CN205489276U - Polling robot - Google Patents
Polling robot Download PDFInfo
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- CN205489276U CN205489276U CN201620227899.5U CN201620227899U CN205489276U CN 205489276 U CN205489276 U CN 205489276U CN 201620227899 U CN201620227899 U CN 201620227899U CN 205489276 U CN205489276 U CN 205489276U
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- walking
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- transmission line
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Abstract
The utility model relates to a polling robot, include: the flight control equipment case is the hollow shell structure, flight mechanism connects the case in flight control equipment, including rotatable rotor, running gear, including linking bridge and walking supporting wheel, linking bridge connects the case in flight control equipment, and the walking supporting wheel rotationally sets up on linking bridge, the complementary unit that climbs is including the auxiliary wheel of liftable and can be close to or keep away from the walking supporting wheel to with the common centre gripping transmission line of walking supporting wheel when the auxiliary wheel is close to with the walking supporting wheel. Above -mentioned polling robot can fly behind near transmission line, and the walking supporting wheel drops on that transmission line goes up and along the transmission line walking. Be certain angle slope and during needs climbing, the auxiliary wheel among the complementary unit that climbs can rise until contacting transmission line as transmission line. Walking supporting wheel and the common centre gripping transmission line of auxiliary wheel and increase the frictional force of walking between supporting wheel and the transmission line avoids receiving the transmission line's that has the slope influence.
Description
Technical field
This utility model relates to ultra-high-tension power transmission line detection device field, particularly to a kind of crusing robot.
Background technology
Ultra-high-tension power transmission line is the tremulous pulse of power system, its development being directly connected to national economy and people group
Many orthobiosis, therefore its safe operation is increasingly paid attention to by departments at different levels.Overhead transmission line is not
Only to bear the internal pressure of intrinsic mechanical load and electric load, and also suffer the various of natural environment
External aggression, such as: burn into filth, thunderbolt, high wind, flood, landslide, depression, earthquake and bird pest etc.
And artificial destruction.Accumulating over a long period over time, certainly will make overhead transmission line various problem occur, as led
Line breaks that stock, lightning conducter fracture, shaft tower tilt, insulator flicker, gold utensil come off, hang kite on circuit or
Woven bag, line ice coating etc..Therefore, in order to ensure transmission line of electricity safe and stable operation, need power transmission line
Road carries out careful inspection to prevent fortuitous event from occurring.
And current, have a kind of can along transmission line of electricity walking crusing robot so that circuit is checked.But,
Due to distant between power transmission line column and tower, therefore there is certain slope in transmission line of electricity, existing patrols and examines
Climbing of Robot transmission line of electricity is the most difficult, thus limits the scope of patrolling and examining of crusing robot and patrol and examine
Efficiency, brings inconvenience for patrolling and examining of transmission line of electricity.
Utility model content
Based on this, it is necessary to the problem of difficulty of climbing on transmission line of electricity for crusing robot, it is provided that a kind of
The crusing robot that can climb on transmission line of electricity easily.
A kind of crusing robot, is used for patrolling and examining transmission line of electricity, including:
Flying control equipment case, in hollow housing structure；
Aviation mechanism, is connected to described flying control equipment case, including rotating rotor；
Walking mechanism, supports wheel including connecting support with walking, described connection support be connected to described in fly control and set
Standby case, described walking supports wheel and is rotatablely arranged on described connection support；And
Climb auxiliary body, wheel can be supported closer or far from described walking including liftable auxiliary wheel, and
Support to take turns with described walking when described auxiliary wheel and described walking support and take turns close and jointly clamp described power transmission line
Road.
Above-mentioned crusing robot, after can flying near transmission line of electricity, walking supports wheel and falls on transmission line of electricity
And walk along transmission line of electricity.When transmission line of electricity tilts at an angle and needs climbing, auxiliary body of climbing
In auxiliary wheel can rise until contact power transmission circuit.So, walking support wheel jointly clamps defeated with auxiliary wheel
Electric line and increase walking support wheel with transmission line of electricity between frictional force, it is ensured that crusing robot can be along transmission of electricity
Circuit is freely advanced, it is to avoid affected by having acclive transmission line of electricity.
Wherein in an embodiment, described in auxiliary body of climbing also include liftable bracing frame, described auxiliary
Helping wheel to be rotatably arranged in support frame as described above, support frame as described above drives described auxiliary wheel closer or far from described row
Walk to support wheel.
Wherein in an embodiment, described in auxiliary body of climbing also include being fixed in described flying control equipment case
Driving assembly, described driving assembly is connected with support frame as described above to drive support frame as described above at described flying control equipment
Case and described walking support and lift between wheel.
Wherein in an embodiment, described driving assembly includes driving motor and gear driving member, described in drive
Galvanic electricity machine is in transmission connection support frame as described above by described gear driving member.
Wherein in an embodiment, described connection support includes connecting cross bar and being connected montant, described connection
Montant one end is connected to described flying control equipment case, and the other end is provided with described connection cross bar, and described walking supports wheel
It is rotatably arranged on described connection cross bar.
Wherein in an embodiment, described walking support wheel and the central shaft bearing of trend of described auxiliary wheel with
Described connection montant bearing of trend is vertical, and described walking supports wheel and is circumferentially with can transmit electricity described in clamping along outer rim
The walking of circuit supports race, and described auxiliary wheel supports race with described walking and is correspondingly arranged.
Wherein in an embodiment, described connection montant is two, two described connection montants parallel and
Every setting, described connection cross bar connects two described connection montants；Stating walking and supporting wheel is two, two institutes
State walking support wheel and lay respectively at described connection cross bar two ends.
Wherein in an embodiment, described aviation mechanism includes prolonging laterally from described flying control equipment case sidewall
The rotor connecting rod stretched, described rotor is located at described rotor connecting rod and is not connected with one end of described flying control equipment case.
Wherein in an embodiment, described crusing robot also includes being connected to drawing of described flying control equipment case
Leading mechanism, one end that described guiding bar connects described flying control equipment case is corresponding with described walking support wheel.
Wherein in an embodiment, described guiding bar includes rake and is connected to the connection of described rake
Portion, described connecting portion is fixed in described flying control equipment case, described rake from described connecting portion to away from described
Connect holder orientation to extend.
Accompanying drawing explanation
Fig. 1 is the structural representation of the crusing robot of an embodiment.
Detailed description of the invention
For the ease of understanding this utility model, below with reference to relevant drawings, this utility model is carried out more comprehensively
Description.Accompanying drawing gives preferred embodiment of the present utility model.But, this utility model can be with
Many different forms realize, however it is not limited to embodiment described herein.On the contrary, provide these real
The purpose executing example is to make the understanding to disclosure of the present utility model more thorough comprehensively.
It should be noted that when element is referred to as " being fixed on " another element, and it can be directly at another
On individual element or element placed in the middle can also be there is.When an element is considered as " connection " another yuan
Part, it can be directly to another element or may be simultaneously present centering elements.Used herein
Term " vertical ", " level ", "left", "right" and similar statement simply to illustrate that mesh
's.
Unless otherwise defined, all of technology used herein and scientific terminology with belong to of the present utility model
The implication that those skilled in the art are generally understood that is identical.Institute in description of the present utility model herein
The term used is intended merely to describe the purpose of specific embodiment, it is not intended that in limiting this utility model.
Term as used herein " and/or " include the arbitrary and all of one or more relevant Listed Items
Combination.
As it is shown in figure 1, a kind of crusing robot 100 of this preferred embodiment, it is used for patrolling and examining transmission line of electricity, bag
Include flying control equipment case 10, aviation mechanism 20, walking mechanism 30 and auxiliary body 40 of climbing.
Wherein, flying control equipment case 10 is in hollow housing structure.Aviation mechanism 20 is connected to flying control equipment case 10,
Including rotating rotor 22.Walking mechanism 30 includes that connecting support 32 supports wheel 34, connection with walking
Frame 32 is connected to flying control equipment case 10, and walking supports wheel 34 and is rotatablely arranged on connection support 32.Climb
Rise auxiliary body 40 and include that liftable auxiliary wheel 42 can support wheel 34 closer or far from walking, and auxiliary
Help wheel 42 and walking support wheel 34 near time support wheel with walking and 34 jointly clamp transmission line of electricity.
Above-mentioned crusing robot 100, after can flying near transmission line of electricity, walking supports wheel 34 and falls in transmission of electricity
Walk on circuit and along transmission line of electricity.When transmission line of electricity tilts at an angle and needs climbing, climb auxiliary
The auxiliary wheel 42 in mechanism 40 is helped to rise until contact power transmission circuit.So, walking supports wheel 34 with auxiliary
Help wheel 42 clamping transmission line of electricity jointly to increase walking and support the frictional force between wheel 34 and transmission line of electricity, protect
Card crusing robot 100 freely can be advanced along transmission line of electricity, it is to avoid by having the shadow of acclive transmission line of electricity
Ring.
Please continue to refer to Fig. 1, auxiliary body 40 of climbing also includes liftable bracing frame 44, auxiliary wheel 42
Being rotatably arranged in bracing frame 44, bracing frame 44 drives auxiliary wheel 42 to support wheel 34 closer or far from walking.
In the present embodiment, bracing frame 44 includes two support bars, and auxiliary wheel 42 is articulated with between two support bars.
Auxiliary body 40 of climbing also includes being fixed in the driving assembly 46 of flying control equipment case 10, drives assembly 46
It is connected to drive bracing frame 44 to support at flying control equipment case 10 and walking to lift between wheel 34 with bracing frame 44.
Specifically, drive assembly 46 to include driving motor and gear driving member (not shown), drive motor to pass through tooth
Wheel driving member is in transmission connection bracing frame 44.
In the present embodiment, gear driving member includes gear and the tooth bar coordinated with gear.Drive the defeated of motor
Shaft drives pinion rotation, and then drives the tooth bar engaged with gear to move at motor axial direction, thus carries
Dynamic bracing frame 44 lifts.It is appreciated that the structure driving assembly 46 is not limited to this, can be arranged as required to.
So, when transmission line of electricity is in mild state, the auxiliary wheel 42 on bracing frame 44 is away from walking
Support wheel 34 is to avoid contact with transmission line of electricity, and making walking support wheel 34 can easily walk on transmission line of electricity.
When transmission line of electricity is in the heeling condition of upstream or downstream, bracing frame 44 rises makes auxiliary wheel 42 and walking
Support wheel 34 cooperation, thus clamp transmission line of electricity, increase walking and support between wheel 34 and transmission line of electricity
Frictional force, makes walking support wheel 34 and can continue walk along transmission line of electricity and keep certain speed.
In one embodiment, connect support 32 and include connecting cross bar 322 and being connected montant 324, connect montant
324 one end are connected to flying control equipment case 10, and the other end is provided with connection cross bar 322.Walking supports wheel 34 and can turn
Be located on connection cross bar 322 dynamicly, and walking support wheel 34 and the central shaft bearing of trend of auxiliary wheel 42 with
Connect montant 324 bearing of trend vertical.Walking supports that wheel 34 is circumferentially with along outer rim can clamping transmission line of electricity
Walking supports race 342, and auxiliary wheel 42 and walking support race 342 and be correspondingly arranged.So, walking supports
Race 342 can overlap with transmission line of electricity, and under the effect of auxiliary wheel 42 and have bigger between transmission line of electricity
Frictional force because can stably along transmission line of electricity roll and be difficult to deviate from transmission line of electricity, tool acclive
On transmission line of electricity also can stabilized walking so that the operation of this crusing robot 100 has higher stability,
There is the bigger scope of application.
Further, connecting montant 324 is two, and two connection montant 324 is parallel and interval is arranged, even
Connect cross bar 322 and connect two two ends connecting montant 324.It is two that walking supports wheel 34, two walkings
Support wheel 34 lays respectively at connection cross bar 322 two ends, and auxiliary body 40 of climbing is located therein a walking and supports
Below wheel 34.In other embodiments, it is possible to support all to be correspondingly arranged below wheel 34 two walkings and climb
Auxiliary body 40.
In one embodiment, aviation mechanism 20 includes the rotor extended laterally from flying control equipment case 10 sidewall
Connecting rod 24, rotor 22 is located at rotor connecting rod 24 and is not connected with one end of flying control equipment case 10.In this enforcement
In example, rotor connecting rod 24 is four, and four rotor connecting rods 24 are around flying control equipment case 10 surrounding, rotation
The wing 22 rotates relative to rotor connecting rod 24, thus drives this crusing robot 100 to fly.
In one embodiment, crusing robot 100 also includes the guiding mechanism 50 being connected to flying control equipment case 10,
It is corresponding that the one end guiding bar 52 to connect flying control equipment case 10 supports wheel 34 with walking.Guide bar 52 and be connected
Support 32 is collectively forming path of navigation, and transmission line of electricity can slide relatively along path of navigation, so that transmission line of electricity
Supporting wheel 34 along path of navigation with walking to overlap, accurately falling for this crusing robot 100 carries on transmission line of electricity
Carry out facility.
Further, guiding bar 52 is two, and two guiding bar 52 is parallel and interval is arranged.Two guiding
By guiding connecting rod 54 to connect between bar 52, it is horizontal with the connection being connected on support 32 to guide connecting rod 54
Bar 322 is parallel, is not connected with one end of flying control equipment case 10 fixing two guiding bars 52.
More specifically, guide bar 52 include rake 522 and be connected to the connecting portion 524 of rake 522,
Connecting portion 524 is fixed in flying control equipment case 10, rake 522 from connecting portion 524 to away from connect support 32
Direction extends.Race 342 is supported much larger than walking owing to guiding bar 52 to have certain length and this length
Width, therefore makes the first contact guidance bar 52 of crusing robot 100, then slides along path of navigation, Jin Eryu
Walking supports the difficulty of race 342 coincidence and is much smaller than in crusing robot 100 flight course, and walking supports wheel
Groove 342 and the direct para-position of transmission line of electricity, so that crusing robot 100 has higher work efficiency, and
Reduce the requirement to control system degree of accuracy, save manufacturing cost.
Above-mentioned crusing robot 100, the auxiliary body 40 of climbing of setting can coordinate with walking mechanism 30, makes this
Crusing robot 100 is during advancing, and walking supports has bigger friction between wheel 34 and transmission line of electricity
Power, thus can climb having on acclive transmission line of electricity, expand the scope of patrolling and examining, have more widely
The suitability, brings great convenience for patrolling and examining of transmission line of electricity.
Each technical characteristic of embodiment described above can combine arbitrarily, for making description succinct, the most right
The all possible combination of each technical characteristic in above-described embodiment is all described, but, if these skills
There is not contradiction in the combination of art feature, is all considered to be the scope that this specification is recorded.
Embodiment described above only have expressed several embodiments of the present utility model, its describe more concrete and
In detail, but therefore can not be interpreted as the restriction to utility model patent scope.It should be pointed out that, it is right
For those of ordinary skill in the art, without departing from the concept of the premise utility, it is also possible to do
Going out some deformation and improvement, these broadly fall into protection domain of the present utility model.Therefore, this utility model is special
The protection domain of profit should be as the criterion with claims.
Claims (10)
1. a crusing robot, is used for patrolling and examining transmission line of electricity, it is characterised in that including:
Flying control equipment case, in hollow housing structure；
Aviation mechanism, is connected to described flying control equipment case, including rotating rotor；
Walking mechanism, supports wheel including connecting support with walking, described connection support be connected to described in fly control and set
Standby case, described walking supports wheel and is rotatablely arranged on described connection support；And
Climb auxiliary body, wheel can be supported closer or far from described walking including liftable auxiliary wheel, and
Support to take turns with described walking when described auxiliary wheel and described walking support and take turns close and jointly clamp described power transmission line
Road.
Crusing robot the most according to claim 1, it is characterised in that described in climb auxiliary body also
Including liftable bracing frame, described auxiliary wheel is rotatably arranged in support frame as described above, and support frame as described above drives
Described auxiliary wheel supports wheel closer or far from described walking.
Crusing robot the most according to claim 2, it is characterised in that described in climb auxiliary body also
Including being fixed in the driving assembly of described flying control equipment case, described driving assembly is connected to drive with support frame as described above
Dynamic support frame as described above supports at described flying control equipment case and described walking and lifts between wheel.
Crusing robot the most according to claim 3, it is characterised in that described driving assembly includes driving
Galvanic electricity machine and gear driving member, described driving motor is in transmission connection support frame as described above by described gear driving member.
Crusing robot the most according to claim 1, it is characterised in that described connection support includes even
Connecing cross bar and be connected montant, described connection montant one end is connected to described flying control equipment case, and the other end is provided with institute
Stating connection cross bar, described walking supports wheel and is rotatably arranged on described connection cross bar.
Crusing robot the most according to claim 5, it is characterised in that described walking supports wheel and institute
Stating the central shaft bearing of trend of auxiliary wheel and described to be connected montant bearing of trend vertical, described walking supports wheel edge
Outer rim is circumferentially with and the walking of transmission line of electricity described in clamping can support race, and described auxiliary wheel props up with described walking
Support race is correspondingly arranged.
Crusing robot the most according to claim 6, it is characterised in that described connection montant is two,
Two described connection montant is parallel and interval is arranged, and described connection cross bar connects two described connection montants；State
It is two that walking supports wheel, and two described walkings support wheel and lay respectively at described connection cross bar two ends.
Crusing robot the most according to claim 1, it is characterised in that described aviation mechanism includes certainly
The rotor connecting rod that described flying control equipment case sidewall extends laterally, described rotor is located at described rotor connecting rod
It is not connected with one end of described flying control equipment case.
Crusing robot the most according to claim 1, it is characterised in that described crusing robot also wraps
Including the guiding mechanism being connected to described flying control equipment case, described guiding bar connects one end of described flying control equipment case
Wheel is supported corresponding with described walking.
Crusing robot the most according to claim 9, it is characterised in that described guiding bar includes inclining
Tiltedly portion and be connected to the connecting portion of described rake, described connecting portion is fixed in described flying control equipment case, described
Rake extends to away from described connection holder orientation from described connecting portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620227899.5U CN205489276U (en) | 2016-03-22 | 2016-03-22 | Polling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620227899.5U CN205489276U (en) | 2016-03-22 | 2016-03-22 | Polling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205489276U true CN205489276U (en) | 2016-08-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620227899.5U Active CN205489276U (en) | 2016-03-22 | 2016-03-22 | Polling robot |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106347646A (en) * | 2016-09-23 | 2017-01-25 | 华南理工大学 | Device for eliminating corona of rotor wing of rotor wing type unmanned aerial vehicle |
| CN106476547A (en) * | 2016-12-15 | 2017-03-08 | 济南舜风科技有限公司 | One kind can flight formula power circuit walking operation robot and its method |
| CN106505475A (en) * | 2016-12-29 | 2017-03-15 | 广州供电局有限公司 | Crusing robot |
| CN106711851A (en) * | 2017-01-17 | 2017-05-24 | 广州供电局有限公司 | Inspection robot |
| CN106786131A (en) * | 2016-11-16 | 2017-05-31 | 国网辽宁省电力有限公司检修分公司 | Live wire reconnoitres unmanned plane |
| CN106786163A (en) * | 2017-01-17 | 2017-05-31 | 广州供电局有限公司 | Amphibious Work robot |
| CN106786162A (en) * | 2017-01-17 | 2017-05-31 | 广州供电局有限公司 | Amphibious hot line robot |
| CN106848919A (en) * | 2017-01-22 | 2017-06-13 | 广州供电局有限公司 | Amphibious Work robot |
| CN106970389A (en) * | 2017-03-03 | 2017-07-21 | 广州供电局有限公司 | Power circuit measurement apparatus and power circuit measuring method |
| CN107380415A (en) * | 2017-06-21 | 2017-11-24 | 浙江大学宁波理工学院 | A kind of aircraft of electric power line inspection |
| CN112803296A (en) * | 2021-01-11 | 2021-05-14 | 国网江苏省电力有限公司常州供电分公司 | Traction device and overhead line construction equipment that takes out stitches |
-
2016
- 2016-03-22 CN CN201620227899.5U patent/CN205489276U/en active Active
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106347646A (en) * | 2016-09-23 | 2017-01-25 | 华南理工大学 | Device for eliminating corona of rotor wing of rotor wing type unmanned aerial vehicle |
| CN106786131A (en) * | 2016-11-16 | 2017-05-31 | 国网辽宁省电力有限公司检修分公司 | Live wire reconnoitres unmanned plane |
| CN106476547A (en) * | 2016-12-15 | 2017-03-08 | 济南舜风科技有限公司 | One kind can flight formula power circuit walking operation robot and its method |
| CN106476547B (en) * | 2016-12-15 | 2019-07-09 | 济南舜风科技有限公司 | One kind can flight formula power circuit walking operation robot and its method |
| CN106505475A (en) * | 2016-12-29 | 2017-03-15 | 广州供电局有限公司 | Crusing robot |
| CN106786162A (en) * | 2017-01-17 | 2017-05-31 | 广州供电局有限公司 | Amphibious hot line robot |
| CN106786163A (en) * | 2017-01-17 | 2017-05-31 | 广州供电局有限公司 | Amphibious Work robot |
| CN106711851A (en) * | 2017-01-17 | 2017-05-24 | 广州供电局有限公司 | Inspection robot |
| CN106848919A (en) * | 2017-01-22 | 2017-06-13 | 广州供电局有限公司 | Amphibious Work robot |
| CN106970389A (en) * | 2017-03-03 | 2017-07-21 | 广州供电局有限公司 | Power circuit measurement apparatus and power circuit measuring method |
| CN106970389B (en) * | 2017-03-03 | 2023-08-04 | 广东电网有限责任公司广州供电局 | Power line measurement device and power line measurement method |
| CN107380415A (en) * | 2017-06-21 | 2017-11-24 | 浙江大学宁波理工学院 | A kind of aircraft of electric power line inspection |
| CN112803296A (en) * | 2021-01-11 | 2021-05-14 | 国网江苏省电力有限公司常州供电分公司 | Traction device and overhead line construction equipment that takes out stitches |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200928 Address after: 510620 Tianhe District, Guangzhou, Tianhe South Road, No. two, No. 2, No. Patentee after: Guangzhou Power Supply Bureau of Guangdong Power Grid Co.,Ltd. Address before: 510620 Tianhe District, Guangzhou, Tianhe South Road, No. two, No. 2, No. Patentee before: GUANGZHOU POWER SUPPLY Co.,Ltd. |