CN205212335U - Transmission line patrols and examines running gear of robot - Google Patents
Transmission line patrols and examines running gear of robot Download PDFInfo
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- CN205212335U CN205212335U CN201521071475.6U CN201521071475U CN205212335U CN 205212335 U CN205212335 U CN 205212335U CN 201521071475 U CN201521071475 U CN 201521071475U CN 205212335 U CN205212335 U CN 205212335U
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Abstract
The utility model belongs to the transmission line equipment of patrolling and examining, specifically speaking are transmission line patrols and examines running gear of robot. Including base, support, subdivision wheel, subdivision drive arrangement, walking drive arrangement, left connecting plate and right connecting plate, wherein the support sets up on the base, subdivision drive arrangement sets up and is connected on the support and with left connecting plate and right connecting plate, left side connecting plate and right connecting plate pass through subdivision drive arrangement's drive and remove to opposite direction, the subdivision wheel sets up in the tip of left connecting plate and right connecting plate, travel driving unit sets up and is connected on left connecting plate or right connecting plate and with the subdivision wheel. The utility model discloses reaching the standard grade at the dissection wheel and closing up the back, running gear forms a confined spatial structure, and overhead earth wire can prevent the off -line of walking wheel or transmission line robot within lieing in the enclosure space.
Description
Technical field
The utility model belongs to polling transmission line equipment, specifically a kind of transmission line polling robot running gear.
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 communication and inspection instrument 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.Composite moving mechanism want can realize ultra high-tension transmission line crusing robot stablize, reliably walk, can ensure to the gold utensil such as aluminium hydraulic pressed connecting pipe, stockbridge damper by performance, the safety that can ensure circuit and crusing robot self.Complex structure, the weight of current power transmission route inspecting robot composite moving mechanism are large, across obstacle process is complicated, wayward.
Utility model content
For the problems referred to above, the purpose of this utility model is to provide a kind of transmission line polling robot running gear.This device can meet in a gear or travel mechanism's requirement of Work robot in crusing robot and a gear in multistage linear shaft tower, obstacle detouring process is simple, effectively, the high feature of fail safe, robot ambulation and job requirements can be met.
To achieve these goals, the utility model is by the following technical solutions:
A kind of transmission line polling robot running gear, comprise pedestal, support, subdivision wheel, subdivision drive unit, travel driving unit, left connecting plate and right connecting plate, wherein Bracket setting is on pedestal, described subdivision drive unit to be arranged on support and to be connected with described left connecting plate and right connecting plate, and described left connecting plate and right connecting plate are moved round about by the driving of subdivision drive unit; Described subdivision wheel is arranged at the end of described left connecting plate and right connecting plate, and described travel driving unit is arranged to take turns on described left connecting plate or right connecting plate and with described subdivision and is connected.
Described subdivision wheel comprises left half wheel, right half wheel, left support axle, right support axle and positioning connection structure, wherein one end of left support axle and right support axle is installed in rotation on described left connecting plate and right connecting plate respectively, described left support axle is corresponding with the other end of right support axle, and be respectively equipped with left half wheel and right half wheel, the end face of a described left side half wheel and right half wheel is provided with the positioning connection structure matched, by described positioning connection structure by a described left side half wheel and right half wheel circumference location, described left support axle or right support axle and described travel driving unit are in transmission connection.
Described positioning connection structure comprises the connection pin being arranged at left half wheel or right half wheel end face, and the end face of the described right side half wheel or left half wheel is provided with the location hole corresponding with connecting pin; On a described left side half wheel and right half wheel near time, described connection pin coordinates with location hole grafting.
Described left support axle and described travel driving unit are in transmission connection, and the end face outside of the described right side half wheel is provided with partly takes turns detent mechanism for what prevent right half wheel shift in position.
Described half wheel detent mechanism comprises location iron hoop and magnetic column, wherein locates the outside wheel face that iron hoop is arranged at the described right side half wheel, and described magnetic column to be arranged on right connecting plate and corresponding with location iron hoop.
The axis collinear of described left support axle and right support axle.
Described travel driving unit comprises travel driving motor, driving pulley, driven pulley and Timing Belt, wherein travel driving motor to be arranged on described left connecting plate or right connecting plate and output shaft is connected with driving pulley, and described driven pulley to be arranged on described left support axle or right support axle and to be connected with driving pulley by Timing Belt.
Described subdivision drive unit comprises subdivision drive motors, leading screw, guide rail and screw, wherein leading screw is installed in rotation on support and end and is connected with the output shaft of rack-mount subdivision drive motors, described leading screw is provided with the contrary screw thread of two sections of rotation directions, described guide rail and leading screw are abreast on mounting bracket, described left connecting plate and right connecting plate are respectively by two screws and contrary being threaded of section rotation direction of two on leading screw, and described left connecting plate is connected with slide respectively by two guide pin bushings with right connecting plate.
Described guide rail is two and is symmetricly set in the both sides of leading screw respectively.
Described left connecting plate is all vertical with guide rail with right connecting plate.
Advantage of the present utility model and beneficial effect are:
1. the utility model walking mechanism obstacle detouring flow process is simple.Walking mechanism of the present utility model is when carrying out obstacle detouring, only need after running into obstacle, mechanism carries out folding, just obstacle detouring can be realized, be positioned at power transmission line overhead ground wire bottom barrier for stockbridge damper etc., the distance that namely only need increase subdivision mechanism increases between road wheel and subdivision guider in the size of short transverse just can realize;
2. the utility model fail safe is high.Walking mechanism of the present utility model, after subdivision wheel is reached the standard grade and closed up, walking mechanism forms a closed space structure, and overhead ground wire is positioned within enclosure space, can prevent the off-line of road wheel or transmission power line robot;
3. the utility model obstacle climbing ability is strong, and after the distance wheel completing road wheel size design and guider highly designs, this utility model can adapt to multiple transmission line and circuitry obstacle thing;
4. the utility model applied range.The utility model can be widely used in the caster device of polling transmission line and Work robot.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the structural representation of travel driving unit and subdivision wheel in the utility model.
Fig. 3 is the structural representation of subdivision drive unit in the utility model.
Wherein, 1 is pedestal, and 2 is support, 3 is subdivision wheel, and 31 is left half wheel, and 32 is right half wheel, 33 is left support axle, and 34 is right support axle, and 35 for connecting pin, 36 is pin cover plate, and 37 is location iron hoop, and 38 is magnetic column, 39 is location hole, and 4 is subdivision drive unit, and 41 is subdivision drive motors, 42 is leading screw, and 43 is guide rail, and 44 is screw, 45 is guide pin bushing, 5 is travel driving unit, and 51 is travel driving motor, and 52 is driving pulley, 53 is driven pulley, 54 is Timing Belt, and 6 is left connecting plate, and 7 is right connecting plate.
Embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail.
As shown in Figure 1, a kind of transmission line polling robot running gear that the utility model provides, comprise pedestal 1, support 2, subdivision wheel 3, subdivision drive unit 4, travel driving unit 5, left connecting plate 6 and right connecting plate 7, its medium-height trestle 2 is arranged on pedestal 1, described subdivision drive unit 4 to be arranged on support 2 and to be connected with described left connecting plate 6 and right connecting plate 7, and described left connecting plate 6 and right connecting plate 7 are moved round about by the driving of subdivision drive unit 4; Described subdivision wheel 3 is arranged at the end of described left connecting plate 6 and right connecting plate 7, and described travel driving unit 5 to be arranged on described left connecting plate 6 or right connecting plate 7 and to take turns 3 with described subdivision and is connected.
As shown in Figure 2, described subdivision wheel 3 comprises left half wheel 31, right half wheel 32, left support axle 33, right support axle 34 and positioning connection structure, wherein one end of left support axle 33 and right support axle 34 is installed in rotation on described left connecting plate 6 and right connecting plate 7 respectively by bearing, described left support axle 33 is corresponding with the other end of right support axle 34 and be respectively equipped with left half wheel 31 and right half wheel 32, a described left side half wheel 31 is supported by left support axle 33, and the described right side half wheel 32 is supported by right support axle 34.A described left side half wheel 31 and the right partly end face that wheel 32 is corresponding are provided with the positioning connection structure matched, by described positioning connection structure by a described left side half wheel 31 and right half wheel 32 circumference location, described left support axle 33 or right support axle 34 are in transmission connection with described travel driving unit 5.The axis collinear of described left support axle 33 and right support axle 34.
Described positioning connection structure comprises the connection pin 35 being arranged at left half wheel 31 or right half wheel 32 end faces, and the end face of the described right side half wheel 32 or left half wheel 31 is provided with the location hole 39 corresponding with connecting pin 35; On a described left side half wheel 31 and right half wheel 32 near time, described connection pin 35 coordinates with location hole 39 grafting.In the present embodiment, the end face of a described left side half wheel 31 is circumferentially evenly equipped with three and connects pin 35, and the end face of the described right side half wheel 32 is provided with three location holes 39 corresponding with connecting pin 35.
Described left support axle 33 and described travel driving unit 5 are in transmission connection, and the end face outside of the described right side half wheel 32 is provided with partly takes turns detent mechanism for what prevent right half wheel 32 shift in position.
Described half wheel detent mechanism comprises location iron hoop 37 and magnetic column 38, wherein locates the outside wheel face that iron hoop 37 is arranged at the described right side half wheel 32, and described magnetic column 38 to be arranged on right connecting plate 7 and corresponding with location iron hoop 37.Subdivision wheel 3 open carry out obstacle detouring or in line process, in order to ensure right half wheel 32 invariant positions, location iron hoop 37 provides location suction for the magnetic column 38 be arranged on right connecting plate 7.
Described travel driving unit 5 comprises travel driving motor 51, driving pulley 52, driven pulley 53 and Timing Belt 54, wherein travel driving motor 51 to be arranged on described left connecting plate 6 or right connecting plate 7 and output shaft is connected with driving pulley 52, and described driven pulley 53 to be arranged on described left support axle 33 or right support axle 34 and to be connected with driving pulley 52 by Timing Belt 54.In the present embodiment, described travel driving motor 51 is arranged on described left connecting plate 6, and described driven pulley 53 is arranged on described left support axle 33.
During mechanism's walking, travel driving motor 51 drives driving pulley 52 to rotate, and drives driven pulley 53 to rotate by Timing Belt 54, thus drives subdivision wheel 3 to advance along transmission line rolling.
As shown in Figure 3, described subdivision drive unit 4 comprises subdivision drive motors 41, leading screw 42, guide rail 43 and screw 44, wherein the two ends of leading screw 42 are installed in rotation on support 2 and end, one end by bearing and are connected with the output shaft of the subdivision drive motors 41 be arranged on support 2, and described leading screw 42 is provided with the contrary screw thread of two sections of rotation directions.Described guide rail 43 is with on leading screw 42 abreast mounting bracket 2, described left connecting plate 6 and right connecting plate 7 are respectively by two screws 44 and contrary being threaded of section rotation direction of two on leading screw 42, described left connecting plate 6 and right connecting plate 7 are slidably connected respectively by two guide pin bushings 45 and guide rail 43, and described guide rail 43 is two and is symmetricly set in the both sides of leading screw 42 respectively.Described left connecting plate 6 is all vertical with guide rail 43 with right connecting plate 7.
Described screw 44 is under leading screw 42 rotating drive, left connecting plate 6 and right connecting plate 7 is driven to slide along guide rail 43, left connecting plate 6 and right connecting plate 7 are under the effect of two cover guide rails 43, and its rectilinear motion be confined to along guide rail 43 that moves, finally for subdivision wheel 3 provides open and close movement.
Operation principle of the present utility model is:
Described pedestal 1 is the connection basis of whole device, can realize the connection with transmission power line robot, for the walking of transmission power line robot; Support 2, as the support of whole mechanism and coupling part, connects subdivision drive unit 5; Subdivision wheel 3 comprises left and right two and half wheel parts, and left half wheel 31 drives walking by travel driving unit, and left and right two and half is taken turns and is arranged on respectively and along in opposite directions or on the left and right connecting plates of contrary movement of guider, can realizes folding by subdivision drive unit 5.Walking mechanism of the present utility model, after subdivision wheel 3 is reached the standard grade and closed up, walking mechanism forms a closed space structure, and overhead ground wire is positioned within enclosure space, can prevent the off-line of road wheel or transmission power line robot.
Walking mechanism of the present utility model is when carrying out obstacle detouring, only need after running into obstacle, mechanism carries out folding, just obstacle detouring can be realized, be positioned at power transmission line overhead ground wire bottom barrier for stockbridge damper etc., the distance that namely only need increase subdivision mechanism increases between road wheel and subdivision guider in the size of short transverse just can realize.
Claims (10)
1. a transmission line polling robot running gear, it is characterized in that, comprise pedestal (1), support (2), subdivision wheel (3), subdivision drive unit (4), travel driving unit (5), left connecting plate (6) and right connecting plate (7), its medium-height trestle (2) is arranged on pedestal (1), described subdivision drive unit (4) is arranged on support (2), and be connected with described left connecting plate (6) and right connecting plate (7), described left connecting plate (6) and right connecting plate (7) are moved round about by the driving of subdivision drive unit (4), described subdivision wheel (3) is arranged at the end of described left connecting plate (6) and right connecting plate (7), and described travel driving unit (5) is arranged at described left connecting plate (6) or right connecting plate (7) and goes up and take turns (3) with described subdivision and be connected.
2. transmission line polling robot running gear according to claim 1, it is characterized in that, described subdivision wheel (3) comprises left half wheel (31), right half wheel (32), left support axle (33), right support axle (34) and positioning connection structure, wherein one end of left support axle (33) and right support axle (34) is installed in rotation on described left connecting plate (6) and right connecting plate (7) respectively, described left support axle (33) is corresponding with the other end of right support axle (34), and be respectively equipped with left half wheel (31) and right half wheel (32), the end face of a described left side half wheel (31) and right half wheel (32) is provided with the positioning connection structure matched, by described positioning connection structure by a described left side half wheel (31) and right half wheel (32) circumference location, described left support axle (33) or right support axle (34) are in transmission connection with described travel driving unit (5).
3. transmission line polling robot running gear according to claim 2, it is characterized in that, described positioning connection structure comprises the connection pin (35) being arranged at left half wheel (31) or right half wheel (32) end face, and the end face of the described right side half wheel (32) or left half wheel (31) is provided with the location hole (39) corresponding with connecting pin (35); On a described left side half wheel (31) and right half wheel (32) close time, described connection pin (35) coordinates with location hole (39) grafting.
4. transmission line polling robot running gear according to claim 2, it is characterized in that, described left support axle (33) and described travel driving unit (5) are in transmission connection, and the end face outside of the described right side half wheel (32) is provided with partly takes turns detent mechanism for what prevent right half wheel (32) shift in position.
5. transmission line polling robot running gear according to claim 4, it is characterized in that, described half wheel detent mechanism comprises location iron hoop (37) and magnetic column (38), wherein locate the outside wheel face that iron hoop (37) is arranged at the described right side half wheel (32), it is upper and corresponding with location iron hoop (37) that described magnetic column (38) is arranged at right connecting plate (7).
6. transmission line polling robot running gear according to claim 2, is characterized in that, the axis collinear of described left support axle (33) and right support axle (34).
7. transmission line polling robot running gear according to claim 2, it is characterized in that, described travel driving unit (5) comprises travel driving motor (51), driving pulley (52), driven pulley (53) and Timing Belt (54), wherein travel driving motor (51) is arranged on described left connecting plate (6) or right connecting plate (7), and output shaft is connected with driving pulley (52), described driven pulley (53) is arranged on described left support axle (33) or right support axle (34), and be connected with driving pulley (52) by Timing Belt (54).
8. the transmission line polling robot running gear according to any one of claim 1-7, it is characterized in that, described subdivision drive unit (4) comprises subdivision drive motors (41), leading screw (42), guide rail (43) and screw (44), wherein leading screw (42) is installed in rotation on support (2), and end is connected with the output shaft of the subdivision drive motors (41) be arranged on support (2), described leading screw (42) is provided with the contrary screw thread of two sections of rotation directions, described guide rail (43) and leading screw (42) are abreast on mounting bracket (2), described left connecting plate (6) and right connecting plate (7) are respectively by two screws (44) and two sections of contrary being threaded of rotation direction on leading screw (42), described left connecting plate (6) and right connecting plate (7) are slidably connected respectively by two guide pin bushings (45) and guide rail (43).
9. transmission line polling robot running gear according to claim 8, is characterized in that, described guide rail (43) is two and is symmetricly set in the both sides of leading screw (42) respectively.
10. transmission line polling robot running gear according to claim 8, is characterized in that, described left connecting plate (6) and right connecting plate (7) are all vertical with guide rail (43).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521071475.6U CN205212335U (en) | 2015-12-18 | 2015-12-18 | Transmission line patrols and examines running gear of robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521071475.6U CN205212335U (en) | 2015-12-18 | 2015-12-18 | Transmission line patrols and examines running gear of robot |
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| CN205212335U true CN205212335U (en) | 2016-05-04 |
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| CN201521071475.6U Active CN205212335U (en) | 2015-12-18 | 2015-12-18 | Transmission line patrols and examines running gear of robot |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105846348A (en) * | 2016-05-12 | 2016-08-10 | 济南舜风科技有限公司 | Travelling mechanism, line patrol robot mechanical structure and obstacle surmounting method therefor |
| CN106272466A (en) * | 2016-09-15 | 2017-01-04 | 周珍芳 | High-voltage line climbing robot based on transfer arm obstacle detouring |
| CN107878590A (en) * | 2017-12-14 | 2018-04-06 | 国网山东省电力公司龙口市供电公司 | A kind of running gear of transmission line polling robot |
| CN109950829A (en) * | 2019-04-01 | 2019-06-28 | 国网河南省电力公司内乡县供电公司 | A kind of transmission line polling robot based on unmanned aerial vehicle platform |
| CN110002260A (en) * | 2019-04-24 | 2019-07-12 | 无锡联洋玻纤科技有限公司 | Full-automatic upcoiler |
| CN111216092A (en) * | 2020-01-09 | 2020-06-02 | 江西小马机器人有限公司 | Composite wheel type hanging rail inspection robot |
| CN111730611A (en) * | 2020-05-20 | 2020-10-02 | 南通大学 | Mechanical structure of high-voltage transmission line inspection robot |
| CN111900676A (en) * | 2020-08-08 | 2020-11-06 | 吴敬乐 | Transmission line outer sheath inspection repairing device and using method thereof |
| CN112165029A (en) * | 2020-10-20 | 2021-01-01 | 云南电网有限责任公司怒江供电局 | Overhead transmission conductor inspection obstacle crossing robot and obstacle crossing method thereof |
| CN112886471A (en) * | 2021-03-15 | 2021-06-01 | 国家电网有限公司 | High-voltage line inspection robot |
| CN115241801A (en) * | 2022-08-17 | 2022-10-25 | 云南电网有限责任公司电力科学研究院 | Distribution network line walking device and interphase spacer mounting device |
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2015
- 2015-12-18 CN CN201521071475.6U patent/CN205212335U/en active Active
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105846348A (en) * | 2016-05-12 | 2016-08-10 | 济南舜风科技有限公司 | Travelling mechanism, line patrol robot mechanical structure and obstacle surmounting method therefor |
| CN106272466A (en) * | 2016-09-15 | 2017-01-04 | 周珍芳 | High-voltage line climbing robot based on transfer arm obstacle detouring |
| CN107878590A (en) * | 2017-12-14 | 2018-04-06 | 国网山东省电力公司龙口市供电公司 | A kind of running gear of transmission line polling robot |
| CN107878590B (en) * | 2017-12-14 | 2023-10-20 | 国网山东省电力公司龙口市供电公司 | Running gear of transmission line inspection robot |
| CN109950829B (en) * | 2019-04-01 | 2020-07-31 | 国网河南省电力公司内乡县供电公司 | Transmission line inspection robot based on unmanned aerial vehicle platform |
| CN109950829A (en) * | 2019-04-01 | 2019-06-28 | 国网河南省电力公司内乡县供电公司 | A kind of transmission line polling robot based on unmanned aerial vehicle platform |
| CN110002260A (en) * | 2019-04-24 | 2019-07-12 | 无锡联洋玻纤科技有限公司 | Full-automatic upcoiler |
| CN111216092A (en) * | 2020-01-09 | 2020-06-02 | 江西小马机器人有限公司 | Composite wheel type hanging rail inspection robot |
| CN111730611A (en) * | 2020-05-20 | 2020-10-02 | 南通大学 | Mechanical structure of high-voltage transmission line inspection robot |
| CN111900676A (en) * | 2020-08-08 | 2020-11-06 | 吴敬乐 | Transmission line outer sheath inspection repairing device and using method thereof |
| CN112165029A (en) * | 2020-10-20 | 2021-01-01 | 云南电网有限责任公司怒江供电局 | Overhead transmission conductor inspection obstacle crossing robot and obstacle crossing method thereof |
| CN112886471A (en) * | 2021-03-15 | 2021-06-01 | 国家电网有限公司 | High-voltage line inspection robot |
| CN115241801A (en) * | 2022-08-17 | 2022-10-25 | 云南电网有限责任公司电力科学研究院 | Distribution network line walking device and interphase spacer mounting device |
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