2, this machine of power half wheel drive people of pawl 3 moves ahead, (c), in the time that pawl 2 detects barrier, slide unit moves to centre position, the ball screw of pawl 1 drives two and half to take turns closure, the ball screw of pawl 2 drives servo-actuated half wheel and power half wheel separately, pawl 1 and pawl 3 drive this robot to advance, (d), in the time that pawl 3 detects barrier, slide unit moves to equilbrium position, the right, the ball screw of pawl 2 drives two and half to take turns closure, the ball screw of pawl 3 drives servo-actuated half wheel and power half wheel separately, pawl 1 and pawl 2 drive this robot to advance, (e), when after this robot motion's appropriate time, the ball screw of pawl 3 drives two and half to take turns closure, complete obstacle detouring.

Patrol and examine in process in robot, in the time that accelerometer detects that the large or gradient of disturbance is larger, before road wheel drive motors 5 rotates, the suitable clamping wire 29 of brake wheel crank 9, can improve coefficient of safety.

Claims (2)

1. brake wheel-bis-is partly taken turns a walking mechanism on open-close type line, comprises road wheel, traction drive motor, L-type movable motor bearing, elevating mechanism, pincers brake gear, open-and-close mechanism, lifter plate, base plate, screw mandrel drive motors, it is characterized in that:

Wherein road wheel is divided into two parts, formed by power half wheel and servo-actuated half wheel, power half wheel is connected by telescopic spherical pin with servo-actuated half wheel, power half wheel is connected on L-type movable motor bearing by the flange bearing at center, and traction drive machine shaft is connected with power half wheel through bearing inner race; Open-and-close mechanism is made up of the first pole and the second pole and first connecting rod and second connecting rod and docking screw, L-type movable motor bearing connects with first fold masthead transverse plane with bolt, the medium position of the first pole and the second pole is hinged with the first support bar and the second support bar respectively, and the first support bar and the second support bar are fixed on base plate; The first pole and the second pole lower end are hinged with first connecting rod and second connecting rod respectively, L-type connecting rod support on first connecting rod and second connecting rod and lifter plate is hinged, feed screw nut and linear bearing are connected on lifter plate, and the line slideway in linear bearing is fixed on base plate;

Wherein, elevating mechanism is realized by ball screw, and freely, the other end of ball screw is fixed on base plate in one end of ball screw, and screw mandrel drive motors is connected with base plate by lead screw motor bearing;

Pincers brake gear is made up of servo-actuated brake wheel and steering wheel, and steering wheel is connected on L-type movable motor bearing by L-type steering wheel bearing, and brake wheel and road wheel are tight by wire clamp, by the state of steering wheel control brake wheel;

Under lead screw motor drives, lifter plate can rise or decline, and under the drive of lifter plate, the first pole, the second pole will rotate around the first support bar, the second support bar respectively, realize the folding of power half wheel and servo-actuated half wheel.

2. partly take turns walking mechanism on open-close type line by a kind of brake wheel described in claim 1-bis-, it is characterized in that: the servo-actuated distance that partly takes turns to the first pole and the second pole intersection point place is greater than distance of obstacle under line.

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