CN205219097U - Live working robot and remove chassis device thereof - Google Patents
Live working robot and remove chassis device thereof Download PDFInfo
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- CN205219097U CN205219097U CN201520981786.XU CN201520981786U CN205219097U CN 205219097 U CN205219097 U CN 205219097U CN 201520981786 U CN201520981786 U CN 201520981786U CN 205219097 U CN205219097 U CN 205219097U
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- underframe
- levelling
- chassis device
- mobile chassis
- hot line
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- 230000033001 locomotion Effects 0.000 claims description 8
- 238000000034 method Methods 0.000 description 7
- 239000003638 chemical reducing agent Substances 0.000 description 5
- 230000001276 controlling effect Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 239000002253 acid Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Abstract
The utility model discloses a live working robot and remove chassis device thereof, the removal chassis device of live working robot includes: the directive wheel of chassis front end is located to the chassis, locates the drive wheel of chassis rear end, and the homoenergetic is enough along the flexible preceding levelling mechanism and back levelling mechanism of vertical direction, wherein, preceding levelling mechanism is fixed in the front end of chassis, and the rear end of chassis is located to back levelling mechanism. The utility model discloses a removal chassis device of live working robot has then realized directly carrying out the regulation of vertical orientation through preceding levelling mechanism and back levelling mechanism, and the horizontal direction of going advanced than prior art is adjusted and is carried out vertical orientation again and adjust and compare, can effectively reduce the area after the leveling of the whole chassis device of removal, area when then having reduced live working robot operation, simultaneously, realize the leveling through the regulation of only carrying out vertical direction, reduced the regulation direction to reduce the leveling time, improved leveling efficiency.
Description
Technical field
The utility model relates to livewire work technical field, more particularly, relates to a kind of hot line robot and mobile chassis device thereof.
Background technology
Along with expanding economy, the raising of quality of life, what require power supply continued reliability improves constantly, and requires that distribution network realizes uninterrupted transmission of electricity.In distribution network, electrical equipment needs frequent test, inspection and maintenance in longtime running.Livewire work avoids maintenance to have a power failure, and ensures the effective measures of normal power supply.
Particularly, livewire work is a kind of operational method of carrying out overhauling, testing that do not have a power failure on high voltage electric equipment.The content of livewire work can be divided into several aspects such as live testing, on-line checking method and power-on serving.The object of livewire work comprises overhead transmission line, distribution line and controller switching equipment etc.
The danger of livewire work and labour intensity are comparatively large, and artificial livewire work exists certain difficulty and limitation.In order to solve the problem, have developed hot line robot.But hot line robot has requirement to ground flat degree during operation.In order to improve the scope of application of hot line robot, in the mobile chassis device of hot line robot, setting up levelling gear, regulated the levelness of whole hot line robot by levelling gear.
At present, levelling gear mainly comprises: the first flexible in the horizontal direction telescoping mechanism, the second vertically flexible telescoping mechanism, wherein, the first telescoping mechanism is located at the left and right sides of the underframe of mobile chassis device, and the second telescoping mechanism is located on the first telescoping mechanism.Leveling method is: first control the first telescoping mechanism and stretch out underframe in the horizontal direction, then controls the second telescoping mechanism and vertically stretches out or shrink, realize leveling.
But above-mentioned leveling needs the first telescoping mechanism and the second telescoping mechanism to coordinate realization, and after causing leveling, whole levelling gear floor space is comparatively large, and floor space during whole hot line robot operation is larger.
In addition, above-mentioned leveling, need first to regulate the first telescoping mechanism at adjustment second telescoping mechanism, cause the leveling time longer, leveling efficiency is lower.
In sum, how leveling hot line robot, to reduce floor space during hot line robot operation, is current those skilled in the art's problem demanding prompt solution.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of mobile chassis device of hot line robot, to reduce floor space during hot line robot operation.Another object of the present utility model is to provide a kind of hot line robot with above-mentioned mobile chassis device.
In order to achieve the above object, the utility model provides following technical scheme:
A mobile chassis device for hot line robot, comprising: underframe, is located at the deflecting roller of described underframe front end, is located at the driving wheel of described underframe rear end, the front levelling gear that all can vertically stretch and rear levelling gear; Wherein, described front levelling gear is fixed on the front end of described underframe, and described rear levelling gear is located at the rear end of described underframe.
Preferably, described front governor motion and described rear levelling gear are two, and two described front levelling gears are symmetrical about the symmetrical center line of two described deflecting rollers, and two described rear levelling gears are symmetrical about the symmetrical center line of two described driving wheels.
Preferably, described front levelling gear comprises: front levelling shoe, is connected and the front wheel driving parts driving described front levelling shoe vertically to move back and forth, is fixed on the front supporting plate on described underframe with described front levelling shoe; Wherein, described front wheel driving parts are fixed on described front supporting plate, and described front levelling shoe is positioned at the front end of described deflecting roller, and one end that described front supporting plate is connected with described underframe is between described underframe and described deflecting roller;
Described rear levelling gear comprises: rear levelling shoe, is connected and the rear drive parts driving described rear levelling shoe vertically to move back and forth, is fixed on the rear carrier plate on described underframe with described rear levelling shoe; Wherein, described rear drive parts are fixed on described rear carrier plate, and described rear levelling shoe is positioned at the rear end of described driving wheel, and one end that described rear carrier plate is connected with described underframe is between described underframe and described driving wheel.
Preferably, the mobile chassis device of above-mentioned hot line robot also comprises:
To described front levelling shoe lead leading to shell, be describedly leadingly fixed on described front supporting plate to shell, described front wheel driving parts are positioned at described leading to shell, and described front wheel driving parts are leadingly fixed on described underframe to shell by described;
To the rear guiding shell that described rear levelling shoe leads, described rear guiding shell is fixed on described rear carrier plate, and described rear drive parts are positioned at described rear guiding shell, and described rear drive parts are fixed on described underframe by described rear guiding shell.
Preferably, described front wheel driving parts are hydraulic cylinder or cylinder, and described rear drive parts are hydraulic cylinder or cylinder.
Preferably, drive the underframe driver part of described underframe movement to be linear electric motors, described linear electric motors are connected with described driving wheel by reducing gear.
Preferably, the mobile chassis device of above-mentioned hot line robot also comprises the battery system of powering to described linear electric motors.
Preferably, described battery system is located at the both sides of described underframe.
Preferably, described battery system is battery system.
Based on the mobile chassis device of the above-mentioned hot line robot provided, the utility model additionally provides a kind of hot line robot, this hot line robot comprises: mobile chassis device, and described mobile chassis device is the mobile chassis device of the hot line robot described in above-mentioned any one.
The leveling method of the mobile chassis device of the hot line robot that the utility model provides is: before controlling, levelling gear vertically stretches out, and after controlling, levelling gear vertically stretches out, until the levelness of whole mobile chassis device meets the demands.
The mobile chassis device of the hot line robot that the utility model provides, levelling gear before the front end of underframe is arranged, levelling gear after the rear end of underframe is arranged, for the leveling directly carrying out vertical direction provides prerequisite; Front levelling gear and rear levelling gear all can vertically stretch simultaneously, then achieve the adjustment directly being carried out vertical direction by front levelling gear and rear levelling gear, comparatively prior art carry out horizontal direction regulate carry out again vertical direction regulate compare, the floor space after the leveling of whole mobile chassis device can be effectively reduced, thus floor space when reducing hot line robot operation; Meanwhile, realize leveling by the adjustment only carrying out vertical direction, decrease leveling direction, thus decrease the leveling time, improve leveling efficiency.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiment of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to the accompanying drawing provided.
The structural representation of the mobile chassis device of the hot line robot that Fig. 1 provides for the utility model embodiment.
In upper Fig. 1:
1 be rear levelling shoe, 2 be driving wheel, 3 be underframe, 4 be rotary reducer, 5 be battery system, 6 be deflecting roller, 7 be front levelling shoe, 8 be steering mechanism, 9 be front supporting plate, 10 for leading to shell, 11 be rear guiding shell, 12 for rear carrier plate.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
The mobile chassis device of the hot line robot that the utility model embodiment provides, comprising: underframe 3, is located at the deflecting roller 6 of underframe 3 front end, is located at the driving wheel 2 of underframe 3 rear end, the front levelling gear that all can vertically stretch and rear levelling gear; Wherein, front levelling gear is fixed on the front end of underframe 3, and rear levelling gear is located at the rear end of underframe 3.
The leveling method of the mobile chassis device of the hot line robot that the utility model embodiment provides is: before controlling, levelling gear vertically stretches out, after controlling, levelling gear vertically stretches out, until the levelness of whole mobile chassis device meets the demands.
The mobile chassis device of the hot line robot that the utility model embodiment provides, levelling gear before the front end of underframe 3 is arranged, levelling gear after the rear end of underframe 3 is arranged, for the leveling directly carrying out vertical direction provides prerequisite; Front levelling gear and rear levelling gear all can vertically stretch simultaneously, then achieve the adjustment directly being carried out vertical direction by front levelling gear and rear levelling gear, comparatively prior art carry out horizontal direction regulate carry out again vertical direction regulate compare, the floor space after the leveling of whole mobile chassis device can be effectively reduced, thus floor space when reducing hot line robot operation; Meanwhile, realize leveling by the adjustment only carrying out vertical direction, decrease leveling direction, thus decrease the leveling time, improve leveling efficiency.
In order to improve levelling effect, above-mentioned front governor motion and rear levelling gear are two, and two front levelling gears are symmetrical about the symmetrical center line of two deflecting rollers 6, and after two, levelling gear is symmetrical about the symmetrical center line of two driving wheels 2.Certainly, front governor motion and rear levelling gear also can be selected to be one or be three etc., the number also can selecting front governor motion and rear levelling gear not etc., is not limited to above-described embodiment.
In the mobile chassis device of above-mentioned hot line robot, there are how many structures in front levelling gear and rear levelling gear, such as, include screw structure, motor drives the nut of screw mechanism to rotate, and the nut of screw mechanism is axially fixed along it, leading screw is connected with underframe 3, and the axis of leading screw is vertical direction.Like this, along with motor drive nut rotates, leading screw vertically moves, and realizes leveling.Certainly, also other structures can be selected.
In order to reduce costs, before prioritizing selection, levelling gear comprises: front levelling shoe 7, is connected and the front wheel driving parts driving front levelling shoe 7 vertically to move back and forth, is fixed on the front supporting plate 9 on underframe 3 with front levelling shoe 7; Wherein, front wheel driving parts are fixed on front supporting plate 9.Correspondingly, rear levelling gear comprises: rear levelling shoe 1, is connected and the rear drive parts driving rear levelling shoe 1 vertically to move back and forth, is fixed on the rear carrier plate 12 on underframe 3 with rear levelling shoe 1; Wherein, rear drive parts are fixed on rear carrier plate 12.
In order to effectively reduce floor space, before prioritizing selection, levelling shoe 7 is positioned at the front end of deflecting roller 6, and one end that front supporting plate 7 is connected with underframe 3 is between underframe 3 and deflecting roller 6.Rear levelling shoe 1 is positioned at the rear end of driving wheel 2, and one end that rear carrier plate 12 is connected with underframe 3 is between underframe 3 and driving wheel 2.Like this, the width of whole mobile chassis device can be effectively reduced, thus reduce floor space.
Further, the outside of a front levelling shoe 7 equals the distance of outside to the outside of another deflecting roller 6 of a deflecting roller 6 to the distance in the outside of another front levelling shoe 7; After one, the outside of levelling shoe 1 equals the distance of outside to the outside of another driving wheel 2 of a driving wheel 2 to the distance in the outside of levelling shoe 1 after another.Obviously, arrange like this, do not increase the width of whole mobile chassis device, farthest decrease floor space.
It should be noted that, be designated as the width of mobile chassis device with the axis of deflecting roller 6.The axis of driving wheel 2 is identical with the axis of deflecting roller 6.Front levelling shoe 7 is outside away from the side of underframe 3, and deflecting roller 6 is outside away from the side of underframe 3, and driving wheel 2 is outside away from the side of underframe 3.
In order to improve levelling effect, the bottom of front levelling shoe 7 is provided with front support flat board, and the area of front support flat board is greater than the base area of front levelling shoe 7; The bottom of rear levelling shoe 1 is provided with rear support flat board, and the area of rear support flat board is greater than the base area of rear levelling shoe 1.Now, the outside of a front support flat board can be selected to equal the distance of outside to the outside of another deflecting roller 6 of a deflecting roller 6 to the distance in the outside of another front support flat board; The outside of a rear support flat board equals the distance of outside to the outside of another driving wheel 2 of a driving wheel 2 to the distance in the outside of another rear support flat board.
In order to avoid front levelling shoe 7 and the mobile of rear levelling shoe 1 offset, the mobile chassis device of above-mentioned hot line robot also comprises: to front levelling shoe 7 lead leading to shell 10, this is leading is fixed on front supporting plate 9 to shell 10; To the rear guiding shell 11 that rear levelling shoe 1 leads, this rear guiding shell 11 is fixed on rear carrier plate 12.Be understandable that, front levelling shoe 7 part is positioned at leading to shell 10, and rear levelling shoe 1 part is positioned at rear guiding shell 11.
Further, front wheel driving parts are positioned at leading to shell 10, and front wheel driving parts are fixed on underframe 3 by leading to shell 10; Rear drive parts are positioned at rear guiding shell 11, and rear drive parts are fixed on underframe 3 by rear guiding shell 11.Like this, leadingly achieve protection to front wheel driving parts to shell 10, rear guiding shell 11 achieves the protection to rear drive parts, reduces later maintenance cost, also extends the service life of front wheel driving parts and rear drive parts.
Preferably, front wheel driving parts are hydraulic cylinder or cylinder, and rear drive parts are hydraulic cylinder or cylinder.Certainly, front wheel driving parts and rear drive parts also can be selected to be other driver parts, such as linear electric motors etc.The utility model embodiment does not limit this.
In the mobile chassis device of above-mentioned electric Work robot, underframe driver part is connected with driving wheel 2 by reductor, realizes the driving to driving wheel 2.In order to simplify structure, prioritizing selection drives the underframe driver part of underframe 3 movement to be linear electric motors, and these linear electric motors are connected with driving wheel 2 by reducing gear.Further, the mobile chassis device of above-mentioned hot line robot also comprises the battery system 5 of powering to linear electric motors.Like this, the volume of whole drive system can be reduced, thus reduce floor space.
In order to reduce floor space further, prioritizing selection battery system 5 is located at the both sides of underframe 3.Like this, effectively can reduce width and the length of whole mobile chassis device, thus reduce floor space.Certainly, also can select other positions battery system 5 being located at underframe 3, be not limited to above-described embodiment.
In order to reduce costs, prioritizing selection battery system 5 is battery system.Further, battery system 5 is lead-acid storage battery system.In actual application, can select number of battery cells as required, such as, battery system 5 can be selected to be 8 groups of 6V lead-acid accumulators, adopt external high-quality battery, power reliable and stable, charging is rapid, cruising time long (work 6h, standby 8h).
In the mobile chassis device of above-mentioned hot line robot, rotating mechanism comprises: turn round driver part, rotary reducer 4, turn to push rod and deflecting roller 6, and wherein, revolution driver part is connected with rotary reducer 4, rotary reducer 4 is connected with turning to push rod, turns to push rod to be connected with deflecting roller 6.
In actual application, rotary reducer 4 can be selected to be a high accuracy reductor, for workbench portion revolution provides reliable, stable output.
Based on the mobile chassis device of the hot line robot that above-described embodiment provides, the utility model embodiment still provides a kind of hot line robot, this hot line robot comprises: mobile chassis device, the mobile chassis device that this mobile chassis device is the hot line robot described in above-described embodiment.
Because the mobile chassis device of above-mentioned hot line robot has above-mentioned technique effect, the hot line robot that the utility model embodiment provides has the mobile chassis device of above-mentioned hot line robot, the hot line robot that then the utility model embodiment provides also has corresponding technique effect, repeats no more herein.
To the above-mentioned explanation of the disclosed embodiments, those skilled in the art are realized or uses the utility model.To be apparent for a person skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein when not departing from spirit or scope of the present utility model, can realize in other embodiments.Therefore, the utility model can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (10)
1. the mobile chassis device of a hot line robot, comprise: underframe (3), be located at the deflecting roller (6) of described underframe (3) front end, be located at the driving wheel (2) of described underframe (3) rear end, it is characterized in that, also comprise: the front levelling gear that all can vertically stretch and rear levelling gear, described front levelling gear is fixed on the front end of described underframe (3), and described rear levelling gear is located at the rear end of described underframe (3).
2. the mobile chassis device of hot line robot according to claim 1, it is characterized in that, described front governor motion and described rear levelling gear are two, and two described front levelling gears are symmetrical about the symmetrical center line of two described deflecting rollers (6), two described rear levelling gears are symmetrical about the symmetrical center line of two described driving wheels (2).
3. the mobile chassis device of hot line robot according to claim 2, is characterized in that,
Described front levelling gear comprises: front levelling shoe (7), be connected with described front levelling shoe (7) and the front wheel driving parts driving described front levelling shoe (7) vertically to move back and forth, be fixed on the front supporting plate (9) on described underframe (3); Wherein, described front wheel driving parts are fixed on described front supporting plate (9), described front levelling shoe (7) is positioned at the front end of described deflecting roller (6), and one end that described front supporting plate (9) is connected with described underframe (3) is positioned between described underframe (3) and described deflecting roller (6);
Described rear levelling gear comprises: rear levelling shoe (1), be connected with described rear levelling shoe (1) and the rear drive parts driving described rear levelling shoe (1) vertically to move back and forth, be fixed on the rear carrier plate (12) on described underframe (3); Wherein, described rear drive parts are fixed on described rear carrier plate (12), described rear levelling shoe (1) is positioned at the rear end of described driving wheel (2), and one end that described rear carrier plate (12) is connected with described underframe (3) is positioned between described underframe (3) and described driving wheel (2).
4. the mobile chassis device of hot line robot according to claim 3, is characterized in that, also comprise:
To described front levelling shoe (7) lead leading to shell (10), describedly leadingly be fixed on described front supporting plate (9) to shell (10), described front wheel driving parts are positioned at described leading to shell (10), and described front wheel driving parts are leadingly fixed on described underframe (3) to shell (10) by described;
To the rear guiding shell (11) that described rear levelling shoe (1) is led, described rear guiding shell (11) is fixed on described rear carrier plate (12), described rear drive parts are positioned at described rear guiding shell (11), and described rear drive parts are fixed on described underframe (3) by described rear guiding shell (11).
5. the mobile chassis device of hot line robot according to claim 3, is characterized in that, described front wheel driving parts are hydraulic cylinder or cylinder, and described rear drive parts are hydraulic cylinder or cylinder.
6. according to the mobile chassis device of electric Work robot described in any one in claim 1-5, it is characterized in that, drive the underframe driver part of described underframe (3) movement to be linear electric motors, described linear electric motors are connected with described driving wheel (2) by reducing gear.
7. the mobile chassis device of hot line robot according to claim 6, is characterized in that, also comprises the battery system (5) of powering to described linear electric motors.
8. the mobile chassis device of hot line robot according to claim 7, is characterized in that, described battery system (5) is located at the both sides of described underframe (3).
9. the mobile chassis device of hot line robot according to claim 7, is characterized in that, described battery system (5) is battery system.
10. a hot line robot, comprising: mobile chassis device, is characterized in that, the mobile chassis device that described mobile chassis device is the hot line robot in claim 1-9 described in any one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520981786.XU CN205219097U (en) | 2015-11-30 | 2015-11-30 | Live working robot and remove chassis device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520981786.XU CN205219097U (en) | 2015-11-30 | 2015-11-30 | Live working robot and remove chassis device thereof |
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| Publication Number | Publication Date |
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| CN205219097U true CN205219097U (en) | 2016-05-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520981786.XU Active CN205219097U (en) | 2015-11-30 | 2015-11-30 | Live working robot and remove chassis device thereof |
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| CN (1) | CN205219097U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017202017A1 (en) * | 2016-05-25 | 2017-11-30 | 北京百度网讯科技有限公司 | Intelligent robot based on artificial intelligence |
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2015
- 2015-11-30 CN CN201520981786.XU patent/CN205219097U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017202017A1 (en) * | 2016-05-25 | 2017-11-30 | 北京百度网讯科技有限公司 | Intelligent robot based on artificial intelligence |
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