CN205452944U - A pinch roller device for making somebody a mere figurehead high tension transmission line patrols line robot - Google Patents
A pinch roller device for making somebody a mere figurehead high tension transmission line patrols line robot Download PDFInfo
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- CN205452944U CN205452944U CN201521074187.6U CN201521074187U CN205452944U CN 205452944 U CN205452944 U CN 205452944U CN 201521074187 U CN201521074187 U CN 201521074187U CN 205452944 U CN205452944 U CN 205452944U
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- contact roller
- hold
- transmission line
- down mechanism
- pinch roller
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Abstract
The utility model provides a pinch roller device for making somebody a mere figurehead high tension transmission line patrols line robot, including a pinch roller part and a pinch roller drive disk assembly, two parts are linked to be a whole through the pinch roller support. The pinch roller part can rotate around a pinch roller carrier shaft line to the power transmission line that adapts to different inclinations. Two total hall sensor on the pinch roller part, one with the pinch roller on magnet steel cooperation use, be used for detecting whether the walking wheel skids and the distance of can measuring robot traveling, magnet steel cooperation on another and the baffle is used, is used for " bumping and examining " the barrier on the power transmission line. Utilize the hold -down mechanism spring to increase the pinch roller to the packing force of power transmission line in the pinch roller drive disk assembly, the effectual walking wheel that has prevented skids. Whole pinch roller device adopts the screw -nut transmission with a solitary motor drive. Therefore, the device of the utility model is simple in structure reliably, efficient practicality is strong.
Description
Technical field
This utility model relates to a kind of contact roller device, a kind of contact roller device for aerial high-voltage power transmission line inspection robot.
Background technology
Aerial high-voltage power transmission line inspection robot is a kind of mobile robot patrolling and examining aerial high-voltage power transmission line.Crusing robot passes through road wheel and wiring circuit contact, and road wheel utilizes the frictional force drives robot motion between itself and circuit when rotating.But, by different circuits, same transmission line of electricity difference shelves section, different patrols and examines environment, the dispar impact of circuit surface condition, it occur frequently that road wheel skidding during line walking, this phenomenon greatly reduces crusing robot and patrols and examines efficiency, the energy of waste crusing robot, accelerates the loss of crusing robot parts.Tradition solves slippage problems by Artificial Control, though reaching non-slip purpose, but thrust is excessive causes robot components impaired seriously, and energy consumption increases.The method that another angle tilted by robot carries out thrust control as condition, but have ignored the concrete condition on different circuit surface, adaptive faculty is the strongest.It addition, when inspection robot meets barrier (such as stockbridge damper) during line walking, need by the structural feedback information comprising sensor, in order to robot carries out the coarse positioning before passing through barrier.
Summary of the invention
The utility model proposes a kind of contact roller device for aerial high-voltage power transmission line inspection robot, solve being difficult to existing for prior art and detect and prevent road wheel slippage problems.
Above-mentioned technical problem of the present utility model is mainly addressed by following technical proposals:
A kind of contact roller device for aerial high-voltage power transmission line inspection robot, it is characterised in that including:
One contact roller parts: described parts include contact roller wheel seat, contact roller, compression wheel shaft, rolling bearing, contact roller wheel seat bearing cap, baffle plate, baffle plate joint, Hall element, magnet steel.
One contact roller drive disk assembly: described parts include contact roller support, contact roller slide block, guide rail slide, hold-down mechanism spring base, hold-down mechanism spring base guide pad, holddown spring pull bar, hold-down mechanism nut, hold-down mechanism spring.
At above-mentioned contact roller parts, described contact roller wheel seat compresses wheel shaft and the contact roller coordinated with contact roller shaft clearance by roller bearings, is connected with wheel seat screw by contact roller wheel seat bearing cap and axially positions.
At above-mentioned contact roller parts, 4 magnet steel of circumference uniform distribution on contact roller one side plane, a Hall element, contact roller every revolution are fixed in contact roller wheel seat relevant position simultaneously, and sensor spreads out of 4 signals, thus can calculate contact roller rotating speed and travel distance.
At above-mentioned contact roller parts, described baffle plate joint one end and parting of baffle bolt are affixed, and the other end is cylindrical structural, are nested in contact roller wheel seat lateral aperture, are formed hinged with contact roller wheel seat side.Therefore baffle plate can be around baffle plate joint cylindrical structural axis Small-angle Rotation.
At above-mentioned contact roller parts, described baffle plate is flexibly connected with contact roller wheel seat side by two springs, and equipped with magnet steel on baffle plate, corresponding contact roller wheel seat is fixed with Hall element.When baffle plate meets barrier, it is stressed when being adjacent to contact roller wheel seat, sensor outgoing signal, after distress resolves, by two springs, baffle plate is resetted.
At an above-mentioned contact roller drive disk assembly, described contact roller support one end is affixed with contact roller slide block, and one end is inserted in contact roller wheel bore, and contact roller wheel seat can be made to swing around contact roller support axis, to adapt to the power transmission line of different inclination angle.
At an above-mentioned contact roller drive disk assembly, described contact roller slide block is connected on the robotic arm by guide rail, and it moves axially along mechanical arm can to drive drive indirectly by motor in mechanical arm.
At an above-mentioned contact roller drive disk assembly, described hold-down mechanism nut inner hole is threadeded with screw mandrel in mechanical arm, in mechanical arm, driven by motor screw mandrel rotates, the hold-down mechanism nut being nested on screw mandrel moves axially along screw mandrel, holddown spring pull bar one end connects contact roller slide unit, the other end is connected with hold-down mechanism nut by clamp nut guide pad, therefore hold-down mechanism nut moves axially drive contact roller slide unit and then drives whole contact roller parts to move axially along mechanical arm.
At an above-mentioned contact roller drive disk assembly, hold-down mechanism spring base is affixed with contact roller slide block by spring base guide pad.On hold-down mechanism spring housing screw mandrel in mechanical arm, one end is connected with hold-down mechanism nut, and one end positions by compressing hold-down mechanism spring base.
Therefore, this utility model has the advantage that 1. contact roller per revolutions, and sensor can send four signals, can calculate the rotating speed of contact roller, and relatively and then judge whether road wheel skids with road wheel rotating ratio；Owing to road wheel can skid, the robot ambulation calculated by road wheel tachometer is apart from unreliable, and the robot travel distance within a certain period of time calculated by contact roller tachometer is relatively reliable；2. contact roller support can contact roller wheel bore in around hole axial Small-angle Rotation, make contact roller parts have adaptivity, i.e. when power transmission line has the gradient of certain angle, due to the adaptivity of contact roller parts, two contact rollers can ensure that the moment is adjacent to power transmission line；3. after contact roller is adjacent to power transmission line, wheel clamping nut continues to move up, hold-down mechanism spring-compressed, makes power transmission line by elastic force, and in effective guarantee compaction process, contact roller can steadily exert a force and stablize stress, prevents road wheel from skidding；4. when barrier on stop collision to circuit, the pressure effect that baffle plate is applied by barrier is adjacent to contact roller wheel seat, and sensor spreads out of " touching inspection " signal, and robot can carry out before obstacle detouring just location.After baffle plate leaves barrier, spring can reseting baffle；The most whole hold down gag coordinates traveling wheel mechanism to can ensure that robot travels more safety and steady on power transmission line；The most whole apparatus structure is simple, reliable, strong adaptability.
Accompanying drawing explanation
Fig. 1 is contact roller device three-dimensional structure diagram described in the utility model.
Fig. 2 is the contact roller feature profile figure in this utility model.
Fig. 3 is the three-dimensional structure diagram of contact roller drive disk assembly described in this utility model.
Fig. 4 is the structure chart that contact roller device described in this utility model is installed on mechanical arm.
Fig. 5 is the contact roller device axonometric chart adapting in this utility model have gradient power transmission line.
Detailed description of the invention
Below by embodiment, and combine accompanying drawing, the technical solution of the utility model is described in further detail.In figure, contact roller 1, contact roller wheel seat bearing cap 2, contact roller wheel seat 3, magnet steel 4, baffle plate joint 5, baffle plate 6, spring 7, Hall element 8, contact roller nut guide pad 9, holddown spring pull bar 10, hold-down mechanism spring base 11, compression wheel shaft 12, rolling bearing 13, hold-down mechanism spring base guide pad 14, contact roller slide block 15, guide rail slide 16, contact roller support 17, hold-down mechanism spring 18, hold-down mechanism nut 19, road wheel 20, mechanical arm 21, screw mandrel 22, sensor 23, magnet steel 24.
Embodiment:
One, machinery of the present utility model is first introduced: this utility model relates to a kind of contact roller device for aerial high-voltage power transmission line inspection robot, including contact roller parts and a contact roller drive disk assembly；Two parts are linked to be an entirety by contact roller support 17.Contact roller parts include contact roller wheel seat 3, contact roller 1, compress wheel shaft 12, rolling bearing 13, contact roller wheel seat bearing cap 2, baffle plate 6, baffle plate joint 5 and Hall element 8, magnet steel 4.Contact roller wheel seat 3 compresses wheel shaft 12 and nested contact roller 1 thereon by roller bearings, compresses wheel shaft 12 two ends and is axially positioned by contact roller wheel seat bearing cap 2.Contact roller 1 can rotate around Pivot Point Center, and 4 magnet steel 4 of circumference uniform distribution on contact roller 1, corresponding in contact roller wheel seat 3 relevant position equipped with Hall element 8.Baffle plate 6 one end is hinged on contact roller wheel seat 3 by baffle plate joint 5, and the other end is flexibly connected with contact roller wheel seat 3 by spring 7.And equipped with magnet steel 24 on baffle plate 6, corresponding contact roller wheel seat 3 is fixed with Hall element 23, when baffle plate 6 be stressed be adjacent to contact roller wheel seat 3 time, sensor 23 outgoing signal, after distress resolves, by two springs 7, baffle plate 6 is resetted.Contact roller drive disk assembly includes contact roller support 17, contact roller slide block 15, guide rail slide 16, hold-down mechanism spring base 11, hold-down mechanism spring base guide pad 14, holddown spring pull bar 10, hold-down mechanism nut 19, hold-down mechanism spring 18.Hold-down mechanism nut 19 is connected with contact roller slide block 15 by holddown spring pull bar 10, hold-down mechanism nut 19 and screw mandrel 22 threaded engagement on mechanical arm 21, and screw mandrel 22 rotates and drives nut 19 to move.Hold-down mechanism spring 18 is enclosed within the screw mandrel 22 in mechanical arm 21, and one end is adjacent to hold-down mechanism nut 19, and one end compresses hold-down mechanism spring base 11 and positions.
Two, the most of the present utility model workflow is described below.When robot rolls walking on aerial high-voltage power transmission line, in mechanical arm 21, driven by motor screw mandrel 22 rotates, and the hold-down mechanism nut 19 threadeded with screw mandrel 22 moves axially along screw mandrel 22, drives contact roller parts to move along mechanical arm 21.After contact roller 1 is pressed to power transmission line 25, screw mandrel 22 is rotated further, clamp nut 19 overcomes the resistance between holddown spring pull bar 10 together with clamp nut guide pad 9, moving sets is formed with holddown spring pull bar 10, a segment distance is moved up along holddown spring pull bar 10, simultaneously, hold-down mechanism spring 18 one end is by the pressure of clamp nut 19, spring contraction, therefore, the hold-down mechanism spring base 11 being connected with hold-down mechanism spring 18 other end is by hold-down mechanism spring 18 elastic force upwards, the contact roller slide block 15 being connected by holddown spring seat guide pad 14 with holddown spring seat 11 is moved up, the most whole contact roller parts move up, in effective guarantee compaction process, contact roller can steadily exert a force and stablize stress.When there is rolling walking on the power transmission line 25 of certain angle in robot with horizontal plane, in contact roller parts, first a contact roller 1 is adjacent to power transmission line 25, power transmission line 25 gives contact roller 1 counteracting force so that contact roller parts rotate until another one contact roller 1 is adjacent to power transmission line 25 around contact roller support 17.When baffle plate 6 collides the barrier on circuit, the pressure effect that baffle plate 6 is applied by barrier is adjacent to contact roller wheel seat 3, sensor 23 spreads out of " touching inspection " signal, just position before robot can being carried out obstacle detouring, after baffle plate 6 leaves barrier, spring 7 can reseting baffle 6, " touching inspection " blackout of sensor 23.
Although the most more employing contact roller 1, contact roller wheel seat bearing cap 2, contact roller wheel seat 3, magnet steel 4, baffle plate joint 5, baffle plate 6, spring 7, Hall element 8, contact roller nut guide pad 9, holddown spring pull bar 10, hold-down mechanism spring base 11, compress wheel shaft 12, rolling bearing 13, hold-down mechanism spring base guide pad 14, contact roller slide block 15, guide rail slide 16, contact roller support 17, hold-down mechanism spring 18, hold-down mechanism nut 19, road wheel 20, mechanical arm 21, screw mandrel 22, sensor 23, magnet steel 24, power transmission line 25 term such as grade, but it is not precluded from using the probability of other term.Use these terms to be only used to more easily and describe and explain essence of the present utility model；It is all contrary with spirit of the present utility model for being construed as any additional restriction.
Claims (8)
1. the contact roller device for aerial high-voltage power transmission line inspection robot, it is characterised in that including: contact roller parts and a contact roller drive disk assembly；
Described contact roller parts include contact roller wheel seat (3), contact roller (1), compress wheel shaft (12), rolling bearing (13), contact roller wheel seat bearing cap (2), baffle plate (6), baffle plate joint (5), Hall element (8), magnet steel (4)；
Described contact roller drive disk assembly includes contact roller support (17), contact roller slide block (15), guide rail slide (16), hold-down mechanism spring base (11), hold-down mechanism spring base guide pad (14), holddown spring pull bar (10), hold-down mechanism nut (19), hold-down mechanism spring (18).
A kind of contact roller device for aerial high-voltage power transmission line inspection robot the most according to claim 1, it is characterized in that, described contact roller wheel seat (3) by rolling bearing (13) support compression wheel shaft (12) and with compress the contact roller (1) of wheel shaft (12) matched in clearance, be connected with wheel seat (3) screw by contact roller wheel seat bearing cap (2) and axially position.
A kind of contact roller device for aerial high-voltage power transmission line inspection robot the most according to claim 1, it is characterized in that, 4 magnet steel (4) of circumference uniform distribution on contact roller (1) side plane, a Hall element (8) is fixed in contact roller wheel seat (3) relevant position simultaneously, contact roller (1) per revolution, sensor (8) sends four signals.
A kind of contact roller device for aerial high-voltage power transmission line inspection robot the most according to claim 1, it is characterized in that, described baffle plate joint (5) one end and baffle plate (6) screw are affixed, the other end is cylindrical structural, it is nested in contact roller wheel seat (3) lateral aperture, being formed hinged with contact roller wheel seat (3) side, therefore baffle plate (6) can be around baffle plate joint (5) cylindrical structural axis Small-angle Rotation.
A kind of contact roller device for aerial high-voltage power transmission line inspection robot the most according to claim 1, it is characterized in that, described baffle plate (6) is flexibly connected with contact roller wheel seat (3) side by two springs, and equipped with magnet steel (24) on baffle plate (6), it is fixed with sensor (23) on corresponding contact roller wheel seat (3), when baffle plate (6) be stressed be adjacent to contact roller wheel seat (3) time, sensor (23) outgoing signal, after distress resolves, by two springs (7), baffle plate (6) is resetted.
A kind of contact roller device for aerial high-voltage power transmission line inspection robot the most according to claim 1, it is characterized in that, described contact roller support (17) one end is affixed with contact roller slide block (15), one end is inserted in contact roller wheel seat (3) hole, and contact roller wheel seat (3) can be made to swing around contact roller support (17) axis.
A kind of contact roller device for aerial high-voltage power transmission line inspection robot the most according to claim 1, it is characterized in that, described hold-down mechanism nut (19) endoporus is threadeded with mechanical arm (21) interior screw mandrel (22), mechanical arm (21) interior driven by motor screw mandrel (22) rotates, the hold-down mechanism nut (19) being nested on screw mandrel (22) moves axially along screw mandrel (22), holddown spring pull bar (10) one end connects contact roller slide block (15), the other end is connected with hold-down mechanism nut (19) by clamp nut guide pad (14), therefore hold-down mechanism nut (19) moves axially drive contact roller slide block (15) and then drives whole wheel clamping to move axially along mechanical arm (21).
A kind of contact roller device for aerial high-voltage power transmission line inspection robot the most according to claim 1, it is characterized in that, hold-down mechanism spring base (11) is affixed with contact roller slide block (15) by spring base guide pad (9)；Hold-down mechanism spring (18) is enclosed within the screw mandrel (22) in mechanical arm (21), and one end is connected with hold-down mechanism nut (19), and one end positions by compressing hold-down mechanism spring base (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521074187.6U CN205452944U (en) | 2015-12-22 | 2015-12-22 | A pinch roller device for making somebody a mere figurehead high tension transmission line patrols line robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521074187.6U CN205452944U (en) | 2015-12-22 | 2015-12-22 | A pinch roller device for making somebody a mere figurehead high tension transmission line patrols line robot |
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| Publication Number | Publication Date |
|---|---|
| CN205452944U true CN205452944U (en) | 2016-08-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521074187.6U Active CN205452944U (en) | 2015-12-22 | 2015-12-22 | A pinch roller device for making somebody a mere figurehead high tension transmission line patrols line robot |
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| Country | Link |
|---|---|
| CN (1) | CN205452944U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106848923A (en) * | 2017-02-28 | 2017-06-13 | 武汉大学 | A kind of ultra-high-tension power transmission line rescue robot |
| RU193020U1 (en) * | 2019-07-04 | 2019-10-10 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Казанский государственный энергетический университет" (ФГБОУ ВО "КГЭУ") | Robotic device for horseback inspection of the state of overhead power lines |
| WO2021114509A1 (en) * | 2019-12-09 | 2021-06-17 | 广东科凯达智能机器人有限公司 | Slippage identification and intelligent adaptive control method for patrol robot |
| CN113872104A (en) * | 2021-09-28 | 2021-12-31 | 中科开创（广州）智能科技发展有限公司 | Tower-standing robot |
| CN117260676A (en) * | 2023-11-17 | 2023-12-22 | 江苏葆隆智能科技有限公司 | Inspection robot based on artificial intelligence and control method thereof |
-
2015
- 2015-12-22 CN CN201521074187.6U patent/CN205452944U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106848923A (en) * | 2017-02-28 | 2017-06-13 | 武汉大学 | A kind of ultra-high-tension power transmission line rescue robot |
| CN106848923B (en) * | 2017-02-28 | 2019-06-11 | 武汉大学 | A kind of ultra-high-tension power transmission line rescue robot |
| RU193020U1 (en) * | 2019-07-04 | 2019-10-10 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Казанский государственный энергетический университет" (ФГБОУ ВО "КГЭУ") | Robotic device for horseback inspection of the state of overhead power lines |
| WO2021114509A1 (en) * | 2019-12-09 | 2021-06-17 | 广东科凯达智能机器人有限公司 | Slippage identification and intelligent adaptive control method for patrol robot |
| CN113872104A (en) * | 2021-09-28 | 2021-12-31 | 中科开创（广州）智能科技发展有限公司 | Tower-standing robot |
| CN117260676A (en) * | 2023-11-17 | 2023-12-22 | 江苏葆隆智能科技有限公司 | Inspection robot based on artificial intelligence and control method thereof |
| CN117260676B (en) * | 2023-11-17 | 2024-03-08 | 江苏葆隆智能科技有限公司 | Inspection robot based on artificial intelligence and control method thereof |
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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: Press wheel device for inspection robot of overhead high-voltage power transmission line Effective date of registration: 20181123 Granted publication date: 20160810 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 |