CN205543957U - Can stride across electric power inspection robot of barrier - Google Patents
Can stride across electric power inspection robot of barrier Download PDFInfo
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- CN205543957U CN205543957U CN201620095978.5U CN201620095978U CN205543957U CN 205543957 U CN205543957 U CN 205543957U CN 201620095978 U CN201620095978 U CN 201620095978U CN 205543957 U CN205543957 U CN 205543957U
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- 238000007689 inspection Methods 0.000 title claims abstract description 17
- 230000004888 barrier function Effects 0.000 title abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 187
- 238000000034 method Methods 0.000 claims abstract description 21
- 230000008569 process Effects 0.000 claims abstract description 15
- 238000012546 transfer Methods 0.000 claims description 42
- 230000005540 biological transmission Effects 0.000 claims description 14
- 239000007787 solid Substances 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 3
- 230000009471 action Effects 0.000 abstract description 3
- 239000004020 conductor Substances 0.000 abstract description 3
- 125000006850 spacer group Chemical group 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 1
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- 238000013461 design Methods 0.000 description 1
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Abstract
The utility model discloses a can stride across electric power inspection robot of barrier should patrol and examine the robot and include the frame, set up arm mechanism and the control terminal of setting in the frame at the frame top surface, and arm mechanism includes two side arm mechanisms and is arranged in two arm mechanisms between the side arm mechanism. The utility model discloses the centre gripping formula designed the outstanding barrier of lower extreme such as stockbridge damper and directly relieveed below fixture, need not to loosen the arm to fall down through the obstacle the simple high efficiency of action, through the conductor spacer, select the plumb line clamp to wait for the distal process to go out the barrier and adopt rotatory arm to dodge the mode, also need not with the arm loosen fall down through, the operation is high -efficient.
Description
Technical field
The utility model relates to line data-logging device, in particular to the electric power of a kind of energy across obstacle
Crusing robot.
Background technology
Enter after 21 century, the science of China and economy the most forward, society's all trades and professions
Demand for electric power day by day increases, and also proposes the highest requirement, electric power to power industry
Equipment runs and safeguards becomes the most important work, and the reliability of electric power transport becomes important
Index.
Owing to being affected by itself feature, the environment residing for power equipment is the most severe,
Affected relatively big by natural environment and climate, equipment damage reason is more, is also the master in electric power system fault
Want factor.Therefore the operation maintenance of power equipment and troubleshooting are become to the weight of maintenance work
Point.In the past, the operation maintenance of power equipment is periodically patrolled mainly by patrolling and examining teams and groups, but some is local
Patrol officer cannot arrive, and manual inspection exists that efficiency is low, length duty cycle, precision are poor,
The problems such as under-enumeration situation is serious, therefore, utilize equipment progressively to replace manual inspection operation to become electric power
Industry research trend.The problem of above-mentioned manual inspection will be effectively solved across barrier robot, and significantly
Reduce power equipment O&M cost.
At present, power-line patrolling robot, particularly electric power cable robot, mainly with telescopic adjustment
Arm, departs from the mode obstacle detouring of cable, needs to depart from arm one by one cable from below during obstacle detouring
Hid barrier, operated complicated, inefficient.
Utility model content
The purpose of this utility model seeks to provide the electric inspection process machine of a kind of energy across obstacle
People, the electric inspection process robot of this across obstacle utilizes clipping design, straight when breaking the barriers
Connect clamping device below relieving, it is not necessary to unclamped by arm and fall through obstacle, action simply efficiently,
Simple to operate, patrol and examine job safety.
For achieving the above object, the electric power of a kind of energy across obstacle designed by the utility model patrols
Inspection robot, it is characterised in that: include frame, the arm mechanism being arranged on frame end face and setting
In frame and can control the control terminal that each motor in arm mechanism runs, arm mechanism includes
Liang Ge side arm mechanism and the middle arm mechanism between Liang Ge side arm mechanism；
Liang Ge side arm mechanism all include the first traveling wheel mechanism, the first clamping device, can be corresponding
First push rod drives motor to make corresponding first traveling wheel mechanism and the first clamping device upper and lower under driving
First transfer bar mechanism of motion and can make corresponding under the first corresponding rotary drive motor drives
The first arm rotating mechanism that first clamping device rotates relative to the first transfer bar mechanism；
Each first traveling wheel mechanism all include the first traction drive motor, the first shaft joint,
One rotating shaft, the first row travelling wheel, the first motor fixed frame and the first row travelling wheel fixed frame；
In each first traveling wheel mechanism, the output shaft of the first traction drive motor is by first even
Axial organ and the first rotating shaft transmission connect, and the first rotating shaft is installed the first row travelling wheel, and the first motor is fixed
The output shaft of the first traction drive motor, the first row travelling wheel fixed frame are installed by bearing in frame upper end
Being arranged in the first rotating shaft by bearing, the first motor fixed frame is fixed with the first row travelling wheel fixed frame
Connect；
Each first clamping device all includes under the first clamping device upper fixed seat, the first clamping device
Fixing seat, the first leading screw, the first clamping wheel unit, the first grip unit support, the first leading screw are sliding
Seat, the first position-limit mechanism and the first clamping wheel drive motor；
In each first clamping device, the first clamping device upper fixed seat is fixed on the first motor and fixes
The top of frame, the first clamping device lower fixed seat is fixed on the bottom of the first motor fixed frame, and first
Leading screw upper end is rotationally connected by bearing and the first clamping device upper fixed seat, and the first leading screw lower end leads to
Cross bearing and the first clamping device lower fixed seat is rotationally connected；
In each first clamping device, the first clamping wheel unit includes the first clamping wheel bearing and difference
It is arranged on two first clamping wheels at the first clamping wheel bearing two ends, two the first clamping wheels and first
The clamping zone for clamping power transmission line can be formed between road wheel；First clamping wheel bearing bottom with
One end of first grip unit support is fixing to be connected, the other end and first of the first grip unit support
Leading screw slide is fixing to be connected, and the first leading screw slide is enclosed within the first leading screw and the first leading screw slide and the
One threads of lead screw connects；First position-limit mechanism is arranged on the both sides of the first leading screw slide for first
Grip unit support carries out rotary spacing, and the first position-limit mechanism upper end is fixing with on the first clamping device
Seat is fixing to be connected, and the first position-limit mechanism lower end is fixing with the first clamping device lower fixed seat to be connected；The
One clamping wheel drives motor to be arranged on the first clamping device upper fixed seat, and the first clamping wheel drives electricity
The output shaft of machine is connected by gear and the first lead screw transmission；
The round end of described first clamping device lower fixed seat and the first arm rotating mechanism is fixing even
Connect, the fixing end of the first arm rotating mechanism and the fixing connection of the telescopic end of the first transfer bar mechanism, the
The fixing end of one transfer bar mechanism is fixing with frame end face to be connected；
Described middle arm mechanism include the second traveling wheel mechanism, the second clamping device, can be corresponding the
Two push rods drive motor to make corresponding second traveling wheel mechanism and the second clamping device transport up and down under driving
The second dynamic transfer bar mechanism and corresponding the can be made under the second corresponding rotary drive motor drives
The second arm rotating mechanism that two clamping devices rotate relative to the second transfer bar mechanism；
Described second traveling wheel mechanism includes the second rotating shaft, the second road wheel, middle arm fixed frame and
Two road wheel fixed frames；
Wherein, described second rotating shaft is fixing with the second road wheel to be connected, and axle is passed through in described second rotating shaft
Holding and be arranged on the second road wheel fixed frame, described middle arm fixed frame and the second road wheel fixed frame are solid
Fixed connection；
Described second clamping device includes under the second clamping device upper fixed seat, the second clamping device solid
Reservation, the second leading screw, the second clamping wheel unit, the second grip unit support, the second leading screw slide,
Second position-limit mechanism and the second clamping wheel drive motor；
Wherein, the second clamping device upper fixed seat is fixed on the top of middle arm fixed frame, the second clamping
Mechanism's lower fixed seat is fixed on the bottom of middle arm fixed frame, and bearing and second is passed through in the second leading screw upper end
Clamping device upper fixed seat is rotationally connected, and the second leading screw lower end is by under bearing and the second clamping device
Fixing seat is rotationally connected；
Described second clamping wheel unit includes the second clamping wheel bearing and is separately positioned on the second clamping
Two second clamping wheels at wheeling support two ends, can shape between two the second clamping wheels and the second road wheel
Become the clamping zone for clamping power transmission line；Second clamping wheel bearing bottom is propped up with the second grip unit
One end of frame is fixing to be connected, and the other end of the second grip unit support and the second leading screw slide are fixing even
Connect, the second leading screw slide be enclosed within the second leading screw and the second leading screw slide and the second threads of lead screw even
Connect；Second position-limit mechanism is arranged on the both sides of the second leading screw slide for the second grip unit support
Carrying out rotary spacing, the second position-limit mechanism upper end is fixing with the second clamping device upper fixed seat to be connected,
Second position-limit mechanism lower end is fixing with the second clamping device lower fixed seat to be connected；Second clamping wheel drives
Motor is arranged on the second clamping device upper fixed seat, and the second clamping wheel drives the output shaft of motor to lead to
Cross gear and the second lead screw transmission connects；
The round end of described second clamping device lower fixed seat and the second arm rotating mechanism is fixing even
Connect, the fixing end of the second arm rotating mechanism and the fixing connection of the telescopic end of the second transfer bar mechanism, the
The fixing end of two transfer bar mechanisms is fixing with frame end face to be connected.
In technique scheme, each first arm rotating mechanism includes the first rotating mechanism and first
Rotary drive motor, each first rotating mechanism include the first rotating disk connecting shaft, the first lower rotary table and
The first top rotary table that can rotate relative to the first lower rotary table, sets between the first lower rotary table and the first top rotary table
There is the first rotation supporter, by rotating supporter rotation between the first lower rotary table and the first top rotary table
Connecting, the first lower rotary table is arranged on the first rotating disk connecting shaft bottom by bearing, and the first top rotary table is solid
Surely it is connected to the first rotating disk connecting shaft top, the first top rotary table and the first motor fixed frame bottom fix
Connecting, the first rotary drive motor is fixed on the first clamping device lower fixed seat, and the first rotation is driven
Output shaft and the first rotating disk connecting shaft of dynamic motor are connected by gear drive；
The first of each first transfer bar mechanism fixing first push rod that connects of push rod that stretches fixes seat bottom end,
First push rod fixes seat and the fixing connection of the first lower rotary table, and the fixing end of each first transfer bar mechanism is solid
Being scheduled in frame, the fixing end of each first transfer bar mechanism is provided with for driving first push rod that stretches to stretch
First push rod of contracting drives motor.
In technique scheme, described second arm rotating mechanism includes the second rotating mechanism and second
Rotary drive motor, the second rotating mechanism includes the second rotating disk connecting shaft, the second lower rotary table and energy phase
The second top rotary table rotating the second lower rotary table, is provided with the between the second lower rotary table and the second top rotary table
Two rotate supporter, the second lower rotary table and the second top rotary table is rotated even by the second rotation supporter
Connecing, the second lower rotary table is arranged on the second rotating disk connecting shaft bottom by bearing, and the second top rotary table is fixed
Being connected to the second rotating disk connecting shaft top, the second top rotary table is fixing with middle arm fixed frame bottom to be connected,
Second rotary drive motor is fixed on the second clamping device lower fixed seat, the second rotary drive motor
Output shaft and the second rotating disk connecting shaft connected by gear drive；
The second of described second transfer bar mechanism fixing second push rod that connects of push rod that stretches fixes seat bottom end,
Second push rod fixes seat and the fixing connection of the second lower rotary table, and the fixing end of the second transfer bar mechanism is fixed on
In frame, the fixing end of the second transfer bar mechanism be provided with for drive second stretch push rod flexible second
Push rod drives motor.
In technique scheme, be provided with in described control terminal obstacle sensor assembly, controller and
Driver element, the signal output part of described obstacle sensor assembly connects the signal input of controller
End, the control signal output of described controller connects the control signal input of driver element, institute
State the output of driver element connect the second clamping wheel drive motor, the second rotary drive motor, the
Two push rods drive motors, two the first traction drive motors, two the first clamping wheels drive motor,
Two the first rotary drive motors and the control end of two the first push rod driving motors.
Compared with prior art, the utility model has the advantage that
One, the utility model is clipping to be designed the lower ends such as stockbridge damper and highlights barrier and directly decontrol
Lower section clamping device, it is not necessary to being unclamped by arm and fall through obstacle, action is the most efficient；By
Every rod, select the upper ends such as plumb line folder highlight barrier use full wind-up dodge mode, without by hand
Arm unclamps and falls through, and operation is efficient；
Its two, upper and lower clamp structure of the present utility model and rotational structure avoid tradition obstacle detouring machine
People needs to stretch arm to completely disengage from the shortcoming of guide rail, and mechanical mechanism is simple, space occupancy rate is low；
Its three, the utility model in polling transmission line operation process, patrol and examine mechanism can by folder
Holding device clamping cable, operation process security is high.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the structural representation of the utility model side arm mechanism；
Fig. 3 is the side elevational cross-section schematic diagram of the utility model side arm mechanism；
Fig. 4 is the plan structure schematic diagram of the utility model the first traveling wheel mechanism；
Fig. 5 is the structural representation of arm mechanism in the utility model；
Fig. 6 is the side elevational cross-section schematic diagram of arm mechanism in the utility model；
Fig. 7 is the plan structure schematic diagram of the utility model the second traveling wheel mechanism；
Fig. 8 is the structural representation that the utility model circuit controls；
Wherein: 1-frame, 2-arm mechanism, 3-control arm machine in terminal, 4-side arm mechanism, 5-
Structure, 6-the first traveling wheel mechanism, 6.1-the first traction drive motor, 6.2-the first shaft joint, 6.3-
First rotating shaft, 6.4-the first row travelling wheel, 6.5-the first motor fixed frame, 6.6-the first row travelling wheel are fixed
Frame；Under 7-the first clamping device, 7.1-the first clamping device upper fixed seat, 7.2-the first clamping device
Fixing seat, 7.3-the first leading screw, 7.4-the first clamping wheel unit, 7.41-the first clamping wheel bearing,
7.42-the first clamping wheel, 7.5-the first grip unit support, 7.6-the first leading screw slide, 7.6-first
Position-limit mechanism, 7.8-the first clamping wheel drive motor, 8-the first arm rotating mechanism, 8.1-first to revolve
Rotation mechanism, 8.11-the first rotating disk connecting shaft, 8.12-the first lower rotary table, 8.13-the first top rotary table,
8.14-first rotates supporter, 8.2-the first rotary drive motor, 9-the first transfer bar mechanism, 9.1-
First stretch push rod, 9.2-the first push rod drives motor, 9.3-the first push rod to fix seat, 10-second
Arm fixed frame, 10.4-in traveling wheel mechanism, 10.1-the second rotating shaft, 10.2-the second road wheel, 10.3-
Second road wheel fixed frame, 11-the second clamping device, 11.1-the second clamping device upper fixed seat,
11.2-the second clamping device lower fixed seat, 11.3-the second leading screw, 11.4-the second clamping wheel unit,
11.41-the second clamping wheel bearing, 11.42-the second clamping wheel, 11.5-the second grip unit support,
11.6-the second leading screw slide, 11.6-the second position-limit mechanism, 11.8-the second clamping wheel driving motor,
12-the second arm rotating mechanism, 12.1-the second rotating mechanism, 12.11-the second rotating disk connecting shaft,
12.12-the second lower rotary table, 12.13-the second top rotary table, 12.14-second rotate supporter, 12.2-
Second rotary drive motor, 13-the second transfer bar mechanism, 13.1-second stretch push rod, 13.2-second
Push rod drive motor, 13.3-the second push rod fix seat, 14-obstacle sensor assembly, 15-controller,
16-driver element.
Detailed description of the invention
The utility model is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
As shown in Fig. 1～8 a kind of can the electric inspection process robot of across obstacle, including frame 1,
It is arranged on the arm mechanism 2 of frame 1 end face and is arranged in frame 1 and arm mechanism 2 can be controlled
In the control terminal 3 run of each motor, arm mechanism 2 includes Liang Ge side arm mechanism 4 and position
Middle arm mechanism 5 between Liang Ge side arm mechanism 4；
Liang Ge side arm mechanism 4 all include first traveling wheel mechanism the 6, first clamping device 7, can be
The first corresponding push rod drives motor 9.2 to make corresponding first traveling wheel mechanism 6 and the first folder under driving
Hold the first transfer bar mechanism 9 of mechanism 7 up and down motion and electricity can be driven in the first corresponding rotation
Machine 8.2 drive under make corresponding first clamping device 7 relative to the first transfer bar mechanism 9 rotate first-hand
Arm rotating mechanism 8；
Each first traveling wheel mechanism 6 all includes first traction drive motor the 6.1, first connecting shaft
Device the 6.2, first rotating shaft 6.3, the first row travelling wheel the 6.4, first motor fixed frame 6.5 and the first row
Travelling wheel fixed frame 6.6；
In each first traveling wheel mechanism 6, the output shaft of the first traction drive motor 6.1 passes through
First shaft joint 6.2 is in transmission connection with the first rotating shaft 6.3, and the first rotating shaft 6.3 is installed the first row
Travelling wheel 6.4, the first traction drive motor is installed by bearing in the first motor fixed frame 6.5 upper end
The output shaft of 6.1, the first row travelling wheel fixed frame 6.6 is arranged in the first rotating shaft 6.3 by bearing,
First motor fixed frame 6.5 is fixing with the first row travelling wheel fixed frame 6.6 to be connected；
Each first clamping device 7 all includes that the first clamping device upper fixed seat 7.1, first clamps
Mechanism's lower fixed seat the 7.2, first leading screw the 7.3, first clamping wheel unit the 7.4, first grip unit
Support the 7.5, first leading screw slide the 7.6, first position-limit mechanism 7.7 and the first clamping wheel drive motor
7.8；
In each first clamping device 7, the first clamping device upper fixed seat 7.1 is fixed on the first electricity
The top of machine fixed frame 6.5, the first clamping device lower fixed seat 7.2 is fixed on the first motor and fixes
The bottom of frame 6.5, bearing and the first clamping device upper fixed seat 7.1 are passed through in the first leading screw 7.3 upper end
Being rotationally connected, bearing and the first clamping device lower fixed seat 7.2 turns are passed through in the first leading screw 7.3 lower end
It is dynamically connected；
In each first clamping device 7, the first clamping wheel unit 7.4 includes the first clamping wheel bearing
7.41 and be separately positioned on two first clamping wheels 7.42 at the first clamping wheel bearing 7.41 two ends,
The folder for clamping power transmission line can be formed between two the first clamping wheels 7.42 and the first row travelling wheel 6.4
Hold region；One end of first clamping wheel bearing 7.41 bottom and the first grip unit support 7.5 is fixed
Connect, the other end of the first grip unit support 7.5 and the first fixing connection of leading screw slide 7.6,
First leading screw slide 7.6 is enclosed within the first leading screw 7.3 and the first leading screw slide 7.6 and the first leading screw
7.3 it is threaded；First position-limit mechanism 7.7 is arranged on the both sides of the first leading screw slide 7.6 for right
First grip unit support 7.5 carries out rotary spacing so that the first leading screw 7.3 rotates and can drive the
One leading screw slide 7.6 and the first grip unit support 7.5 move up and down, the first position-limit mechanism 7.7
Upper end is fixing with the first clamping device upper fixed seat 7.1 to be connected, the first position-limit mechanism 7.7 lower end and
First clamping device lower fixed seat 7.2 is fixing to be connected；First clamping wheel drives motor 7.8 to be arranged on
On first clamping device upper fixed seat 7.1, the first clamping wheel drives the output shaft of motor 7.8 to pass through
Gear and the first leading screw 7.3 are in transmission connection, and the first clamping wheel drives the output shaft of motor 7.8 to drive
Dynamic first leading screw 7.3 rotates, and the rotation of the first leading screw 7.3 can drive the first leading screw slide 7.6 He
First grip unit support 7.5 moves up and down；
The round end of described first clamping device lower fixed seat 7.2 and the first arm rotating mechanism 8 is solid
Fixed connection, the fixing end of the first arm rotating mechanism 8 and the telescopic end of the first transfer bar mechanism 9 are fixed
Connecting, the fixing end of the first transfer bar mechanism 9 is fixing with frame 1 end face to be connected；
Described middle arm mechanism 5 include second traveling wheel mechanism the 10, second clamping device 11, can be
The second corresponding push rod drives motor 13.2 to make corresponding second traveling wheel mechanism 10 and second under driving
The second transfer bar mechanism 13 that clamping device 11 moves up and down and driving in the second corresponding rotation
Dynamic motor 12.2 makes corresponding second clamping device 11 rotate relative to the second transfer bar mechanism 13 under driving
The second arm rotating mechanism 12；
Described second traveling wheel mechanism 10 include second rotating shaft the 10.1, second road wheel 10.2, in
Arm fixed frame 10.3 and the second road wheel fixed frame 10.4；
Wherein, described second rotating shaft 10.1 is fixing with the second road wheel 10.2 to be connected, and described second
Rotating shaft 10.1 is arranged on the second road wheel fixed frame 10.4 by bearing, described middle arm fixed frame
10.3 fixing with the second road wheel fixed frame 10.4 are connected；
Described second clamping device 11 includes that the second clamping device upper fixed seat 11.1, second clamps
Mechanism's lower fixed seat the 11.2, second leading screw the 11.3, second clamping wheel unit 11.4, second clamps single
Unit's support the 11.5, second leading screw slide the 11.6, second position-limit mechanism 11.7 and the second clamping wheel driving
Dynamic motor 11.8；
Wherein, the second clamping device upper fixed seat 11.1 is fixed on the top of middle arm fixed frame 10.3,
Second clamping device lower fixed seat 11.2 is fixed on the bottom of middle arm fixed frame 10.3, the second leading screw
11.3 upper ends are rotationally connected by bearing and the second clamping device upper fixed seat 11.1, the second leading screw
11.3 lower ends are rotationally connected by bearing and the second clamping device lower fixed seat 11.2 so that second
The rotation of leading screw 11.3 can drive on the second leading screw slide 11.6 and the second grip unit support 11.5
Lower movement；Described second clamping device lower fixed seat 11.2 and the rotation of the second arm rotating mechanism 12
Turn the fixing connection of end, the fixing end of the second arm rotating mechanism 12 and stretching of the second transfer bar mechanism 13
Contracting end is fixing to be connected, and the fixing end of the second transfer bar mechanism 13 is fixing with frame 1 end face to be connected.
In technique scheme, each first arm rotating mechanism 8 includes the first rotating mechanism 8.1
With the first rotary drive motor 8.2, each first rotating mechanism 8.1 includes the first rotating disk connecting shaft
8.11, the first lower rotary table 8.12 and the first top rotary table that can rotate relative to the first lower rotary table 8.12
8.13, it is provided with the first rotation supporter between the first lower rotary table 8.12 and the first top rotary table 8.13
8.14, revolved by rotation supporter 8.14 between the first lower rotary table 8.12 and the first top rotary table 8.13
Turning and connect, the first lower rotary table 8.12 is arranged on the first rotating disk connecting shaft 8.11 bottom by bearing,
First top rotary table 8.13 is fixedly connected on the first rotating disk connecting shaft 8.11 top, the first top rotary table 8.13
Fixing with the first motor fixed frame 6.5 bottom being connected, the first rotary drive motor 8.2 is fixed on the
On one clamping device lower fixed seat 7.2, the output shaft of the first rotary drive motor 8.2 and first turn
Dish connecting shaft 8.11 is connected by gear drive；
The first of each first transfer bar mechanism 9 fixing first push rod that connects of push rod 9.1 that stretches fixes seat
9.3 bottoms, the first push rod fixes that seat 9.3 is fixing with the first lower rotary table 8.12 to be connected, and each first
The fixing end of transfer bar mechanism 9 is fixed in frame 1, and the fixing end of each first transfer bar mechanism 9 sets
Have for driving first flexible the first push rod of push rod 9.1 that stretches to drive motor 9.2.
In technique scheme, described second arm rotating mechanism 12 includes the second rotating mechanism
12.1 and second rotary drive motor 12.2, the second rotating mechanism 12.1 includes that the second rotating disk connects
Axle the 12.11, second lower rotary table 12.12 turns on second that the second lower rotary table 12.12 rotates with energy
Dish 12.13, is provided with the second rotation support between the second lower rotary table 12.12 and the second top rotary table 12.13
Part 12.14, the second lower rotary table 12.12 and the second top rotary table 12.13 are by the second rotation supporter
12.14 are rotatably connected, and the second lower rotary table 12.12 is arranged on the second rotating disk connecting shaft by bearing
12.11 bottoms, the second top rotary table 12.13 is fixedly connected on the second rotating disk connecting shaft 12.11 top,
Second top rotary table 12.13 is fixing with middle arm fixed frame 10.3 bottom to be connected, the second rotary drive motor
12.2 are fixed on the second clamping device lower fixed seat 11.2, the second rotary drive motor 12.2
Output shaft and the second rotating disk connecting shaft 12.11 are connected by gear drive；
The second of described second transfer bar mechanism 13 fixing second push rod that connects of push rod 13.1 that stretches is fixed
Seat 13.3 bottoms, the second push rod fixes seat 13.3 and fixes with the second lower rotary table 12.12 and be connected, the
The fixing end of two transfer bar mechanisms 13 is fixed in frame 1, and the fixing end of the second transfer bar mechanism 13 sets
Have for driving second flexible the second push rod of push rod 13.1 that stretches to drive motor 13.2.
In technique scheme, in described control terminal 3, it is provided with obstacle sensor assembly 14, control
Device 15 processed and driver element 16, the signal output part of described obstacle sensor assembly 14 connects control
The signal input part of device 15 processed, the control signal output of described controller 15 connects driver element
The control signal input of 16, the output of described driver element 16 connects the second clamping wheel and drives
Motor the 11.8, second rotary drive motor the 12.2, second push rod drives 13.2, two first, motor
6.1, two the first clamping wheels of traction drive motor drive 7.8, two first, motor to rotate and drive
Motor 8.2 and the control end of two the first push rod driving motors 9.2.
Use process of the present utility model: during installation, this electric inspection process robot lifts and reaches the standard grade, in
The road wheel of arm mechanism 5 and Liang Ge side arm mechanism 4 tangles cable to be checked, and clamping wheel drives electricity simultaneously
Machine drives leading screw to drive grip unit support and grip unit to be move upwardly until and presss from both sides with cable contact
Tightly, equipment installation.The driving of the first traction drive motor 6.1 in Liang Ge side arm mechanism 4
Under Dong, crusing robot is made to be moved forward or rearward on cable.Crusing robot is by being arranged on
The corridor environment that multiple cameras on fuselage monitor on electric power cable in real time is common with power equipment
Fault.
Need to solve the problem of common impairments thing obstacle detouring, common circuitry obstacle when patrolling and examining on electric power cable
Thing includes: stockbridge damper, conductor spacer, suspending hammer wire clamp etc..
During patrolling and examining, obstacle sensor assembly 14 detect barrier on the downside of cable (as
Stockbridge damper) time, obstacle detouring strategy is as follows: the obstacle signal that obstacle sensor assembly 14 will receive
Pass to controller 15, the first clamping wheel driving in the side arm mechanism 4 on front side of controller 15 control
Dynamic motor 7.8, makes the first clamping wheel 7.42 move downward disengaging cable, and the most top end first is walked
Wheel 6.4 rotation makes the first row travelling wheel 6.4 roll over connecting position of wires from stockbridge damper；Walk to middle arm
During mechanism 5, when obstacle sensor assembly 14 detects stockbridge damper, controller 15 controls the second folder
Holding wheel drive motor 11.8 makes the second clamping wheel 11.42 move downward disengaging cable；When obstacle senses
Device assembly 14 detects that the side arm mechanism 4 of front side, completely by after stockbridge damper, controls the first clamping
Wheel 7.42 rises to clamp cable and moves forward, and the side arm mechanism 4 of rear side is in like manner.
During patrolling and examining, obstacle sensor assembly 14 detects on the upside of cable or the obstacle of oblique side
Thing (as conductor spacer and select plumb line press from both sides) time, obstacle detouring strategy is as follows: obstacle sensor assembly 14 general
The obstacle signal received passes to controller 15, the side arm mechanism 4 on front side of controller 15 control
On the first push-rod electric machine 9.2 push rod 9.1 upwardly arm that stretches first be allowed to extend, with
Time control first clamping wheel drive motor 7.8 first clamping wheel 7.42 is moved downward, make cable with
Time depart from above the first row travelling wheel 6.4 and the first clamping wheel 7.42 of lower section, then by first rotation
Turn driving motor 8.2 and control side arm mechanism 4 half-twist, now the of the side arm mechanism 4 of rear side
One road wheel 6.4 pushing means forward is advanced, and walks to the side arm mechanism 4 of front side by turning after obstacle
Going back to origin-location and clamp cable, middle arm mechanism 5 unclamps and half-twist is by obstacle, rear side
Side arm mechanism 4 in like manner.The utility model crosses that barrier structure is efficient, mechanical mechanism simple, space accounts for
Low by rate, operational security is high.
Claims (6)
1. the electric inspection process robot of an energy across obstacle, it is characterised in that: include frame
(1), it is arranged on the arm mechanism (2) of frame (1) end face and is arranged in frame (1) also
The control terminal (3) that in arm mechanism (2), each motor runs, arm mechanism (2) can be controlled
Including Liang Ge side arm mechanism (4) and the middle arm mechanism (5) that is positioned between Liang Ge side arm mechanism (4)；
Liang Ge side arm mechanism (4) all include the first traveling wheel mechanism (6), the first clamping device (7),
Motor (9.2) can be driven to make corresponding first traveling wheel mechanism (6) under driving at the first corresponding push rod
The first transfer bar mechanism (9) of moving up and down with the first clamping device (7) and can be corresponding
First rotary drive motor (8.2) makes corresponding first clamping device (7) relative first push away under driving
The first arm rotating mechanism (8) that linkage (9) rotates；
Each first traveling wheel mechanism (6) all include the first traction drive motor (6.1),
One shaft joint (6.2), the first rotating shaft (6.3), the first row travelling wheel (6.4), the first motor are fixed
Frame (6.5) and the first row travelling wheel fixed frame (6.6)；
In each first traveling wheel mechanism (6), the output of the first traction drive motor (6.1)
Axle is in transmission connection with the first rotating shaft (6.3) by the first shaft joint (6.2), the first rotating shaft (6.3)
Upper installation the first row travelling wheel (6.4), the first motor fixed frame (6.5) upper end installs the by bearing
The output shaft of one traction drive motor (6.1), the first row travelling wheel fixed frame (6.6) passes through axle
Holding and be arranged in the first rotating shaft (6.3), the first motor fixed frame (6.5) is solid with the first row travelling wheel
Determine the fixing connection of frame (6.6)；
Each first clamping device (7) all include the first clamping device upper fixed seat (7.1),
One clamping device lower fixed seat (7.2), the first leading screw (7.3), the first clamping wheel unit (7.4),
First grip unit support (7.5), the first leading screw slide (7.6), the first position-limit mechanism (7.7)
Motor (7.8) is driven with the first clamping wheel；
In each first clamping device (7), the first clamping device upper fixed seat (7.1) is fixed on
The top of the first motor fixed frame (6.5), the first clamping device lower fixed seat (7.2) is fixed on
The bottom of the first motor fixed frame (6.5), bearing and first is passed through in the first leading screw (7.3) upper end
Clamping device upper fixed seat (7.1) is rotationally connected, the first leading screw (7.3) lower end by bearing with
First clamping device lower fixed seat (7.2) is rotationally connected；
In each first clamping device (7), the first clamping wheel unit (7.4) includes the first clamping
Wheeling support (7.41) and be separately positioned on two first of the first clamping wheel bearing (7.41) two ends
Clamping wheel (7.42), can between two the first clamping wheels (7.42) and the first row travelling wheel (6.4)
Form the clamping zone for clamping power transmission line；First clamping wheel bearing (7.41) bottom and first
One end of grip unit support (7.5) is fixing to be connected, the first grip unit support (7.5) another
One end is fixing with the first leading screw slide (7.6) to be connected, and the first leading screw slide (7.6) is enclosed within first
Leading screw (7.3) is upper and the first leading screw slide (7.6) is threadeded with the first leading screw (7.3)；The
One position-limit mechanism (7.7) is arranged on the both sides of the first leading screw slide (7.6) for the first clamping
Unit rack (7.5) carries out rotary spacing, the first position-limit mechanism (7.7) upper end and the first clamping
Mechanism's upper fixed seat (7.1) is fixing to be connected, the first position-limit mechanism (7.7) lower end and the first clamping
Mechanism's lower fixed seat (7.2) is fixing to be connected；First clamping wheel drives motor (7.8) to be arranged on the
On one clamping device upper fixed seat (7.1), the first clamping wheel drives the output shaft of motor (7.8)
It is in transmission connection by gear and the first leading screw (7.3)；
Described first clamping device lower fixed seat (7.2) and the rotation of the first arm rotating mechanism (8)
Turn the fixing connection of end, the fixing end of the first arm rotating mechanism (8) and the first transfer bar mechanism (9)
Telescopic end fixing connect, the fixing end of the first transfer bar mechanism (9) is fixed with frame (1) end face
Connect；
Described middle arm mechanism (5) include the second traveling wheel mechanism (10), the second clamping device (11),
Motor (13.2) can be driven to make corresponding second traveling wheel mechanism under driving at the second corresponding push rod
(10) the second transfer bar mechanism (13) that and the second clamping device (11) moves up and down, Yi Jineng
Corresponding second clamping device (11) is made under corresponding the second rotary drive motor (12.2) drives
The the second arm rotating mechanism (12) rotated relative to the second transfer bar mechanism (13)；
Described second traveling wheel mechanism (10) include the second rotating shaft (10.1), the second road wheel (10.2),
Middle arm fixed frame (10.3) and the second road wheel fixed frame (10.4)；
Wherein, described second rotating shaft (10.1) is fixing with the second road wheel (10.2) to be connected, institute
State the second rotating shaft (10.1) to be arranged on the second road wheel fixed frame (10.4) by bearing, institute
State that middle arm fixed frame (10.3) and the second road wheel fixed frame (10.4) are fixing to be connected；
Described second clamping device (11) include the second clamping device upper fixed seat (11.1),
Two clamping device lower fixed seats (11.2), the second leading screw (11.3), the second clamping wheel unit (11.4),
Second grip unit support (11.5), the second leading screw slide (11.6), the second position-limit mechanism (11.7)
Motor (11.8) is driven with the second clamping wheel；
Wherein, the second clamping device upper fixed seat (11.1) is fixed on middle arm fixed frame (10.3)
Top, the second clamping device lower fixed seat (11.2) is fixed on middle arm fixed frame (10.3)
Bottom, bearing and the second clamping device upper fixed seat (11.1) are passed through in the second leading screw (11.3) upper end
Being rotationally connected, bearing and the second clamping device lower fixed seat are passed through in the second leading screw (11.3) lower end
(11.2) it is rotationally connected；
Described second clamping wheel unit (11.4) includes the second clamping wheel bearing (11.41) and difference
It is arranged on two second clamping wheels (11.42) at the second clamping wheel bearing (11.41) two ends, two
Can be formed for clamping power transmission line between second clamping wheel (11.42) and the second road wheel (10.2)
Clamping zone；Second clamping wheel bearing (11.41) bottom and the second grip unit support (11.5)
One end fixing connect, the other end of the second grip unit support (11.5) and the second leading screw slide
(11.6) fixing connect, the second leading screw slide (11.6) be enclosed within the second leading screw (11.3) upper and
Second leading screw slide (11.6) is threadeded with the second leading screw (11.3)；Second position-limit mechanism (11.7)
It is arranged on the both sides of the second leading screw slide (11.6) for the second grip unit support (11.5)
Carry out rotary spacing, the second position-limit mechanism (11.7) upper end and the second clamping device upper fixed seat
(11.1) fixing connection, the second position-limit mechanism (11.7) lower end is fixing with under the second clamping device
Seat (11.2) is fixing to be connected；Second clamping wheel drives motor (11.8) to be arranged on the second clamping machine
On structure upper fixed seat (11.1), the second clamping wheel drives the output shaft of motor (11.8) to pass through tooth
Wheel is in transmission connection with the second leading screw (11.3)；
Described second clamping device lower fixed seat (11.2) and the second arm rotating mechanism (12)
Round end is fixing to be connected, the fixing end of the second arm rotating mechanism (12) and the second transfer bar mechanism (13)
Telescopic end fixing connect, the fixing end of the second transfer bar mechanism (13) is solid with frame (1) end face
Fixed connection.
The electric inspection process robot of energy across obstacle the most according to claim 1, it is special
Levy and be: each first arm rotating mechanism (8) includes the first rotating mechanism (8.1) and first
Rotary drive motor (8.2), each first rotating mechanism (8.1) includes the first rotating disk connecting shaft
(8.11), the first lower rotary table (8.12) and first can rotated relative to the first lower rotary table (8.12)
Top rotary table (8.13), is provided with between the first lower rotary table (8.12) and the first top rotary table (8.13)
One rotates supporter (8.14), and the first lower rotary table (8.12) is arranged on the first rotating disk even by bearing
Spindle (8.11) bottom, the first top rotary table (8.13) is fixedly connected on the first rotating disk connecting shaft (8.11)
Top, the first top rotary table (8.13) is fixing with the first motor fixed frame (6.5) bottom to be connected, the
One rotary drive motor (8.2) is fixed on the first clamping device lower fixed seat (7.2), and first
Output shaft and the first rotating disk connecting shaft (8.11) of rotary drive motor (8.2) pass through gear drive
Connect.
The electric inspection process robot of energy across obstacle the most according to claim 1, it is special
Levy and be: the first of each first transfer bar mechanism (9) stretches the fixing connection first of push rod (9.1)
Push rod fixes seat (9.3) bottom, and the first push rod fixes seat (9.3) and the first lower rotary table (8.12)
Fixing connection, the fixing end of each first transfer bar mechanism (9) is fixed in frame (1), each
The fixing end of the first transfer bar mechanism (9) is provided with for driving first to stretch what push rod (9.1) stretched
First push rod drives motor (9.2).
The electric inspection process robot of energy across obstacle the most according to claim 1, it is special
Levy and be: described second arm rotating mechanism (12) includes the second rotating mechanism (12.1) and
Two rotary drive motors (12.2), the second rotating mechanism (12.1) includes the second rotating disk connecting shaft
(12.11), the second lower rotary table (12.12) rotate relative to the second lower rotary table (12.12) with energy
Second top rotary table (12.13), the second lower rotary table (12.12) and the second top rotary table (12.13) it
Between be provided with the second rotation supporter (12.14), the second lower rotary table (12.12) is arranged on by bearing
Second rotating disk connecting shaft (12.11) bottom, the second top rotary table (12.13) is fixedly connected on second
Rotating disk connecting shaft (12.11) top, the second top rotary table (12.13) and middle arm fixed frame (10.3)
Bottom is fixing to be connected, and the second rotary drive motor (12.2) is fixed under the second clamping device fixing
On seat (11.2), the output shaft of the second rotary drive motor (12.2) and the second rotating disk connecting shaft
(12.11) connected by gear drive.
The electric inspection process robot of energy across obstacle the most according to claim 4, it is special
Levy and be: the second of described second transfer bar mechanism (13) stretches the fixing connection of push rod (13.1) the
Two push rods fix seat (13.3) bottom, and the second push rod fixes seat (13.3) and the second lower rotary table (12.12)
Fixing connection, the fixing end of the second transfer bar mechanism (13) is fixed in frame (1), and second pushes away
The fixing end of linkage (13) be provided with for drive second stretch push rod (13.1) flexible second
Push rod drives motor (13.2).
The electric inspection process robot of energy across obstacle the most according to claim 1, it is special
Levy and be: in described control terminal (3), be provided with obstacle sensor assembly (14), controller (15)
With driver element (16), the signal output part of described obstacle sensor assembly (14) connects control
The signal input part of device (15), the control signal output of described controller (15) connects driving
The control signal input of unit (16), the output of described driver element (16) connects second
Clamping wheel drives motor (11.8), the second rotary drive motor (12.2), the second push rod to drive electricity
Machine (13.2), two the first traction drive motors (6.1), two the first clamping wheels drive motor
(7.8), two the first rotary drive motors (8.2) and two the first push rods drive motor (9.2)
Control end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620095978.5U CN205543957U (en) | 2016-01-29 | 2016-01-29 | Can stride across electric power inspection robot of barrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620095978.5U CN205543957U (en) | 2016-01-29 | 2016-01-29 | Can stride across electric power inspection robot of barrier |
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|---|---|
| CN205543957U true CN205543957U (en) | 2016-08-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620095978.5U Active CN205543957U (en) | 2016-01-29 | 2016-01-29 | Can stride across electric power inspection robot of barrier |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105552780A (en) * | 2016-01-29 | 2016-05-04 | 国家电网公司 | Power patrol robot capable of riding over obstacle |
| CN106786170A (en) * | 2017-03-09 | 2017-05-31 | 华北电力大学（保定） | Transmission line polling robot |
| CN107425497A (en) * | 2017-05-18 | 2017-12-01 | 桂林电子科技大学 | High voltage transmission line can obstacle crossing type anti-icing and deicing robot |
| CN111244824A (en) * | 2020-04-08 | 2020-06-05 | 商丘师范学院 | High-voltage transmission cable inspection vehicle based on remote control |
-
2016
- 2016-01-29 CN CN201620095978.5U patent/CN205543957U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105552780A (en) * | 2016-01-29 | 2016-05-04 | 国家电网公司 | Power patrol robot capable of riding over obstacle |
| CN105552780B (en) * | 2016-01-29 | 2017-07-21 | 国家电网公司 | A kind of electric inspection process robot of energy across obstacle |
| CN106786170A (en) * | 2017-03-09 | 2017-05-31 | 华北电力大学（保定） | Transmission line polling robot |
| CN106786170B (en) * | 2017-03-09 | 2018-05-18 | 华北电力大学（保定） | Transmission line polling robot |
| CN107425497A (en) * | 2017-05-18 | 2017-12-01 | 桂林电子科技大学 | High voltage transmission line can obstacle crossing type anti-icing and deicing robot |
| CN107425497B (en) * | 2017-05-18 | 2023-03-14 | 桂林电子科技大学 | Obstacle-surmounting type anti-icing and deicing robot for high-voltage transmission line |
| CN111244824A (en) * | 2020-04-08 | 2020-06-05 | 商丘师范学院 | High-voltage transmission cable inspection vehicle based on remote control |
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