CN204271534U - A kind of inspection robot and folding wheel thereof are grabbed - Google Patents
A kind of inspection robot and folding wheel thereof are grabbed Download PDFInfo
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- CN204271534U CN204271534U CN201420733533.6U CN201420733533U CN204271534U CN 204271534 U CN204271534 U CN 204271534U CN 201420733533 U CN201420733533 U CN 201420733533U CN 204271534 U CN204271534 U CN 204271534U
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- 238000007689 inspection Methods 0.000 title claims abstract description 24
- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 238000005096 rolling process Methods 0.000 claims abstract description 5
- 230000009194 climbing Effects 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 230000004888 barrier function Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000007598 dipping method Methods 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011089 mechanical engineering Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Abstract
The utility model discloses a kind of inspection robot and folding wheel grab, wherein the packet capturing of folding wheel draws together two vertically and the folding column (12) be arranged in parallel, and lays respectively at two described folding columns (12) inner sides and can realize folding wheel (1) in the upper walking of rolling of wire (7) after merging; Can drive two described folding columns (12) relative to or move in opposite directions, the folding guider (13) that merges to realize two described foldings wheel (1) or separate is connected with providing the folding driving mechanism (14) of described folding guider (13) required drive.Described folding wheel is grabbed also to comprise and is positioned at described wire (7) below and can fits tightly with described wire (7) and the contact roller (2) of walking that rolls.The invention also discloses and a kind ofly comprise above-mentioned folding and take turns the inspection robot of grabbing.Above-mentioned inspection robot, can walk and cross the obstacle on circuit on ultra-high-tension power transmission line.
Description
Technical field
The utility model relates to mechanical engineering technical field, and particularly a kind of folding wheel is grabbed.The utility model also relates to and a kind ofly has this folding and take turns the inspection robot of grabbing.
Background technology
Along with the fast development of China's economic construction, market increases day by day for the demand having folding and take turns the inspection robot of grabbing.
We know, ultra-high-tension power transmission line distance ground is higher, is often not suitable for operating personnel and detects, and therefore, we need to design a kind of equipment can walked on transmission line, and this equipment is referred to as inspection robot by us.In addition, owing to ultra-high-tension power transmission line often needing the line hardwares such as installation interval rod or stockbridge damper, therefore, inspection robot, while possessing walking function, also should possess the ability of certain leaping over obstacles.
Therefore, how realizing the ability that inspection robot possesses leaping over obstacles is the current technical issues that need to address of those skilled in the art.
Utility model content
The purpose of this utility model is to provide a kind of folding wheel and grabs, this folding wheel grab can solve inspection robot cannot the problem of obstacle detouring.Another object of the present utility model is to provide and a kind ofly comprises above-mentioned folding and take turns the inspection robot of grabbing.
For achieving the above object, the utility model provides a kind of folding to take turns and grabs, and comprises two vertically and the folding column be arranged in parallel, and to lay respectively at inside two described folding columns and the folding wheel of the walking that can realize after merging rolling on wire; Can drive two described folding columns relative to or move in opposite directions, the folding guider that merges to realize two described foldings wheels or separate is connected with providing the folding driving mechanism of described folding guider required drive.
Preferably, described folding wheel is grabbed also to comprise and to be positioned at below described wire and can to fit tightly with described wire and the contact roller of walking that rolls.
Preferably, described contact roller is arranged on bracing frame, is connected with support frame as described above in order to the height adjuster adjusting support frame as described above height.
Preferably, described folding column is also provided with the motor that can control described folding wheel and rotate or stop.
The utility model also provides a kind of inspection robot, has folding wheel and grabs, and described folding wheel is grabbed as the folding wheel described in above-mentioned any one is grabbed.
Preferably, be positioned at the top of described folding wheel, be also provided with the climbing with the groove that can hold described wire inside described folding column and grab, and prevent described wire from grabbing the latch segment of upper landing from described climbing.
Relative to above-mentioned background technology, folding provided by the utility model wheel is grabbed, and comprises two vertically and the folding column be arranged in parallel, and to lay respectively at inside two folding columns and can realize the folding wheel of walking on wire after merging; Can drive two folding columns relative to or moving to realize folding guider that two foldings wheels merge or separate in opposite directions, being connected with providing the folding driving mechanism of folding guider required drive.Adopt the folding wheel arranged in this way to grab, the folding wheel that wire is walked can realize folding; When wire there being barrier, folding wheel separates, to break the barriers; After breaking the barriers, folding wheel combines, and can continue to walk on wire.So, utilize folding to take turns and grab the ability just achieving leaping over obstacles
Accompanying drawing explanation
The structural representation of grabbing is taken turns in the folding that Fig. 1 provides for the utility model embodiment;
Fig. 2 is the structural representation of another angle of Fig. 1;
Fig. 3 is the structural representation of folding wheel, folding guider and folding driving mechanism in Fig. 1;
Fig. 4 is the structural representation of contact roller, bracing frame and height adjuster in Fig. 1;
Fig. 5 is the structural representation faced of Fig. 4;
The latch segment of the inspection robot that Fig. 6 provides for the utility model embodiment, climbing are grabbed, the structural representation of folding wheel and folding column.
Embodiment
Core of the present utility model is to provide a kind of folding wheel and grabs, and this folding wheel is grabbed and can be realized inspection robot obstacle detouring; Another core of the present utility model is to provide and a kind ofly comprises above-mentioned folding and take turns the inspection robot of grabbing.
In order to make those skilled in the art understand the utility model scheme better, below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
Please refer to Fig. 1 to Fig. 6, the structural representation of grabbing is taken turns in the folding that Fig. 1 provides for the utility model embodiment; Fig. 2 is the structural representation of another angle of Fig. 1; Fig. 3 is the structural representation of folding wheel, folding guider and folding driving mechanism in Fig. 1; Fig. 4 is the structural representation of contact roller, bracing frame and height adjuster in Fig. 1; Fig. 5 is the structural representation faced of Fig. 4; The latch segment of the inspection robot that Fig. 6 provides for the utility model embodiment, climbing are grabbed, the structural representation of folding wheel and folding column.
Folding provided by the utility model wheel is grabbed, and comprises two vertically and the folding column 12 be arranged in parallel, is provided with folding wheel 1 in the inner side of each folding column 12; This two foldings wheel 1 can roll walking after merging on wire 7; In addition, folding guider 13 control folding column 12 relative to or move in opposite directions, when folding column 12 relative movement, two foldings wheel 1 realizes merging; When folding column 12 moves in opposite directions, two folding wheels 1 realize separately; In addition, folding driving mechanism 14 provides the power needed for folding guider 13, and folding driving mechanism 14 is connected with folding guider 13.
The object of such setting is, utilizes folding driving mechanism 14 to provide power, make folding guider 13 control two pieces of folding columns 12 relative to or move in opposite directions, thus realize the merging or separately of two foldings wheel 1 be positioned at inside folding column 12.
In the present embodiment, folding guider 13 comprises output armshaft, connecting plate and fixed block.
Herein, the output shaft of folding driving mechanism 14 is perpendicular to folding column 12 and the centre position be positioned at bottom two pieces of folding columns 12; The output shaft of folding driving mechanism 14 connects and exports armshaft, and the hole exported in the middle of armshaft can coordinate with the output shaft of folding driving mechanism 14, and to export armshaft be that two ends, left and right are symmetrical arranged.Connecting plate is hinged with respectively at the two ends, left and right exporting armshaft.The other end level of connecting plate be hinged on fixed block, fixed block is fixed on the bottom of folding column 12.In addition, bottom two pieces of folding columns 12, be positioned at the fixed axis exporting and to arrange above armshaft through two pieces of folding columns 12.
So, when folding driving mechanism 14 rotates, drive and export armshaft rotation, what export armshaft rotarily drives connecting plate, make two pieces of fixed blocks rotations that two pieces of connecting plates are hinged, and fixed block is fixed on folding column 12, in addition due to fixing by fixed axis of folding column 12, can only moving axially along fixed axis; That is, under the drive of fixed block, two pieces of folding columns 12 can only relative to or move in opposite directions, thus realize the folding of two folding wheels 1 on folding column 12.
When two folding wheels 1 need separately, folding driving mechanism 14 rotates, and make the two ends exporting armshaft just be positioned at the inner side of two pieces of folding columns 12, the spacing of such two pieces of folding columns 12 is maximum; When two folding wheels 1 need to merge, folding driving mechanism 14 rotates, and make the line between output armshaft two ends parallel with two pieces of folding columns 12, at this moment the spacing of two pieces of folding columns 12 is minimum, realizes the merging of two foldings wheels 1.
After two folding wheels 1 merge, can realize rolling walking on wire 7; If wire 7 is provided with the equipment such as gold utensil, when needing avoiding obstacles, two foldings wheels 1 is moved in opposite directions by the folding column 12 at respective place, thus two realize folding wheel 1 separately; Now, the gap between two foldings wheel 1 can avoiding obstacles, surmounts obstacles.After surmounting obstacles, two folding wheels 1 are merged by the relative movement of folding column 12, continue to move forward.
Certainly, folding driving mechanism 14 as herein described can be servomotor, also can be steering wheel; In addition, folding guider 13 can be set to multi-connecting-rod mechanism, also can be set to other mechanisms, if can realize folding column 12 relative to or move in opposite directions.
In addition, folding wheel is grabbed to comprise and to be positioned at below wire 7 and can to fit tightly with wire 7 and the contact roller 2 of walking that rolls; And contact roller 2 is arranged on bracing frame 21.
The benefit of such setting is, utilizes height adjuster 25 to adjust the height of bracing frame 21, thus have adjusted the height of the contact roller 2 being positioned at bracing frame 21, so that contact roller 2 can fit tightly in the below of wire 7.
In the present embodiment, height adjuster 25 comprises motor, the first plate-shaped member and linkage.And linkage comprises the second plate-shaped member, column, output armshaft, Height Adjustment rod member and vertical plate.
Herein, bracing frame 21 is the flat board that one piece of two ends has projecting part, and the projecting part at two ends installs contact roller 2 respectively; The lower surface of bracing frame 21 is provided with place's hinge, and is articulated with on the first plate-shaped member; Bracing frame 21 can rotate for axle with hinge herein, the height of the contact roller 2 being positioned at bracing frame 21 two ends is differed, to comply with the dipping and heaving of wire 7.
In addition, height adjuster 25 herein comprises the motor that linkage and drive link mechanism move up and down, and linkage is connected with the first plate-shaped member; Therefore, when linkage moves up and down, drive the first plate-shaped member to move up and down, thus bracing frame 21 is moved up and down, so just have adjusted the height of contact roller 2 on bracing frame 21.
Herein, we are respectively arranged with two root posts at the lower surface two ends of the first plate-shaped member be connected with the hinge of bracing frame 21, second plate-shaped member is provided with groove, the width of groove equals the distance between two root posts, so, second plate-shaped member can put in from the lower end of two root posts, and at this moment two root posts are divided into upper and lower two parts by the second plate-shaped member.The vertical plate that one piece is positioned at two root post sides is set at the lower surface of the second plate-shaped member, the motor of setting height(from bottom) adjusting device 25 on vertical plate; The axes normal of the output shaft of the motor of height adjuster 25 is in two root posts, and the output shaft of the motor of height adjuster 25 is provided with the output armshaft perpendicular to output shaft axis, export setting height(from bottom) adjustment rod member on armshaft, and being connected on the second rod member at the other end of Height Adjustment rod member, the second rod member is fixedly connected with the end of two root posts.Here, Height Adjustment rod member is hinged with output armshaft and the second rod member, and that is, Height Adjustment rod member can export the circular motion that armshaft or the second rod member do.
So, when the electric machine rotation of height adjuster 25, the output shaft of motor drives and exports armshaft rotation, and drives Height Adjustment rod member to rotate in vertical plane; Due to the rotation of Height Adjustment rod member, make the height change of the second rod member, thus the height of adjustment two root posts, the height of contact roller 2 on final adjustment bracing frame 21.
Here, the form of the linkage of height adjuster 25 is varied, as long as can realize the Height Adjustment of bracing frame 21.Other forms of linkage repeat no more herein.
In addition, the power resources of height adjuster 25 can be servomotors, can be also steering wheels, not repeat them here.
In addition, folding column 12 can also be provided with the motor 11 that can control folding wheel 1 and rotate or stop; Namely utilize motor 11 to control rotation or the stopping of folding wheel 1, thus realize rolling walking on wire 7.
Provided by the utility model a kind ofly have folding and take turns the inspection robot of grabbing, and the folding wheel comprised described by above-mentioned specific embodiment is grabbed.
In addition, inspection robot also comprises climbing and grabs 91 and latch segment 92.Climbing grabs 91 tops being positioned at folding wheel 1, inside folding column 12; Climbing is grabbed 91 and is provided with the groove that can hold wire 7; And latch segment 92 is positioned at the top that climbing grabs 91, grabbing 91 with climbing is closely connected, and object prevents wire 7 from grabbing landing in the groove of 91 from climbing.
So, when folding take turns two foldings wheel 1 of grabbing separately after, two folding wheels 1 fall from the both sides of wire 7, and the latch segment 92 be positioned at above folding wheel 1, inside folding column 12 just can be stuck on wire 7, utilize the groove of latch segment 92 inside to hold wire 7, drop from wire 7 to prevent inspection robot; In addition, be positioned at the top that climbing grabs 91 and be provided with latch segment 92, latch segment 92 and climbing are grabbed 91 and are fitted tightly, and wire 7 so just can be avoided to skid off from the top of latch segment 92 groove, thus prevent inspection robot from dropping from wire 7.
Above inspection robot provided by the utility model and folding wheel thereof are grabbed and be described in detail.Apply specific case herein to set forth principle of the present utility model and execution mode, the explanation of above embodiment just understands method of the present utility model and core concept thereof for helping.Should be understood that; for those skilled in the art; under the prerequisite not departing from the utility model principle, can also carry out some improvement and modification to the utility model, these improve and modify and also fall in the protection range of the utility model claim.
Claims (6)
1. a folding wheel is grabbed, it is characterized in that, comprise two vertically and the folding column (12) be arranged in parallel, and lay respectively at two described folding columns (12) inner sides and folding wheel (1) in the upper walking of rolling of wire (7) can be realized after merging; Can drive two described folding columns (12) relative to or move in opposite directions, the folding guider (13) that merges to realize two described foldings wheel (1) or separate is connected with providing the folding driving mechanism (14) of described folding guider (13) required drive.
2. folding wheel according to claim 1 is grabbed, and it is characterized in that, described folding wheel is grabbed also to comprise and is positioned at described wire (7) below and can fits tightly with described wire (7) and the contact roller (2) of walking that rolls.
3. folding wheel according to claim 2 is grabbed, it is characterized in that, described contact roller (2) is arranged on bracing frame (21), is connected with support frame as described above (21) in order to the height adjuster (25) adjusting support frame as described above (21) height.
4. folding wheel according to claim 1 is grabbed, and it is characterized in that, described folding column (12) is also provided with the motor (11) that can control described folding wheel (1) and rotate or stop.
5. an inspection robot, has folding wheel and grabs, it is characterized in that, described folding wheel is grabbed as the folding wheel in the claims 1 to 4 described in any one is grabbed.
6. inspection robot according to claim 5, it is characterized in that, be positioned at the top of described folding wheel (1), described folding column (12) inner side to be also provided with the climbing with the groove that can hold described wire (7) and to grab (91), and prevent described wire (7) from grabbing the latch segment (92) of landing (91) from described climbing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420733533.6U CN204271534U (en) | 2014-11-26 | 2014-11-26 | A kind of inspection robot and folding wheel thereof are grabbed |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420733533.6U CN204271534U (en) | 2014-11-26 | 2014-11-26 | A kind of inspection robot and folding wheel thereof are grabbed |
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| Publication Number | Publication Date |
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| CN204271534U true CN204271534U (en) | 2015-04-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201420733533.6U Active CN204271534U (en) | 2014-11-26 | 2014-11-26 | A kind of inspection robot and folding wheel thereof are grabbed |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104362547A (en) * | 2014-11-26 | 2015-02-18 | 国网重庆市电力公司电力科学研究院 | Line patrol robot and separating and combining wheel gripper thereof |
| CN104864814A (en) * | 2015-06-18 | 2015-08-26 | 吉林省吉能电力建设监理有限责任公司 | All-digital cable length measuring instrument |
-
2014
- 2014-11-26 CN CN201420733533.6U patent/CN204271534U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104362547A (en) * | 2014-11-26 | 2015-02-18 | 国网重庆市电力公司电力科学研究院 | Line patrol robot and separating and combining wheel gripper thereof |
| CN104864814A (en) * | 2015-06-18 | 2015-08-26 | 吉林省吉能电力建设监理有限责任公司 | All-digital cable length measuring instrument |
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