CN205734877U - Road wheel and mechanical arm combination type inspection robot frame for movement - Google Patents
Road wheel and mechanical arm combination type inspection robot frame for movement Download PDFInfo
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- CN205734877U CN205734877U CN201620438295.5U CN201620438295U CN205734877U CN 205734877 U CN205734877 U CN 205734877U CN 201620438295 U CN201620438295 U CN 201620438295U CN 205734877 U CN205734877 U CN 205734877U
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- mechanical arm
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- inspection robot
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Abstract
The utility model discloses a kind of road wheel and mechanical arm combination type inspection robot frame for movement, belong to robotics.Described road wheel and mechanical arm combination type inspection robot frame for movement include that frame, the top of described frame are provided with at least two to road wheel support bar that is scalable and that can rotate at lateral, and the end of described road wheel support bar is provided with road wheel；The two ends of described frame are respectively arranged with the first rotating base and the second rotating base, it is respectively arranged with the first mechanical arm and the second mechanical arm on described first rotating base and the second rotating base, described first mechanical arm and the second mechanical arm are respectively arranged with the first mechanical hand and the second mechanical hand that a pair expansible can be involutory；The bottom of described frame is additionally provided with counterweight.Compared with prior art, this utility model has reducing labor intensity, reduces operating cost, and can the advantage of throwing over barrier.
Description
Technical field
This utility model relates to robotics, particularly relates to a kind of road wheel and combines with mechanical arm
Formula inspection robot frame for movement.
Background technology
Employing high pressure and supertension overhead power transmission line are the major ways of distance transmission & distribution electric power.Electric lines of force
And shaft tower adnexa is chronically exposed to field, because of by lasting mechanical tension, electrically dodge iron, material old
The impact changed and easily produce disconnected stock, wear and tear, corrode equivalent damage, as repaired replacing not in time, the most micro-
Little breakage and defect, it is possible to expand, ultimately result in major accident, cause large-area power failure and huge
Big economic loss.The method that current transmission pressure patrols and examines, safeguard mainly has two kinds: ground ocular estimate
With aerophotographic method.Ocular estimate uses manual inspection, and this method labor intensity is big, work efficiency and detection essence
Spend low, poor reliability, there is inspection blind area；Aerophotographic method uses helicopter line walking, although this method
There are higher detection efficiency and precision, but this method is restricted by some environmental factorss, patrols simultaneously
The technical difficulty of inspection is high, and operating cost is higher.The development of inspection robot technology, for high voltage transmission line
Check that work provides new technological means.
The technical research of existing inspection robot has been achieved for certain corresponding achievement, but for transmission of electricity
Barrier present on circuit cannot be crossed over, it is impossible to realizes patrolling and examining continuously of extra high voltage network.Cause
This, it is necessary to provide one can reduce labor intensity, reduce operating cost, again can crossing over blockage
The inspection robot frame for movement of thing.
Utility model content
The technical problems to be solved in the utility model is to provide one and can reduce labor intensity, reduce fortune
Row cost, can tie road wheel and the mechanical arm combination type inspection robot machinery of throwing over barrier again
Structure.
For solving above-mentioned technical problem, this utility model provides technical scheme as follows:
A kind of road wheel and mechanical arm combination type inspection robot frame for movement, including frame, wherein:
The top of described frame is provided with at least two to walking that is scalable and that can rotate at lateral
Wheel support bar, the end of described road wheel support bar is provided with road wheel；
The two ends of described frame are respectively arranged with the first rotating base and the second rotating base, and described first
The first mechanical arm and the second mechanical arm it is respectively arranged with on rotating base and the second rotating base, described
Be respectively arranged with on one mechanical arm and the second mechanical arm that a pair expansible can be involutory grabs four points for embracing
Split the first mechanical hand and second mechanical hand of line；
The bottom of described frame is additionally provided with can joining along the direction of travel slide anteroposterior of described frame
Weight.
Further, each road wheel support bar is all connected by the rotating shaft along described frame fore-and-aft direction
In described frame, each rotating shaft is all driven by motor.
Further, described road wheel support bar is made up of two montant sockets with diameter difference
Liftable structure.
Further, every pair of road wheel support bar is all arranged symmetrically in the both sides of described frame, and two to row
Travelling wheel support bar is respectively positioned on the middle part and in tandem of described frame.
Further, described first mechanical arm and the second mechanical arm include the most hinged the most respectively
Mechanical upper arm, machinery forearm and mechanical wrist.
Further, described first rotating base and machinery upper arm between, described second rotating base and
Between machinery upper arm, between described machinery upper arm and machinery forearm, described first mechanical hand and mechanical hand
Jointed shaft between wrist and between described second mechanical hand and mechanical wrist is all driven by motor.
Further, described counterweight is power controling box.
Further, described counterweight is connected with described frame by leading screw.
This utility model has the advantages that
Road wheel of the present utility model and mechanical arm combination type inspection robot frame for movement, road wheel can
To depart under the effect of road wheel support rod or to set up on the line, each mechanical hand can be at each machinery
Under the effect of arm involutory or open thus embrace grab or depart from quadripartion line, frame can first rotate the end
Seat or the second rotating base effect under rotate, counterweight can along the direction of travel slide anteroposterior of frame,
This structure can adjust center of gravity thus ensure the safety of robot self.
To sum up, this utility model solves in prior art, and artificial line walking labor intensity is big and aircraft patrols
The problem that line operating cost is high, and conventional obstacles can be crossed (such as insulator chain, aluminium hydraulic pressed connecting pipe, pendency
Wire clamp etc.), it is achieved that to patrolling and examining continuously of quadripartion line.Therefore, compared with prior art, this reality
With novel there is reducing labor intensity, reducing operating cost, and can the advantage of throwing over barrier.
Accompanying drawing explanation
Fig. 1 is the knot of road wheel of the present utility model and mechanical arm combination type inspection robot frame for movement
Structure schematic diagram；
Fig. 2-Fig. 8 is road wheel of the present utility model and mechanical arm combination type inspection robot frame for movement
View corresponding to each step of obstacle-detouring method.
Detailed description of the invention
For making the technical problems to be solved in the utility model, technical scheme and advantage clearer, below
To be described in detail in conjunction with the drawings and the specific embodiments.
On the one hand, this utility model provides a kind of road wheel and mechanical arm combination type inspection robot machinery
Structure, as it is shown in figure 1, include frame 1, wherein:
The top of frame 1 be provided with at least two to scalable and can lateral rotate road wheel prop up
Strut 5, the end of road wheel support bar 5 is provided with road wheel 10；
The two ends of frame 1 are respectively arranged with the first rotating base 2 and the second rotating base 14, the first rotation
Turn and on base 2 and the second rotating base 14, be respectively arranged with the first mechanical arm 4 and the second mechanical arm 12,
Be respectively arranged with on first mechanical arm 4 and the second mechanical arm 12 that a pair expansible can be involutory for embracing
Grab the first mechanical hand 9 and the second mechanical hand 11 of quadripartion line；
The bottom of frame 1 is additionally provided with can be along the counterweight 16 of the direction of travel slide anteroposterior of frame 1.
Road wheel of the present utility model and mechanical arm combination type inspection robot frame for movement, road wheel can
To depart under the effect of road wheel support rod or to set up on the line, the first mechanical hand and the second machinery
Hands respectively can under the effect of the first mechanical arm and the second mechanical arm involutory or open thus embrace grab or
Departing from quadripartion line, frame can drive row under the effect of the first rotating base or the second rotating base
Travelling wheel rotates thus across obstacle, and counterweight can be along the direction of travel slide anteroposterior of frame, this knot
Structure can adjust center of gravity thus ensure the safety of robot self.To sum up, this utility model can alleviate
Labor intensity, reduction operating cost, raising inspection robot safety, again can throwing over barrier.
Preferably, each road wheel support bar 5 is all by the rotating shaft 15 along frame 1 fore-and-aft direction even
Being connected in frame 1, each rotating shaft 15 is all driven by motor.This design simple in construction, controlling party
Just.
Further, road wheel support bar 5 is made up of two montant 13 sockets with diameter difference
Liftable structure.This structure can make road wheel first rise then to depart from circuit, reduces circuit
Abrasion, it is also possible to adjust the distance of frame and circuit, make road wheel the most chimeric with circuit, from
And stability when improving travelling robot walking.In addition to the above-mentioned embodiment be given, it is also
Can well known to a person skilled in the art other modes various to use, here is omitted.
Further, every pair of road wheel support bar 5 is all arranged symmetrically in the both sides of frame 1, and two to row
Travelling wheel support bar 5 is respectively positioned on the middle part and in tandem of frame 1.This location layout can improve and patrols
Safety during line robot ambulation.
A kind of improve as of the present utility model, the first mechanical arm 4 and the second mechanical arm 12 from down to
Upper include the most hinged mechanical upper arm 3, machinery forearm 7 and mechanical wrist 8 respectively.This structure
Design can make the action of the first mechanical hand 9 and the second mechanical hand 11 more finely, improves and embraces the standard grabbed
Really property.It addition, the first rotating base 2 and machinery upper arm 3 between, the second rotating base 14 and machine
Between tool upper arm 3, machinery upper arm 3 and machinery forearm 7 between, the first mechanical hand 9 and mechanical wrist
Jointed shaft 6 between 8 and between the second mechanical hand 11 and mechanical wrist 8 is all driven by motor.
This design simple in construction, easy to control.
In this utility model, counterweight 16 is power controling box, it addition, counterweight 16 can pass through leading screw
It is connected with frame 1.In this design, power controling box can not only provide for the motion of inspection robot
The energy, it is also possible to take into account as counterweight, and can make to patrol along the direction of travel slide anteroposterior of frame
Line robot is steadily of centre of gravity when obstacle detouring.
On the other hand, this utility model also provides for a kind of above-mentioned road wheel and mechanical arm combination type line walking
The obstacle-detouring method of robotic's structure, including:
Step 1: during as in figure 2 it is shown, do not run into obstacle, counterweight 16 is positioned at the middle part of frame 1, the
One mechanical hand 9 and the second mechanical hand 11 are respectively in the first mechanical arm 4 and effect of the second mechanical arm 12
Under open and depart from circuit, road wheel 10 band mobile robot moves ahead；
Step 2: during as it is shown on figure 3, run into obstacle, robot halts, the first mechanical hand 9
Grasping circuit under the effect of the first mechanical arm 4, counterweight 16 moves to the lower section of the first mechanical arm 4；
Step 3: as illustrated in figures 4-5, road wheel 10 rises also under the effect of road wheel support bar 5
Departing from circuit, the first mechanical hand 9 maintains static, and frame 1 drives walking by the first rotating base 2
Wheel 10 and the second mechanical hand 11 rotate 180 °, thus clear the jumps, now the second mechanical hand 11
Being positioned at the front end of frame 1, the first mechanical hand 9 is positioned at the rear end of frame 1；
Step 4: as shown in figs 6-8, the second mechanical hand 11 is grabbed under the effect of the second mechanical arm 12
Handling circuit, road wheel 10 again sets up on the line under the effect of road wheel support bar 5, joins
Weighing 16 middle parts moving to frame 1, then, the first mechanical hand 9 and the second mechanical hand 11 are respectively
Depart from circuit under the effect of one mechanical arm 4 and the second mechanical arm 12, go to step 1, wait next time
Obstacle detouring.
Road wheel of the present utility model and the obstacle detouring side of mechanical arm combination type inspection robot frame for movement
Method, solves in prior art, and artificial line walking labor intensity is big and high the asking of aircraft line walking operating cost
Topic, and conventional obstacles (such as insulator chain, aluminium hydraulic pressed connecting pipe, suspension clamp etc.) can be crossed, it is achieved that
To patrolling and examining continuously of quadripartion line.Therefore, compared with prior art, this utility model has and alleviates labor
Fatigue resistance, reduce operating cost, and can the advantage of throwing over barrier.
It should be noted that this practical new road wheel and mechanical arm combination type inspection robot machinery
Structure merely illustrates the frame for movement of robot body, is not directed to other auxiliary device (such as walking
Observation photographic head, the mechanical hand etc. of refuse cleaning) design.It addition, in control system side
Face, this utility model can use ground remote control table or robot self intelligentized control method two
The mode of kind.
The above is preferred implementation of the present utility model, it is noted that for the art
Those of ordinary skill for, on the premise of without departing from principle described in the utility model, it is also possible to make
Going out some improvements and modifications, these improvements and modifications also should be regarded as protection domain of the present utility model.
Claims (8)
1. a road wheel and mechanical arm combination type inspection robot frame for movement, it is characterised in that
Including frame, wherein:
The top of described frame is provided with at least two to walking that is scalable and that can rotate at lateral
Wheel support bar, the end of described road wheel support bar is provided with road wheel；
The two ends of described frame are respectively arranged with the first rotating base and the second rotating base, and described first
The first mechanical arm and the second mechanical arm it is respectively arranged with on rotating base and the second rotating base, described
Be respectively arranged with on one mechanical arm and the second mechanical arm that a pair expansible can be involutory grabs four points for embracing
Split the first mechanical hand and second mechanical hand of line；
The bottom of described frame is additionally provided with can joining along the direction of travel slide anteroposterior of described frame
Weight.
Road wheel the most according to claim 1 is tied with mechanical arm combination type inspection robot machinery
Structure, it is characterised in that each road wheel support bar is all by the rotating shaft along described frame fore-and-aft direction even
Being connected in described frame, each rotating shaft is all driven by motor.
Road wheel the most according to claim 2 is tied with mechanical arm combination type inspection robot machinery
Structure, it is characterised in that described road wheel support bar is made up of two montant sockets with diameter difference
Liftable structure.
Road wheel the most according to claim 3 is tied with mechanical arm combination type inspection robot machinery
Structure, it is characterised in that every pair of road wheel support bar is all arranged symmetrically in the both sides of described frame, and two is right
Road wheel support bar is respectively positioned on the middle part and in tandem of described frame.
Road wheel the most according to claim 1 is tied with mechanical arm combination type inspection robot machinery
Structure, it is characterised in that described first mechanical arm and the second mechanical arm include cutting with scissors successively the most respectively
Mechanical upper arm, machinery forearm and the mechanical wrist connect.
Road wheel the most according to claim 5 is tied with mechanical arm combination type inspection robot machinery
Structure, it is characterised in that described first rotating base and machinery upper arm between, described second rotating base
And between machinery upper arm, between described machinery upper arm and machinery forearm, described first mechanical hand and machinery
Jointed shaft between wrist and between described second mechanical hand and mechanical wrist is all driven by motor
Dynamic.
7. according to the arbitrary described road wheel of claim 1-6 and mechanical arm combination type inspection robot
Frame for movement, it is characterised in that described counterweight is power controling box.
Road wheel the most according to claim 7 is tied with mechanical arm combination type inspection robot machinery
Structure, it is characterised in that described counterweight is connected with described frame by leading screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620438295.5U CN205734877U (en) | 2016-05-12 | 2016-05-12 | Road wheel and mechanical arm combination type inspection robot frame for movement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620438295.5U CN205734877U (en) | 2016-05-12 | 2016-05-12 | Road wheel and mechanical arm combination type inspection robot frame for movement |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205734877U true CN205734877U (en) | 2016-11-30 |
Family
ID=57365926
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620438295.5U Active CN205734877U (en) | 2016-05-12 | 2016-05-12 | Road wheel and mechanical arm combination type inspection robot frame for movement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205734877U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105945891A (en) * | 2016-05-12 | 2016-09-21 | 山东大学 | Walking wheel and mechanical arm combined transmission line inspection robot mechanical structure and obstacle crossing method thereof |
| CN111224346A (en) * | 2020-03-11 | 2020-06-02 | 山东科技大学 | High tension transmission line inspection robot with multiple motion modes |
-
2016
- 2016-05-12 CN CN201620438295.5U patent/CN205734877U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105945891A (en) * | 2016-05-12 | 2016-09-21 | 山东大学 | Walking wheel and mechanical arm combined transmission line inspection robot mechanical structure and obstacle crossing method thereof |
| CN105945891B (en) * | 2016-05-12 | 2018-02-09 | 山东大学 | Road wheel and mechanical arm combined type inspection robot mechanical structure and its obstacle-detouring method |
| CN111224346A (en) * | 2020-03-11 | 2020-06-02 | 山东科技大学 | High tension transmission line inspection robot with multiple motion modes |
| CN111224346B (en) * | 2020-03-11 | 2022-06-17 | 山东科技大学 | High tension transmission line inspection robot with multiple motion modes |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |