CN205335745U - Be used for transmission line to patrol walking of line robot and compound end effector of centre gripping - Google Patents
Be used for transmission line to patrol walking of line robot and compound end effector of centre gripping Download PDFInfo
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- CN205335745U CN205335745U CN201521074407.5U CN201521074407U CN205335745U CN 205335745 U CN205335745 U CN 205335745U CN 201521074407 U CN201521074407 U CN 201521074407U CN 205335745 U CN205335745 U CN 205335745U
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Abstract
The utility model provides an it compounds the end and holds the ware to be used for transmission line to patrol line robot walking and centre gripping, including a split type walking wheel assembly and a gripper mechanism subassembly, two subassemblies are linked to be a whole through the clamping jaw support. A walking and the compound end effector of centre gripping only walk wheel and cable in the robot when the straightway walk and contact, when meeting the barrier in the robot, the terminal clamping jaw of the arm of one end presss from both sides tight cable, and other end arm removes the other end of barrier, then the tight cable of clamping jaw clamp, and the terminal clamping jaw of arm that presss from both sides tight cable before catching loosens cable, removal arm to the barrier other end. A walking and the compound end effector bank of china travelling wheel tire design of centre gripping to make the tire change convenient, easily cracked problem of wire rope driven type gripper mechanism wire rope is avoided in the gripper mechanism design, has increased the security.
Description
Technical field
This utility model relates to a kind of walking and clamping compound end effector, and especially one is for power transmission line inspection robot ambulation and clamping compound end effector。
Background technology
Aerial high-voltage power transmission line inspection robot is a kind of mobile apparatus people that transmission line of electricity is patrolled and examined。Road wheel is the necessary end of inspection robot, and by driving road wheel, robot can advance thus patrolling and examining by way of circuit along circuit。Owing to there being the barrier such as stockbridge damper, suspension clamp on transmission line of electricity, road wheel can not be either directly through, therefore generally jaw and road wheel need with the use of。Current inspection robot end road wheel is generally adopted by integral structure, and the road wheel tire of this structure adopts glue to be bonded on steel road wheel, and tire is once abrasion, and changing can be extremely complex, and whole road wheel will be changed even。The steel wire tow line flexible structure that clip claw mechanism adopts now, in use, steel wire rope is easily broken off thus causing that clip claw mechanism lost efficacy, and this is very unsafe。
Summary of the invention
This utility model mainly solves the road wheel tire changing complexity existing for prior art and clip claw mechanism easily lost efficacy and causes unsafe problem；Propose a kind of compound end effector for aerial high-voltage power transmission line travelling robot walking and clamping。
Above-mentioned technical problem of the present utility model is addressed mainly by following technical proposals:
A kind of walking and clamping compound end effector, it is characterised in that include a split type road wheel assembly and a clip claw mechanism assembly；Described road wheel assembly is included coaxial live axle, the wheel hub connected by rolling bearing and is threaded connection the roller rib at the tire two ends being fixed on wheel hub and is fastened on the tire in the middle of two roller ribs by pin, is arranged on the road wheel motor within live axle, driving dish that outer shaft coupling that interior shaft coupling that the motor cover of sealed electric-motor coordinates coordinates with interior shaft coupling coordinates with outer shaft coupling with motor output shaft；Described driving dish and wheel hub are threaded connection, and when motor shaft rotates, drive the driving dish coordinated with shaft coupling, and whole wheel hub and road wheel also and then rotate；Described clip claw mechanism assembly includes a jaw support affixed with live axle, it is arranged on motor and the clamping motor gear being connected with motor output shaft, the clamping screw gear being engaged with of jaw internal stent, supports the clamping screw mandrel fixing to clamp screw gear, the jaw that the rack nut coordinated with clamping screw mandrel coordinates with rack nut, in order to seal the gear cap of whole clip claw mechanism assembly, line case lid and motor case lid。
At above-mentioned a kind of walking and clamping compound end effector, between interior shaft coupling and outer shaft coupling, there is certain interval, it is possible to be used for regulating driving dish and motor shaft out-of-alignment problem。
At above-mentioned a kind of walking and clamping compound end effector, described clamping screw mandrel, one end supports clamping screw gear for fixing, and the other end is external screw thread, coordinates with rack nut；Described rack nut profile is spline-simulating, and embedded SMA actuators has female thread for coordinating with clamping screw mandrel, when clamping screw mandrel and rotating, it is possible to drive rack nut to move left and right。
At above-mentioned a kind of walking and clamping compound end effector, described jaw, one end is gear-like, engages with rack nut, and the other end is paw shape, and when tooth bar moves, jaw will rotate, thus unclamping or firmly grasping power transmission cable。
The working method of a kind of walking and clamping compound end effector, it is characterised in that including:
Straight line moving: when robot walks at straightway, jaw unclamps cable, a road wheel and cable contact, be arranged on the electric machine rotation in live axle and drive road wheel to roll on cable, thus inspection robot advances along cable；
Across obstacle: when inspection robot runs into barrier, the mechanical arm tail end jaw clamping cable of one end, other end mechanical arm moves to the other end of barrier, then jaw clamping cable, the mechanical arm tail end jaw of front clamp cable then unclamps cable, mobile mechanical arm is to the barrier other end, and such robot spans barrier with regard to whole；
Road wheel is changed: when road wheel walking certain distance, and tire has abrasion, but the part of other of road wheel may continue to use, and therefore has only to re-type。The process of re-type is as follows: removes the screw connecting roller rib with wheel hub, takes off roller rib and tire, and the roller rib pulled down finally is fixed on wheel hub by the tire more renewed。
Therefore, this utility model has the advantage that compared with integral type wheeled construction, and the targeted that split type road wheel structure is changed is higher, and tire changing is convenient；Clip claw mechanism adopts positive drive can avoid the problem of wire rope gearing formula clip claw mechanism steel wire rope easy fracture, adds safety。
Accompanying drawing explanation
Fig. 1 is power transmission line inspection robot ambulation described in the utility model and a kind of three-dimensional structure diagram of clamping compound end effector。
Fig. 2 is the road wheel assemble cross-section in this utility model。
Fig. 3 is walking described in this utility model and the three-dimensional structure diagram after clamping compound end effector removal jaw support。
Fig. 4 is power transmission line inspection robot ambulation described in the utility model and clamping compound end effector location drawing in power transmission line inspection robot。
Detailed description of the invention
By the examples below, and in conjunction with accompanying drawing, the technical solution of the utility model is described in further detail。In figure, jaw 1, motor case lid 2, driving dish 3, tire 4, roller rib 5, live axle 6, motor cover 7, jaw support 8, gear cap 9, encoder 10, road wheel motor 11, wheel hub 12, interior shaft coupling 13, outer shaft coupling 14, rolling bearing 15, rack nut 16, clamping motor 17, clamping screw mandrel 18, reasoning ball bearing 19, clamping motor gear 20, clamping screw gear, line case lid 22, bearing cap 23, barrier 24, cable 25, mechanical arm 26, jaw 27, mechanical arm 28, jaw 29, road wheel 30, road wheel 31。
Embodiment:
1. first introduce mechanical mechanism of the present utility model: as in figure 2 it is shown, the one involved by this utility model is walked and clamping compound end effector, including a split type road wheel assembly and a clip claw mechanism assembly；Two assemblies are linked to be an entirety by jaw support 8。As shown in Figure 2 and Figure 3, road wheel assembly is included coaxial live axle 6, the wheel hub 12 connected by rolling bearing 15 and is threaded connection the roller rib 5 at tire 4 two ends being fixed on wheel hub 12 and is fastened on the tire 4 in the middle of two roller ribs 5 by pin, is arranged on the road wheel motor 11 within live axle 6, driving dish 3 that outer shaft coupling 14 that interior shaft coupling 13 that the motor cover 7 of sealed electric-motor 11 coordinates coordinates with interior shaft coupling 13 coordinates with outer shaft coupling 14 with motor 11 output shaft；Described driving dish 3 is threaded connection with wheel hub 12, when motor shaft rotates, drives the driving dish 3 coordinated with outer shaft coupling 14, and whole wheel hub 12 and road wheel also and then rotate；As shown in Fig. 2 and Fig. 4, described clip claw mechanism assembly includes a jaw support 8 affixed with live axle 6, it is arranged on the clamping motor 17 within jaw support 8 and the clamping motor gear 20 being connected with motor 17 output shaft, the clamping screw gear 21 being engaged with, supports the clamping screw mandrel 18 fixing to clamp screw gear 21, the jaw 1 that the rack nut 16 coordinated with clamping screw mandrel 18 coordinates with rack nut 16, in order to seal the gear cap 9 of whole clip claw mechanism assembly, line case lid 22 and motor case lid 2。
Wherein, there is certain interval between interior shaft coupling 13 and outer shaft coupling 14, it is possible to be used for regulating driving dish 3 and road wheel motor 11 output shaft out-of-alignment problem。
Clamping screw mandrel 18 described in this utility model, one end supports clamping screw gear 21 for fixing, and the other end is external screw thread, coordinates with rack nut 16；Described rack nut 16 profile is spline-simulating, and embedded SMA actuators has female thread for coordinating with clamping screw mandrel 18, when clamping screw mandrel 18 and rotating, it is possible to drive rack nut 16 to move left and right。
Jaw 1 described in this utility model, one end is gear-like, engages with rack nut 16, and the other end is paw shape, and when rack nut 16 moves, jaw 1 will rotate, thus unclamping or firmly grasping power transmission cable 25。
2. the working condition of described in the utility model a kind of walking and clamping compound end effector is described below。
When robot walks at straightway, jaw 27,29 unclamps cable 25, road wheel 30,31 contacts with cable 25, is arranged on the road wheel motor 11 in live axle 6 and rotates and drive road wheel 30,31 to roll on cable 25, thus inspection robot advances along cable 25；When inspection robot runs into barrier 24, the mechanical arm 26 end jaw 27 of one end clamps cable 25, other end mechanical arm 28 moves to the other end of barrier 24, then the jaw 29 of mechanical arm 28 clamps cable 25, the jaw 27 of mechanical arm 26 end of front clamp cable 25 then unclamps cable 25, mobile mechanical arm 26 is to barrier 24 other end, and such robot spans barrier 24 with regard to whole；
3. described in the utility model a kind of walking is described below and clamps the substitute mode of road wheel in compound end effector。
When road wheel 30,31 walking certain distance, tire 4 has abrasion, but other part of road wheel 30,31 may continue to use, and therefore has only to re-type 4。The process of re-type 4 is as follows: removes the screw connecting roller rib 5 with wheel hub 12, takes off roller rib 5 and tire 4, and the roller rib 5 pulled down finally is fixed by screws on wheel hub 12 by the tire 4 more renewed。
Although more employing jaw 1 herein, motor case lid 2, driving dish 3, tire 4, roller rib 5, live axle 6, motor cover 7, jaw support 8, gear cap 9, encoder 10, road wheel motor 11, wheel hub 12, interior shaft coupling 13, outer shaft coupling 14, rolling bearing 15, rack nut 16, clamping motor 17, clamping screw mandrel 18, reasoning ball bearing 19, clamping motor gear 20, clamping screw gear, line case lid 22, bearing cap 23, barrier 24, cable 25, mechanical arm 26, jaw 27, mechanical arm 28, jaw 29, road wheel 30, road wheel 31 term such as grade, but it is not precluded from using the probability of other term。These terms are used to be only used to describe and explain essence of the present utility model more easily；It is all contrary with spirit of the present utility model for being construed as any additional restriction。
Claims (5)
1. one kind for power transmission line inspection robot ambulation and clamps compound end effector, it is characterised in that include a split type road wheel assembly and a clip claw mechanism assembly；
One split type road wheel assembly includes the coaxial live axle (6) connected by rolling bearing (15), wheel hub (12) and be threaded connection the roller rib (5) at tire (4) two ends being fixed on wheel hub (12) and be fastened on two tires (4) in the middle of roller ribs (5) by pin, it is arranged on the road wheel motor (11) that live axle (6) is internal, the motor cover (7) of sealed electric-motor, the interior shaft coupling (13) coordinated with motor output shaft, the outer shaft coupling (14) coordinated with interior shaft coupling (13), the driving dish (3) coordinated with outer shaft coupling (14)；
One clip claw mechanism assembly includes a jaw support (8) affixed with live axle (6), it is arranged on the internal clamping motor (17) of jaw support (8) and the clamping motor gear (20) being connected with motor output shaft, the clamping screw gear (21) being engaged with, support fixes to clamp the clamping screw mandrel (18) of screw gear (21), the rack nut (16) coordinated with clamping screw mandrel (18), the jaw (1) coordinated with rack nut (16), in order to seal the gear cap (9) of whole clip claw mechanism assembly, line case lid (22) and motor case lid (2)。
2. one according to claim 1 is for power transmission line inspection robot ambulation and clamping compound end effector, it is characterized in that, described driving dish (3) and wheel hub (12) are threaded connection, when road wheel motor (11) rotates, driving the driving dish (3) coordinated with outer shaft coupling (14), whole wheel hub (12) and road wheel (30,31) also and then rotate。
3. one according to claim 1 is for power transmission line inspection robot ambulation and clamping compound end effector, it is characterized in that, certain interval is had, it is possible to be used for regulating driving dish (3) and road wheel motor (11) out-of-alignment problem between interior shaft coupling (13) and outer shaft coupling (14)。
4. one according to claim 1 is for power transmission line inspection robot ambulation and clamping compound end effector, it is characterized in that, described clamping screw mandrel (18), one end supports clamping screw gear (21) for fixing, the other end is external screw thread, coordinate with rack nut (16), described rack nut (16) profile is spline-simulating, embedded SMA actuators has female thread for coordinating with clamping screw mandrel (18), when clamping screw mandrel (18) and rotating, it is possible to drive rack nut (16) to move left and right。
5. according to the one described in claim 1 for power transmission line inspection robot ambulation and clamping compound end effector, it is characterized in that, described jaw (1), one end is gear-like, engaging with rack nut (16), the other end is paw shape, when tooth bar moves, jaw (1) will rotate, thus unclamping or firmly grasping power transmission cable (25)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521074407.5U CN205335745U (en) | 2015-12-22 | 2015-12-22 | Be used for transmission line to patrol walking of line robot and compound end effector of centre gripping |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521074407.5U CN205335745U (en) | 2015-12-22 | 2015-12-22 | Be used for transmission line to patrol walking of line robot and compound end effector of centre gripping |
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| Publication Number | Publication Date |
|---|---|
| CN205335745U true CN205335745U (en) | 2016-06-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201521074407.5U Active CN205335745U (en) | 2015-12-22 | 2015-12-22 | Be used for transmission line to patrol walking of line robot and compound end effector of centre gripping |
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| CN (1) | CN205335745U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110639742A (en) * | 2019-10-28 | 2020-01-03 | 广东科凯达智能机器人有限公司 | High-voltage line spraying equipment |
| CN110962104A (en) * | 2019-12-09 | 2020-04-07 | 中科开创（广州）智能科技发展有限公司 | Be applied to walking wheel and inspection robot of transmission line inspection robot |
-
2015
- 2015-12-22 CN CN201521074407.5U patent/CN205335745U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110639742A (en) * | 2019-10-28 | 2020-01-03 | 广东科凯达智能机器人有限公司 | High-voltage line spraying equipment |
| CN110962104A (en) * | 2019-12-09 | 2020-04-07 | 中科开创（广州）智能科技发展有限公司 | Be applied to walking wheel and inspection robot of transmission line inspection robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Travelling and clamping combined tail end executor for inspection robot of power transmission line Effective date of registration: 20181123 Granted publication date: 20160622 Pledgee: Bank of China Limited by Share Ltd Shunde branch Pledgor: GUANGDONG KEYSTAR INTELLIGENCE ROBOT CO., LTD. Registration number: 2018440000329 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right |