CN205219097U - Live working robot and remove chassis device thereof - Google Patents

Abstract

The utility model discloses a live working robot and a mobile chassis device thereof. The mobile chassis device of the live working robot comprises: a bottom frame, a steering wheel arranged at the front end of the bottom frame, and a driving wheel arranged at the rear end of the bottom frame, all of which can be moved vertically The front leveling mechanism and the rear leveling mechanism are telescopic in the vertical direction; wherein, the front leveling mechanism is fixed on the front end of the underframe, and the rear leveling mechanism is arranged on the rear end of the underframe. The mobile chassis device of the live working robot disclosed in the utility model realizes the direct adjustment of the vertical direction through the front leveling mechanism and the rear leveling mechanism. ratio, it can effectively reduce the floor area of the entire mobile chassis device after leveling, which reduces the floor area of the live working robot; at the same time, the leveling is achieved by only adjusting the vertical direction, reducing the adjustment direction, thereby reducing the leveling time and improving the leveling efficiency.

Description

Live working robot and its mobile chassis device

technical field

The utility model relates to the technical field of live work, in particular to a live work robot and a mobile chassis device thereof.

Background technique

With the development of the economy, the improvement of the quality of life, and the continuous improvement of the requirements for the reliability of power supply, the power distribution network is required to achieve uninterrupted power transmission. In the power distribution network, electrical equipment needs frequent testing, inspection and maintenance during long-term operation. Live work is an effective measure to avoid maintenance blackouts and ensure normal power supply.

Specifically, live work is a method of maintenance and testing on high-voltage electrical equipment without power failure. The content of live work can be divided into several aspects such as live test, live inspection and live maintenance. The objects of live work include overhead transmission lines, distribution lines and distribution equipment.

Live work is dangerous and labor intensive, and there are certain difficulties and limitations in manual live work. In order to solve the above problems, a live working robot has been developed. However, the live working robot has requirements for the flatness of the ground during operation. In order to improve the application range of the live working robot, a leveling mechanism is added to the mobile chassis device of the live working robot, and the levelness of the whole live working robot is adjusted through the leveling mechanism.

At present, the leveling mechanism mainly includes: a first telescopic mechanism that expands and contracts in the horizontal direction, and a second telescopic mechanism that expands and contracts in the vertical direction. The telescopic mechanism is arranged on the first telescopic mechanism. The leveling method is as follows: firstly control the first telescopic mechanism to stretch out the bottom frame in the horizontal direction, and then control the second telescopic mechanism to stretch out or contract in the vertical direction to achieve leveling.

However, the above-mentioned leveling requires the cooperation of the first telescopic mechanism and the second telescopic mechanism, which leads to a large footprint of the whole leveling mechanism after leveling, and a large footprint of the whole live working robot during operation.

In addition, for the above-mentioned leveling, it is necessary to adjust the first telescopic mechanism before adjusting the second telescopic mechanism, which results in a long time for leveling and low leveling efficiency.

To sum up, how to level the live working robot to reduce the occupied area of the live working robot is an urgent problem to be solved by those skilled in the art.

Utility model content

In view of this, the purpose of the utility model is to provide a mobile chassis device of a live working robot, so as to reduce the occupied area of the live working robot during operation. Another object of the present utility model is to provide a live working robot having the above-mentioned mobile chassis device.

In order to achieve the above object, the utility model provides the following technical solutions:

A mobile chassis device for a live working robot, comprising: an underframe, a steering wheel arranged at the front end of the underframe, a driving wheel arranged at the rear end of the underframe, a front leveling mechanism capable of extending and contracting in the vertical direction, and Rear leveling mechanism; wherein, the front leveling mechanism is fixed on the front end of the underframe, and the rear leveling mechanism is arranged on the rear end of the underframe.

Preferably, both the front adjustment mechanism and the rear leveling mechanism are two, and the two front leveling mechanisms are symmetrical about the center line of symmetry of the two steering wheels, and the two rear leveling mechanisms It is symmetrical about the center line of symmetry of the two said drive wheels.

Preferably, the front leveling mechanism includes: a front leveling foot, a front driving part connected to the front leveling foot and driving the front leveling foot to reciprocate in the vertical direction, fixed on the chassis The front support plate; wherein, the front driving component is fixed on the front support plate, the front leveling leg is located at the front end of the steering wheel, and the end of the front support plate connected to the chassis is located at the between the chassis and the steering wheels;

The rear leveling mechanism includes: a rear leveling foot, a rear driving part connected to the rear leveling foot and driving the rear leveling foot to reciprocate in the vertical direction, a rear support fixed on the chassis plate; wherein, the rear driving part is fixed on the rear support plate, the rear leveling foot is located at the rear end of the driving wheel, and the end of the rear support plate connected to the chassis is located at the bottom chassis and between the drive wheels.

Preferably, the mobile chassis device of the above-mentioned live working robot further includes:

a front guide housing for guiding the front leveling feet, the front guide housing is fixed to the front support plate, the front driving part is located in the front guide housing, and the front driving part passes through the front The guide shell is fixed on the chassis;

a rear guide shell for guiding the rear leveling feet, the rear guide shell is fixed to the rear support plate, the rear drive part is located in the rear guide shell, and the rear drive part passes through the rear The guide shell is fixed on the bottom frame.

Preferably, the front driving part is a hydraulic cylinder or an air cylinder, and the rear driving part is a hydraulic cylinder or an air cylinder.

Preferably, the chassis driving part that drives the movement of the chassis is a linear motor, and the linear motor is connected to the driving wheel through a reduction mechanism.

Preferably, the above-mentioned mobile chassis device of the live working robot further includes a battery system for supplying power to the linear motor.

Preferably, the battery system is arranged on both sides of the chassis.

Preferably, the battery system is a storage battery system.

Based on the mobile chassis device of the live working robot provided above, the utility model also provides a live working robot, which includes: a mobile chassis device, and the mobile chassis device is the live working robot described in any one of the above mobile chassis.

The leveling method of the mobile chassis device of the live working robot provided by the utility model is as follows: the front leveling mechanism is controlled to protrude in the vertical direction, and the rear leveling mechanism is controlled to protrude in the vertical direction until the level of the entire mobile chassis device is reached. fulfil requirements.

The mobile chassis device of the live working robot provided by the utility model is equipped with a front leveling mechanism at the front end of the chassis, and a rear leveling mechanism at the rear end of the chassis, which provides a prerequisite for directly performing vertical leveling; at the same time Both the front leveling mechanism and the rear leveling mechanism can be extended and retracted in the vertical direction, and the vertical adjustment can be directly carried out through the front leveling mechanism and the rear leveling mechanism. Compared with the adjustment in the vertical direction, it can effectively reduce the floor area of the whole mobile chassis device after leveling, thereby reducing the floor area of the live working robot during operation; at the same time, the leveling can be realized by only adjusting the vertical direction , reducing the leveling direction, thereby reducing the leveling time and improving the leveling efficiency.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description It is only an embodiment of the utility model, and those skilled in the art can also obtain other drawings according to the provided drawings without creative work.

Fig. 1 is a schematic structural diagram of a mobile chassis device of a live working robot provided by an embodiment of the present invention.

In Figure 1 above:

1 is the rear leveling foot, 2 is the driving wheel, 3 is the chassis, 4 is the rotary reducer, 5 is the battery system, 6 is the steering wheel, 7 is the front leveling foot, 8 is the steering mechanism, and 9 is the front support plate , 10 is the front guide shell, 11 is the rear guide shell, and 12 is the rear support plate.

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. example. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

The mobile chassis device of the live working robot provided by the embodiment of the utility model includes: a chassis 3, a steering wheel 6 arranged at the front end of the chassis 3, and a driving wheel 2 arranged at the rear end of the chassis 3, all of which can be stretched vertically A front leveling mechanism and a rear leveling mechanism; wherein, the front leveling mechanism is fixed on the front end of the underframe 3, and the rear leveling mechanism is located on the rear end of the underframe 3.

The leveling method of the mobile chassis device of the live working robot provided by the embodiment of the utility model is as follows: the front leveling mechanism is controlled to protrude in the vertical direction, and the rear leveling mechanism is controlled to protrude in the vertical direction until the entire mobile chassis device The level meets the requirements.

The mobile chassis device of the live working robot provided by the embodiment of the utility model is provided with a front leveling mechanism at the front end of the chassis 3, and a rear leveling mechanism at the rear end of the chassis 3, so as to provide direct vertical leveling. At the same time, both the front leveling mechanism and the rear leveling mechanism can expand and contract in the vertical direction, so that the vertical adjustment can be directly carried out through the front leveling mechanism and the rear leveling mechanism, and the horizontal direction can be adjusted earlier than the prior art. Compared with vertical adjustment after adjustment, it can effectively reduce the floor area of the entire mobile chassis device after leveling, thereby reducing the floor area of the live working robot when it is working; at the same time, by only adjusting the vertical direction To achieve leveling, the leveling direction is reduced, thereby reducing the leveling time and improving the leveling efficiency.

In order to improve the leveling effect, both the above-mentioned front adjustment mechanism and the rear leveling mechanism are two, and the two front leveling mechanisms are symmetrical about the symmetrical center line of the two steering wheels 6, and the two rear leveling mechanisms are symmetrical about the two driving wheels. 2's centerline of symmetry. Of course, it is also possible to choose both the front adjustment mechanism and the rear leveling mechanism, or both of them are three, etc., and the number of the front adjustment mechanism and the rear leveling mechanism can also be selected to be different, and it is not limited to the above-mentioned embodiment.

In the mobile chassis device of the above-mentioned live working robot, how many structures exist in the front leveling mechanism and the rear leveling mechanism? Be fixed, the leading screw is connected with the chassis 3, and the axial direction of the leading screw is the vertical direction. In this way, as the motor drives the nut to rotate, the lead screw moves vertically to achieve leveling. Of course, other structures can also be selected.

In order to reduce costs, it is preferred to select the front leveling mechanism to include: the front leveling leg 7, the front drive part that is connected to the front leveling leg 7 and drives the front leveling leg 7 to reciprocate in the vertical direction, and the front drive part that is fixed on the chassis 3 The front support plate 9 ; wherein, the front driving component is fixed on the front support plate 9 . Correspondingly, the rear leveling mechanism includes: a rear leveling foot 1, a rear driving part connected to the rear leveling foot 1 and driving the rear leveling foot 1 to reciprocate in the vertical direction, and a rear support plate fixed on the chassis 3 12 ; wherein, the rear drive component is fixed on the rear support plate 12 .

In order to effectively reduce the footprint, the front leveling leg 7 is preferably located at the front end of the steering wheel 6, and the end of the front support plate 7 connected to the underframe 3 is located between the underframe 3 and the steering wheel 6. The rear leveling leg 1 is located at the rear end of the drive wheel 2 , and the end of the rear support plate 12 connected to the underframe 3 is located between the underframe 3 and the drive wheel 2 . In this way, the width of the entire mobile chassis device can be effectively reduced, thereby reducing the occupied area.

Further, the distance from the outside of a front leveling leg 7 to the outside of another front leveling leg 7 is equal to the distance from the outside of a steering wheel 6 to the outside of another steering wheel 6; The distance from the outside of the other rear leveling foot 1 is equal to the distance from the outside of one drive wheel 2 to the outside of the other drive wheel 2 . Obviously, such setting does not increase the width of the entire mobile chassis device, and minimizes the occupied area.

It should be noted that, the axial direction of the steering wheel 6 is marked as the width direction of the mobile chassis device. The axial direction of the driving wheel 2 is the same as that of the steering wheel 6 . The side where the front leveling leg 7 is away from the underframe 3 is the outside, the side where the steering wheel 6 is away from the underframe 3 is the outside, and the side where the drive wheel 2 is away from the underframe 3 is the outside.

In order to improve the leveling effect, the bottom of the front leveling leg 7 is provided with a front support plate, and the area of the front support plate is larger than the bottom surface area of the front leveling leg 7; the bottom of the rear leveling leg 1 is provided with a rear support plate, and the rear support plate is The area of the supporting plate is greater than the area of the bottom surface of the rear leveling foot 1 . At this time, the distance from the outside of a front support panel to the outside of another front support panel is equal to the distance from the outside of a steering wheel 6 to the outside of another steering wheel 6; The distance from the outside of the flat panel is equal to the distance from the outside of one drive wheel 2 to the outside of the other drive wheel 2 .

In order to prevent the movement of the front leveling leg 7 and the rear leveling leg 1 from shifting, the mobile chassis device of the above-mentioned live working robot also includes: a front guide shell 10 that guides the front leveling leg 7, and the front guide shell 10 is fixed On the front support plate 9 ; the rear guide shell 11 for guiding the rear leveling leg 1 , the rear guide shell 11 is fixed on the rear support plate 12 . It can be understood that the front leveling leg 7 is partially located in the front guide shell 10 , and the rear leveling leg 1 is partially located in the rear guide shell 11 .

Further, the front drive component is located in the front guide shell 10, and the front drive component is fixed to the chassis 3 through the front guide shell 10; the rear drive component is located in the rear guide shell 11, and the rear drive component is fixed to the bottom through the rear guide shell 11 frame 3. In this way, the front guide housing 10 realizes the protection of the front driving parts, and the rear guide housing 11 realizes the protection of the rear driving parts, which reduces the later maintenance cost and prolongs the service life of the front driving parts and the rear driving parts.

Preferably, the front driving part is a hydraulic cylinder or an air cylinder, and the rear driving part is a hydraulic cylinder or an air cylinder. Of course, the front drive component and the rear drive component can also be selected as other drive components, such as linear motors and the like. The embodiment of the present utility model does not limit this.

In the above-mentioned mobile chassis device of the electric working robot, the driving part of the chassis is connected with the driving wheel 2 through a reducer, so as to drive the driving wheel 2 . In order to simplify the structure, the undercarriage driving part that drives the undercarriage 3 to move is preferably a linear motor, which is connected to the driving wheel 2 through a reduction mechanism. Further, the mobile chassis device of the live working robot also includes a battery system 5 that supplies power to the linear motor. In this way, the volume of the entire drive system can be reduced, thereby reducing the occupied area.

In order to further reduce the occupied area, the battery system 5 is preferably arranged on both sides of the chassis 3 . In this way, the width and length of the entire mobile chassis device can be effectively reduced, thereby reducing the occupied area. Of course, the battery system 5 can also be installed at other positions of the bottom frame 3, and is not limited to the above-mentioned embodiment.

In order to reduce costs, the battery system 5 is preferably selected as a storage battery system. Further, the battery system 5 is a lead-acid battery system. In the actual application process, the number of batteries can be selected according to the needs. For example, the battery system 5 can be selected as 8 sets of 6V lead-acid batteries, using foreign high-quality batteries, stable and reliable power supply, fast charging, and long battery life (working 6h, standby 8h).

In the mobile chassis device of the above-mentioned live working robot, the rotating mechanism includes: a rotary drive part, a rotary reducer 4, a steering push rod and a steering wheel 6, wherein the rotary drive part is connected with the rotary reducer 4, and the rotary reducer 4 is connected with the steering pusher. The bar links to each other, and the steering push rod links to each other with the steering wheel 6.

In the actual application process, the rotary reducer 4 can be selected as a high-precision reducer to provide reliable and stable output for the partial rotation of the workbench.

Based on the mobile chassis device of the live working robot provided in the above embodiment, the embodiment of the present invention also provides a live working robot, which includes: a mobile chassis device, which is the live working robot described in the above embodiment The mobile chassis device of the work robot.

Since the mobile chassis device of the above live working robot has the above technical effects, the live working robot provided by the embodiment of the utility model has the above mobile chassis device of the live working robot, and the live working robot provided by the embodiment of the utility model also has the corresponding technology effect, which will not be repeated here.

The above description of the disclosed embodiments enables those skilled in the art to realize or use the utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

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.