CN204333773U - Three arm combined type inspection robot mechanisms - Google Patents
Three arm combined type inspection robot mechanisms Download PDFInfo
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- CN204333773U CN204333773U CN201520035509.XU CN201520035509U CN204333773U CN 204333773 U CN204333773 U CN 204333773U CN 201520035509 U CN201520035509 U CN 201520035509U CN 204333773 U CN204333773 U CN 204333773U
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- 230000007246 mechanism Effects 0.000 title claims abstract description 365
- 238000007689 inspection Methods 0.000 title claims abstract description 23
- 230000003028 elevating effect Effects 0.000 claims abstract description 41
- 210000000078 claw Anatomy 0.000 claims abstract description 28
- 238000005452 bending Methods 0.000 claims description 8
- 238000000034 method Methods 0.000 abstract description 12
- 230000008569 process Effects 0.000 abstract description 11
- 238000010586 diagram Methods 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 8
- 230000009471 action Effects 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
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- 230000006641 stabilisation Effects 0.000 description 1
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Abstract
The utility model relates to mobile robot, specifically a kind of three arm combined type inspection robot mechanisms, comprise front arm mechanism, middle arm mechanism, rear arm mechanism and electric appliance box, wherein, rear arm mechanism includes the tire mechanism be connected successively, luffing mechanism, slew gear and tire travel mechanism, the tire mechanism being provided with locking wheel and road wheel drives pitch rotation by luffing mechanism and drives horizontal rotation by slew gear, middle arm mechanism comprises the middle clip claw mechanism be connected successively, middle elevating mechanism, middle luffing mechanism and middle travel mechanism, the middle clip claw mechanism being provided with left jaw and right jaw drives lifting by middle elevating mechanism and drives pitch rotation by middle luffing mechanism, before, rear arm mechanism drives mobile respectively by tire travel mechanism, middle arm mechanism drives mobile by middle travel mechanism, tire travel mechanism and middle travel mechanism are all arranged in electric appliance box.The utility model can cross over different circuitry obstacle thing fast, and it is safe and reliable to patrol and examine operation process.
Description
Technical field
The utility model relates to mobile robot, specifically a kind of three arm combined type inspection robot mechanisms.
Background technology
Transmission line is the very important part of electric power system, in order to ensure that it safely and steadily runs, needs regularly to carry out walkaround inspection.The method of current employing mainly contains manual inspection and helicopter routing inspection.The efficiency of manual inspection is low, and labour intensity is large, dangerous high; The cost of helicopter routing inspection is high, patrols and examines quality and is subject to climatic effect.Therefore, the robot needing development can carry inspection device and power tool replaces manually carrying out automatic detecting to transmission line, to raise the efficiency, guarantees the safe operation of transmission line.In existing EHV transmission line patrol robot mechanism, major part adopts the composite moving mechanism combined by wheel type mobile and compound linkages (see document 1:Jun Sawada, Kazuyuki Kusumoto, TadashiMunakata, Yasuhisa Maikawa, Yoshinobu Ishikawa, " A Mobile RobotFor Inspection of Power Transmission Lines ", IEEE Trans.PowerDelivery, 1991, Vol.6, No.1:pp..309-315, document 2:Mineo Higuchi, Yoichiro Maeda, Sadahiro Tsutani, Shiro Hagihara, " Developmentof a Mobile Inspection Robot for Power Transmission Lines ", J.of the Robotics Society of Japan, Japan, Vol.9, No.4, pp.457-463, 1991), or adopt Multi-degree-of-freedom moving mechanism (the document 3:Shin-ichi Aoshima that many group mobile units are composed in series, Takeshi Tsujimura, TetsuroYabuta, " A Wire Mobile Robot with Multi-unit Structure ", IEEE/RSJ Intermational Workshop on Intelligent Robots andSystems, Sep.4-6, 1989, Tsukuba, Japan, pp.414-421).Complex structure, the weight of these mechanisms are large, and across obstacle process is complicated, should not control, cannot cross over for barrier more complicated in line environment, overwhelming majority crusing robot can only be used for ground wire patrol checking, therefore, is difficult to be applied to actual extra high voltage network and patrols and examines in operation.
Utility model content
The purpose of this utility model is to provide a kind of three arm combined type inspection robot mechanisms, can cross over different circuitry obstacle thing fast, simultaneously structure simple, be easy to manipulation, to patrol and examine operation process safe and reliable.
The purpose of this utility model is achieved through the following technical solutions:
A kind of three arm combined type inspection robot mechanisms, comprise front arm mechanism, middle arm mechanism, rear arm mechanism and electric appliance box, wherein front arm mechanism is identical with postbrachium mechanism structure, include tire mechanism connected successively, luffing mechanism, slew gear and tire travel mechanism, wherein one end is provided with the tire mechanism of locking wheel and road wheel by described luffing mechanism driving pitch rotation, described tire mechanism and luffing mechanism drive horizontal rotation by described slew gear, and described slew gear is connected with tire travel mechanism away from one end of described luffing mechanism, described middle arm mechanism comprises the middle clip claw mechanism be connected successively, middle elevating mechanism, middle luffing mechanism and middle travel mechanism, wherein one end is provided with the middle clip claw mechanism of left jaw and right jaw by described middle elevating mechanism driving lifting, described middle clip claw mechanism and middle elevating mechanism drive pitch rotation by described middle luffing mechanism, described middle luffing mechanism is connected with middle travel mechanism away from one end of described middle elevating mechanism, described front arm mechanism and rear arm mechanism drive mobile respectively by tire travel mechanism, described middle arm mechanism drives mobile by middle travel mechanism, described tire travel mechanism and middle travel mechanism are all arranged in electric appliance box.
Described tire mechanism also comprises clamping motor except described locking wheel and road wheel, movable motor, worm-and-wheel gear, clamping fork, live axle and wheel carrier, wherein live axle is arranged in the wheel carrier bending part of described wheel carrier upper end, described live axle is connected with the movable motor be arranged on outside described wheel carrier bending part, described road wheel is packed on described live axle, clamping fork and clamping motor is provided with below described road wheel, described clamping fork and clamping motor are all arranged on wheel carrier and described clamping motor is connected with described clamping fork by a worm-and-wheel gear, described locking wheel is arranged at described clamping fork one end away from described clamping motor, and described locking wheel is arranged at road wheel both sides respectively.
Described front arm mechanism is identical with the middle luffing mechanism structure on the luffing mechanism on rear arm mechanism and described middle arm mechanism, include pitching motor, pitch axis and bearing, wherein pitch axis is horizontally disposed with and is installed in rotation on described bearing, at described support outer, pitching motor is installed, described pitch axis is connected with the output shaft of described pitching motor, described front arm mechanism is connected with the pitch axis in described luffing mechanism with the tire mechanism on rear arm mechanism, and the middle clip claw mechanism on described middle arm mechanism is connected with the pitch axis in described middle luffing mechanism.
Described slew gear comprises turning motor, worm shaft, worm screw, worm gear, pivoted lever and bracing frame, wherein worm shaft is arranged on support frame as described above, one end of described worm shaft is connected with the turning motor be arranged on outside bracing frame, described worm shaft is set with worm screw, vertical and be rotatably mounted with a pivoted lever in support frame as described above, described pivoted lever is fixed with a worm gear, described worm gear and described worm engaging, the upper end of described pivoted lever is connected with described luffing mechanism, and support frame as described above is connected with described tire travel mechanism.
Described middle clip claw mechanism also comprises clamping motor except described left jaw and right jaw, guide rod, support, left nut, clamping leading screw and right nut, wherein clamp leading screw rack-mount, and described clamping leading screw is connected with the clamping motor being arranged on stent outer, described clamping leading screw is provided with screw thread and screw thread is divided into two sections, be respectively left-hand thread section and right-hand thread section, wherein left-hand thread section is arranged with left nut, right-hand thread section is arranged with right nut, the middle part of left jaw is connected with described left nut, the middle part of right jaw is connected with described right nut, a guide rod parallel with described clamping leading screw is provided with in support, guide rod is provided with two movable sliding blocks, left jaw is connected from different slide blocks respectively with the end, one end of right jaw.
Described middle elevating mechanism comprises lifting motor, driving gear, elevating screw, lifting nut, driven gear, lifting slider, crane and riser guide, wherein lifting motor is arranged on crane, the output shaft fixed connection of driving gear and described lifting motor, described lifting nut to be arranged on described crane and described lifting nut to be arranged with the driven gear be meshed with described driving gear, elevating screw is threaded with described lifting nut and is driven by described lifting nut and is elevated, described riser guide is parallel to the setting of described elevating screw and lower end and described elevating screw lower end are connected, lifting slider to be packed on described crane and to be slidably connected with described riser guide, described elevating screw upper end is connected with described middle clip claw mechanism, described crane is connected with described middle luffing mechanism.
The tire travel mechanism of described front arm mechanism and rear arm mechanism and the middle travel mechanism of described middle arm mechanism be arranged in parallel, and Liang Ge tire travel mechanism is arranged at the both sides of electric appliance box respectively, and middle travel mechanism is arranged between Liang Ge tire travel mechanism.
Described front arm mechanism, the tire travel mechanism of rear arm mechanism is identical with the middle travel mechanism structure of described middle arm mechanism and be motor leading screw drive form, comprise mobile motor, mobile leading screw, travelling nut and rail brackets, wherein said rail brackets is arranged on electric appliance box, mobile leading screw is arranged on described rail brackets, one end of described mobile leading screw is connected with the output shaft of the mobile motor be arranged on outside rail brackets, mobile leading screw has been threaded travelling nut, front arm mechanism is all connected with travelling nut with the middle luffing mechanism on the slew gear on rear arm mechanism and middle arm mechanism.
The tire travel mechanism of described front arm mechanism, rear arm mechanism is identical with the middle travel mechanism structure of described middle arm mechanism and be Timing Belt drive form, comprise driving pulley, driven pulley, Timing Belt and movable block, wherein driving pulley and the output shaft fixed connection being arranged on the drive motors on electric appliance box, driven pulley to be arranged in described electric appliance box and to be connected with described driving pulley by Timing Belt, movable block is arranged on described Timing Belt, and front arm mechanism is all connected with movable block with the middle luffing mechanism on the slew gear on rear arm mechanism and middle arm mechanism.
Advantage of the present utility model and good effect are:
1. the utility model adopts three-arm arrangement, by the hanging wire of middle arm in obstacle detouring process, both arms can be kept online simultaneously, reduce wire distortion, obstacle detouring process stabilization, safe and reliable, and by the booster action of middle arm in obstacle detouring process, can cross over various disorders thing.
2. the tire mechanism on front arm mechanism of the present utility model and rear arm mechanism adopts the Double-wheel structure of road wheel and guide wheel, middle arm mechanism is then arranged left jaw and right jaw, by jaw, road wheel, guide wheel three clamping wires, thus robot is made to have the ability that can clamp different conductor cross section.
3. the utility model can be widely used in the crusing robot travel mechanism of ultra-high-tension power transmission line and telephone line, applied range.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the structural representation of forward and backward arm mechanism in Fig. 1;
Fig. 3 is the tire structural representation in Fig. 2;
Fig. 4 is the luffing mechanism schematic diagram in Fig. 2;
Fig. 5 is the slew gear schematic diagram in Fig. 2;
Fig. 6 is the slew gear vertical view in Fig. 5;
Fig. 7 is the structural representation of middle arm mechanism in Fig. 1;
Fig. 8 is the middle clip claw mechanism schematic diagram in Fig. 7;
Fig. 9 is the middle elevating mechanism schematic diagram in Fig. 7;
Figure 10 is the structural representation of the tire travel mechanism in Fig. 1;
Figure 11 is the structural representation of another embodiment of tire travel mechanism in Fig. 1;
Figure 12 is the schematic diagram of power transmission line,
Figure 13 is that obstacle detouring process first element describes schematic diagram;
Figure 14 is obstacle detouring process second action description schematic diagram;
Figure 15 is obstacle detouring process the 3rd action description schematic diagram;
Figure 16 is obstacle detouring process the 4th action description schematic diagram;
Figure 17 is obstacle detouring process the 5th action description schematic diagram.
Wherein, 1 is front arm mechanism, 2 is middle arm mechanism, 3 is rear arm mechanism, 4 is electric appliance box, 5 is tire mechanism, 6 is luffing mechanism, 7 is slew gear, 8 is tire travel mechanism, 9 is middle clip claw mechanism, 10 is middle elevating mechanism, 11 is middle luffing mechanism, 12 is middle travel mechanism, 13 is parallel groove clamp, 14 is locking wheel, 15 is road wheel, 16 is clamping motor, 17 is movable motor, 18 is worm-and-wheel gear, 19 is clamping fork, 20 is wheel carrier bending part, 21 is live axle, 22 is locking nut, 23 is wheel carrier, 24 is pitching motor, 25 is pitch axis, 26 is bearing, 27 is turning motor, 28 is worm shaft, 29 is worm screw, 30 is pivoted lever, 31 is worm gear, 32 is bracing frame, 33 is left jaw, 34 is right jaw, 35 is clamping motor, 36 is guide rod, 37 is support, 38 is left-hand thread section, 39 is left nut, 40 is clamping screw mandrel, 41 is right-hand thread section, 42 is right nut, 43 is lifting motor, 44 is driving gear, 45 is elevating screw, 46 is lifting nut, 47 is driven gear, 48 is lifting slider, 49 is crane, 50 is riser guide, 51 is mobile motor, 52 is mobile leading screw, 53 is travelling nut, 54 is rail brackets, 55 is driving pulley, 56 is Timing Belt, 57 is movable block, 58 is driven pulley, 59 is stockbridge damper, 60 is wire, 61 is strain clamp, 62 is drainage thread.
Embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail.
As shown in Figure 1, the utility model comprises front arm mechanism 1, middle arm mechanism 2, rear arm mechanism 3 and electric appliance box 4, described front arm mechanism 1, middle arm mechanism 2, rear arm mechanism 3 is arranged on electric appliance box 4 all movably, wherein front arm mechanism 1 is identical with the structure of rear arm mechanism 3, as shown in Fig. 1 ~ 2, described front arm mechanism 1 and rear arm mechanism 3 include tire mechanism 5, luffing mechanism 6, slew gear 7 and tire travel mechanism 8, wherein one end of tire mechanism 5 is provided with locking wheel 14 and road wheel 15, and described locking wheel 14 is arranged at road wheel 15 both sides, described tire mechanism 5 is namely by described locking wheel 14 and road wheel 15 clamping wires 60, and walk on a lead 60, the other end of described tire mechanism 5 is then connected with luffing mechanism 6, described tire mechanism 5 drives pitch rotation in vertical plane by described luffing mechanism 6, described luffing mechanism 6 is connected with slew gear 7 away from one end of tire mechanism 5, described tire mechanism 5 and luffing mechanism 6 are driven by described slew gear 7 and realize horizontal rotation, described slew gear 7 is connected with tire travel mechanism 8 away from one end of described luffing mechanism 6, described tire travel mechanism 8 is arranged in electric appliance box 4, and the tire travel mechanism 8 of front arm mechanism 1 and rear arm mechanism 3 is arranged at the both sides of electric appliance box 4 respectively, front arm mechanism 1 and rear arm mechanism 3 entirety drive the length direction along electric appliance box 4 to move by described tire travel mechanism 8.
As shown in Figure 3, tire mechanism 5 on described front arm mechanism 1 and rear arm mechanism 3 is except described locking wheel 14 and road wheel 15, also comprise clamping motor 16, movable motor 17, worm-and-wheel gear 18, clamping fork 19, live axle 21 and wheel carrier 23, the upper end of wherein said wheel carrier 23 is provided with the wheel carrier bending part 20 of a cross section in " recessed " type of inversion, live axle 21 two ends are arranged in described wheel carrier bending part 20 by bearing supporting, a movable motor 17 is installed outside described wheel carrier bending part 20, described live axle 21 is connected with the output shaft of described movable motor 17, described road wheel 15 is packed on described live axle 21 by locking nut 22, during institution staff, road wheel 15 is positioned over to drive on wire 60 and by described movable motor 17 and walks on a lead 60, two locking wheels 14 to be arranged at below described road wheel 15 and to be arranged at described road wheel 15 both sides, described locking wheel 14 is arranged on clamping fork 19, described clamping fork 19 is arranged on wheel carrier 23 by bearing supporting, wheel carrier 23 is provided with a clamping motor 16, described clamping motor 16 is connected with described clamping fork 19 by a worm-and-wheel gear 18, worm gear wherein in worm-and-wheel gear 18 and described clamping fork 19 are coaxially connected away from one end of described locking wheel 14, worm screw in worm-and-wheel gear 18 is connected with the output shaft of clamping motor 16, described clamping fork 19 is driven by described clamping motor 16 and swings, thus drive described locking wheel 14 clamping wire 60.
As shown in Figure 4, luffing mechanism 6 on described front arm mechanism 1 and rear arm mechanism 3 comprises pitching motor 24, pitch axis 25 and bearing 26, wherein pitch axis 25 is horizontally disposed with and is arranged on described bearing 26 by bearing supporting, described pitch axis 25 is connected with wheel carrier 23 lower end in described tire mechanism 5, outside described bearing 26, pitching motor 24 is installed, described pitch axis 25 is connected with the output shaft of described pitching motor 24, namely described pitch axis 25 is driven by described pitching motor 24 and rotates, and then drive the elevating movement in vertical plane of described tire mechanism 5, described bearing 26 is connected with the slew gear 7 of below.
As shown in Fig. 5 ~ 6, slew gear 7 on described front arm mechanism 1 and rear arm mechanism 3 comprises turning motor 27, worm shaft 28, worm screw 29, worm gear 31, pivoted lever 30 and bracing frame 32, wherein worm shaft 28 is arranged on support frame as described above 32 by bearing supporting, and one end of described worm shaft 28 is connected with the output shaft of the turning motor 27 be arranged on outside bracing frame 32, described worm shaft 28 is set with worm screw 29, vertical and be rotatably mounted with a pivoted lever 30 in support frame as described above 32, described pivoted lever 30 is fixed with a worm gear 31, described worm gear 31 engages with worm screw 29 sheathed on worm shaft 28, the upper end of described pivoted lever 30 is connected with the bearing 26 of described luffing mechanism 6, turning motor 27 drives pivoted lever 30 to rotate by described worm screw 29 and worm gear 31, and then drive described tire mechanism 5 and luffing mechanism 6 to realize horizontal rotation, support frame as described above 32 is connected with the tire travel mechanism 8 of below.
As shown in Figure 7, described middle arm mechanism 2 comprises middle clip claw mechanism 9, middle elevating mechanism 10, middle luffing mechanism 11 and middle travel mechanism 12, wherein one end of middle clip claw mechanism 9 is provided with left jaw 33 and right jaw 34, namely described middle clip claw mechanism 9 realizes clamping by described left jaw 33 and right jaw 34, the other end of described middle clip claw mechanism 9 is connected with middle elevating mechanism 10, described middle clip claw mechanism 9 drives lifting by described middle elevating mechanism 10, described middle elevating mechanism 10 is connected with middle luffing mechanism 11 away from one end of described middle clip claw mechanism 9, middle clip claw mechanism 9 and middle elevating mechanism 10 drive pitch rotation by described middle luffing mechanism 11, described middle luffing mechanism 11 is connected with middle travel mechanism 12 away from one end of described middle elevating mechanism 10, described middle travel mechanism 12 to be arranged on electric appliance box 4 and to be arranged between Liang Ge tire travel mechanism 8, middle arm mechanism 2 drives the length direction along electric appliance box 4 to move by described middle travel mechanism 12.
As shown in Figure 8, the middle clip claw mechanism 9 of described middle arm mechanism 2 also comprises clamping motor 35 except described left jaw 33 and right jaw 34, guide rod 36, support 37, left nut 39, clamping leading screw 40 and right nut 42, wherein clamping leading screw 40 is arranged on support 37, one end of clamping leading screw 40 is connected with the output shaft of the clamping motor 35 be arranged on outside support 37, screw thread on clamping leading screw 40 is divided into two sections, be respectively left-hand thread section 38 and right-hand thread section 41, wherein clamp leading screw 40 left-hand thread section 38 on be arranged with left nut 39, the right-hand thread section 41 of clamping leading screw 40 is arranged with right nut 42, the middle part of left jaw 33 is connected with described left nut 39, the middle part of right jaw 34 is connected with described right nut 42, a guide rod 36 is provided with in support 37, described guide rod 36 is parallel with described clamping leading screw 40, guide rod 36 is provided with two movable sliding blocks, left jaw 33 is connected with described slide block respectively with the end, one end of right jaw 34, described left nut 39 and right nut 42 drive along clamping leading screw 40 in opposite directions or movement on the contrary by clamping motor 35, thus drive described left jaw 33 and right jaw 34 open or clamp.
As shown in Figure 9, the middle elevating mechanism 10 of described middle arm mechanism 2 comprises lifting motor 43, driving gear 44, elevating screw 45, lifting nut 46, driven gear 47, lifting slider 48, crane 49 and riser guide 50, wherein lifting motor 43 is arranged on crane 49, the output shaft fixed connection of driving gear 44 and described lifting motor 43, described lifting nut 46 is arranged on described crane 49, described lifting nut 46 is arranged with the driven gear 47 be meshed with described driving gear 44, elevating screw 45 is threaded with described lifting nut 46, described lifting nut 46 is driven by described lifting motor 43 and rotates, and then drive described elevating screw 45 to be elevated, described riser guide 50 is parallel to described elevating screw 45 and arranges and lower end is connected by a cross bar and described elevating screw 45 lower end, lifting slider 48 to be packed on described crane 49 and to be slidably connected with described riser guide 50, described elevating screw 45 upper end is connected with described middle clip claw mechanism 9, described crane 49 is connected with luffing mechanism in below 11.
Described middle luffing mechanism 11 is identical with luffing mechanism 6 structure on rear arm mechanism 3 with front arm mechanism 1, include pitching motor 24, pitch axis 25 and bearing 26, wherein said pitch axis 25 is connected with the crane 49 in described middle elevating mechanism 10, and described bearing 26 is connected with travel mechanism in below 12.
The tire travel mechanism 8 of described front arm mechanism 1, rear arm mechanism 3 is identical with middle travel mechanism 12 structure of described middle arm mechanism 2, all adopts motor leading screw to drive or Timing Belt driving.
Described front arm mechanism 1, when the tire travel mechanism 8 of rear arm mechanism 3 and the middle travel mechanism 12 of described middle arm mechanism 2 adopt motor leading screw drive form, as shown in Figure 10, comprise mobile motor 51, mobile leading screw 52, travelling nut 53 and rail brackets 54, wherein said rail brackets 54 is arranged on electric appliance box 4, mobile leading screw 52 is arranged on described rail brackets 54, one end of described mobile leading screw 52 is connected with the output shaft of the mobile motor 51 be arranged on outside rail brackets 54, mobile leading screw 52 has been threaded travelling nut 53, front arm mechanism 1 is all connected with described travelling nut 53 with the slew gear 7 on rear arm mechanism 3 and the middle luffing mechanism 11 on middle arm mechanism 2, front arm mechanism 1, namely rear arm mechanism 3 and middle arm mechanism 2 are driven by described mobile motor 51 and move along described mobile leading screw 52.
Described front arm mechanism 1, when the tire travel mechanism 8 of rear arm mechanism 3 and the middle travel mechanism 12 of described middle arm mechanism 2 adopt Timing Belt drive form, as shown in figure 11, comprise driving pulley 55, driven pulley 58, Timing Belt 56 and movable block 57, wherein driving pulley 55 and the output shaft fixed connection being arranged on the drive motors on electric appliance box 4, driven pulley 58 to be arranged in described electric appliance box 4 and to be connected with described driving pulley 55 by Timing Belt 56, movable block 57 is arranged on described Timing Belt 56, front arm mechanism 1 is all connected with described movable block 57 with the slew gear 7 on rear arm mechanism 3 and the middle luffing mechanism 11 on middle arm mechanism 2, described drive motors drives described driving pulley 55 to rotate, and then drive Timing Belt 56 to drive described movable block 57 to move, Timing Belt drive form can alleviate the quality of robot, increase the load capacity of robot, improve the dynamic characteristic of robot.
Operation principle of the present utility model is:
As shown in figure 12, main on a lead 60 barrier is stockbridge damper 59, strain clamp 61, drainage thread 62, parallel groove clamp 13 etc.Driven by movable motor 17 during utility model works and walk on a lead 60, and the various barriers on wire 60 can be crossed over.
As shown in Figure 13 ~ 17, tire mechanism 5 on front arm mechanism 1 and rear arm mechanism 3 is driven by road wheel 15 walks along wire 60, when running into barrier, stop when such as running into strain clamp 61, at this moment in middle travel mechanism 12 driving, arm mechanism 2 moves forward, middle luffing mechanism 10 forward pitch, make middle clip claw mechanism 9 near strain clamp 61, central clip claw mechanism 9 is after strain clamp 61, middle elevating mechanism 11 extends and makes middle clip claw mechanism 9 contact strain clamp 61 and make left jaw 33 and right jaw 34 clamp strain clamp 61, luffing mechanism 6 Union Movement in front arm mechanism 1 and rear arm mechanism 3 makes the tire mechanism 5 in front arm mechanism 1 rise and makes the tire mechanism 5 in front arm mechanism 1 turn round 180 ° by the slew gear 7 in front arm mechanism 1, complete this tire mechanism 5 off-line, then the travel mechanism 8 in front arm mechanism 1 and luffing mechanism 6 Union Movement make the tire mechanism 5 in front arm mechanism 1 cross over strain clamp 61, and make the tire mechanism 5 in front arm mechanism 1 be positioned at directly over drainage thread 62, then as shown in figure 16, luffing mechanism 6 in front arm mechanism 1 and slew gear 7 turn round, make tire mechanism 5 line of fall in front arm mechanism 1, then above-mentioned action sequence is repeated, as shown in figure 17, the tire mechanism 5 in rear arm mechanism 3 is made to cross over strain clamp 61, the motion of the utility model on drainage thread 62, the intersection repeating the tire mechanism 5 of front arm mechanism 1 and rear arm mechanism 3 exactly moves ahead.
Claims (9)
1. an arm combined type inspection robot mechanism, it is characterized in that: comprise front arm mechanism (1), middle arm mechanism (2), rear arm mechanism (3) and electric appliance box (4), wherein front arm mechanism (1) is identical with rear arm mechanism (3) structure, include the tire mechanism (5) be connected successively, luffing mechanism (6), slew gear (7) and tire travel mechanism (8), wherein one end is provided with the tire mechanism (5) of locking wheel (14) and road wheel (15) by described luffing mechanism (6) driving pitch rotation, described tire mechanism (5) and luffing mechanism (6) drive horizontal rotation by described slew gear (7), described slew gear (7) is connected with tire travel mechanism (8) away from one end of described luffing mechanism (6), described middle arm mechanism (2) comprises the middle clip claw mechanism (9) be connected successively, middle elevating mechanism (10), middle luffing mechanism (11) and middle travel mechanism (12), wherein one end is provided with the middle clip claw mechanism (9) of left jaw (33) and right jaw (34) by described middle elevating mechanism (10) driving lifting, described middle clip claw mechanism (9) and middle elevating mechanism (10) drive pitch rotation by described middle luffing mechanism (11), described middle luffing mechanism (11) is connected with middle travel mechanism (12) away from one end of described middle elevating mechanism (10), described front arm mechanism (1) and rear arm mechanism (3) drive mobile respectively by tire travel mechanism (8), described middle arm mechanism (2) drives mobile by middle travel mechanism (12), described tire travel mechanism (8) and middle travel mechanism (12) are all arranged in electric appliance box (4).
2. three arm combined type inspection robot mechanisms according to claim 1, it is characterized in that: described tire mechanism (5) also comprises clamping motor (16) except described locking wheel (14) and road wheel (15), movable motor (17), worm-and-wheel gear (18), clamping fork (19), live axle (21) and wheel carrier (23), wherein live axle (21) is arranged in the wheel carrier bending part (20) of described wheel carrier (23) upper end, described live axle (21) is connected with the movable motor (17) being arranged on described wheel carrier bending part (20) outside, described road wheel (15) is packed on described live axle (21), described road wheel (15) below is provided with clamping fork (19) and clamping motor (16), described clamping fork (19) and clamping motor (16) are all arranged at the upper and described clamping motor (16) of wheel carrier (23) and are connected with described clamping fork (19) by a worm-and-wheel gear (18), described locking wheel (14) is arranged at described clamping fork (19) one end away from described clamping motor (16), and described locking wheel (14) is arranged at road wheel (15) both sides respectively.
3. three arm combined type inspection robot mechanisms according to claim 1, it is characterized in that: described front arm mechanism (1) is identical with the luffing mechanism (6) on rear arm mechanism (3) and middle luffing mechanism (11) structure on described middle arm mechanism (2), include pitching motor (24), pitch axis (25) and bearing (26), wherein pitch axis (25) is horizontally disposed with and is installed in rotation on described bearing (26), in described bearing (26) outside, pitching motor (24) is installed, described pitch axis (25) is connected with the output shaft of described pitching motor (24), described front arm mechanism (1) is connected with the pitch axis (25) in described luffing mechanism (6) with the tire mechanism (5) on rear arm mechanism (3), middle clip claw mechanism (9) on described middle arm mechanism (2) is connected with the pitch axis (25) in described middle luffing mechanism (11).
4. three arm combined type inspection robot mechanisms according to claim 1, it is characterized in that: described slew gear (7) comprises turning motor (27), worm shaft (28), worm screw (29), worm gear (31), pivoted lever (30) and bracing frame (32), wherein worm shaft (28) is arranged on support frame as described above (32), one end of described worm shaft (28) is connected with the turning motor (27) being arranged on bracing frame (32) outside, described worm shaft (28) is set with worm screw (29), vertical and be rotatably mounted with a pivoted lever (30) in support frame as described above (32), described pivoted lever (30) is fixed with a worm gear (31), described worm gear (31) engages with described worm screw (29), the upper end of described pivoted lever (30) is connected with described luffing mechanism (6), support frame as described above (32) is connected with described tire travel mechanism (8).
5. three arm combined type inspection robot mechanisms according to claim 1, it is characterized in that: described middle clip claw mechanism (9) also comprises clamping motor (35) except described left jaw (33) and right jaw (34), guide rod (36), support (37), left nut (39), clamping leading screw (40) and right nut (42), wherein clamping leading screw (40) is arranged on support (37), and described clamping leading screw (40) is connected with the clamping motor (35) being arranged on support (37) outside, described clamping leading screw (40) is provided with screw thread and screw thread is divided into two sections, be respectively left-hand thread section (38) and right-hand thread section (41), wherein left-hand thread section (38) is arranged with left nut (39), right-hand thread section (41) is arranged with right nut (42), the middle part of left jaw (33) is connected with described left nut (39), the middle part of right jaw (34) is connected with described right nut (42), a guide rod (36) parallel with described clamping leading screw (40) is provided with in support (37), guide rod (36) is provided with two movable sliding blocks, left jaw (33) is connected from different slide blocks respectively with the end, one end of right jaw (34).
6. three arm combined type inspection robot mechanisms according to claim 1, it is characterized in that: described middle elevating mechanism (10) comprises lifting motor (43), driving gear (44), elevating screw (45), lifting nut (46), driven gear (47), lifting slider (48), crane (49) and riser guide (50), wherein lifting motor (43) is arranged on crane (49), the output shaft fixed connection of driving gear (44) and described lifting motor (43), described lifting nut (46) is arranged on described crane (49) and goes up and described lifting nut (46) be arranged with the driven gear (47) be meshed with described driving gear (44), elevating screw (45) is threaded with described lifting nut (46) and is driven by described lifting nut (46) and is elevated, described riser guide (50) is parallel to described elevating screw (45) setting and lower end and described elevating screw (45) lower end are connected, lifting slider (48) is packed in described crane (49) and goes up and be slidably connected with described riser guide (50), described elevating screw (45) upper end is connected with described middle clip claw mechanism (9), described crane (49) is connected with described middle luffing mechanism (11).
7. three arm combined type inspection robot mechanisms according to claim 1, it is characterized in that: the tire travel mechanism (8) of described front arm mechanism (1) and rear arm mechanism (3) and the middle travel mechanism (12) of described middle arm mechanism (2) be arranged in parallel, and Liang Ge tire travel mechanism (8) is arranged at the both sides of electric appliance box (4) respectively, middle travel mechanism (12) is arranged between Liang Ge tire travel mechanism (8).
8. three arm combined type inspection robot mechanisms according to claim 1 or 7, it is characterized in that: described front arm mechanism (1), the tire travel mechanism (8) of rear arm mechanism (3) is identical with middle travel mechanism (12) structure of described middle arm mechanism (2) and be motor leading screw drive form, comprise mobile motor (51), mobile leading screw (52), travelling nut (53) and rail brackets (54), wherein said rail brackets (54) is arranged on electric appliance box (4), mobile leading screw (52) is arranged on described rail brackets (54), one end of described mobile leading screw (52) is connected with the output shaft of the mobile motor (51) being arranged on rail brackets (54) outside, mobile leading screw (52) has been threaded travelling nut (53), front arm mechanism (1) is all connected with travelling nut (53) with the slew gear (7) on rear arm mechanism (3) and the middle luffing mechanism (11) on middle arm mechanism (2).
9. three arm combined type inspection robot mechanisms according to claim 1 or 7, it is characterized in that: described front arm mechanism (1), the tire travel mechanism (8) of rear arm mechanism (3) is identical with middle travel mechanism (12) structure of described middle arm mechanism (2) and be Timing Belt drive form, comprise driving pulley (55), driven pulley (58), Timing Belt (56) and movable block (57), wherein driving pulley (55) and the output shaft fixed connection being arranged on the drive motors on electric appliance box (4), driven pulley (58) is arranged in described electric appliance box (4) and is also connected with described driving pulley (55) by Timing Belt (56), movable block (57) is arranged on described Timing Belt (56), front arm mechanism (1) is all connected with movable block (57) with the slew gear (7) on rear arm mechanism (3) and the middle luffing mechanism (11) on middle arm mechanism (2).
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| CN201520035509.XU CN204333773U (en) | 2015-01-19 | 2015-01-19 | Three arm combined type inspection robot mechanisms |
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| CN201520035509.XU CN204333773U (en) | 2015-01-19 | 2015-01-19 | Three arm combined type inspection robot mechanisms |
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- 2015-01-19 CN CN201520035509.XU patent/CN204333773U/en not_active Expired - Fee Related
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| CN105870832A (en) * | 2015-01-19 | 2016-08-17 | 国家电网公司 | Three-arm composite inspection robot mechanism |
| CN105870832B (en) * | 2015-01-19 | 2017-12-15 | 国家电网公司 | A kind of three arm combined type inspection robot mechanisms |
| CN105287209A (en) * | 2015-10-13 | 2016-02-03 | 深圳市桑谷医疗机器人有限公司 | Mother liquid bottle clamping and rotating device |
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| CN105490209A (en) * | 2016-01-11 | 2016-04-13 | 国家电网公司 | Robot for power transmission line inspection |
| CN107134738A (en) * | 2016-02-26 | 2017-09-05 | 中国科学院沈阳自动化研究所 | One kind is stranded to study for a second time courses one has flunked robot mechanism |
| CN107134738B (en) * | 2016-02-26 | 2018-12-07 | 中国科学院沈阳自动化研究所 | One kind is stranded to study for a second time courses one has flunked robot mechanism |
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