CN205753185U - Double mechanical arms climb type inspection robot frame for movement - Google Patents
Double mechanical arms climb type inspection robot frame for movement Download PDFInfo
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- CN205753185U CN205753185U CN201620437597.0U CN201620437597U CN205753185U CN 205753185 U CN205753185 U CN 205753185U CN 201620437597 U CN201620437597 U CN 201620437597U CN 205753185 U CN205753185 U CN 205753185U
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Abstract
The utility model discloses a kind of double mechanical arms climb type inspection robot frame for movement, belong to robotics.Described double mechanical arms climb type inspection robot frame for movement includes frame, the top of described frame is provided with the mechanical arm sliding bottom that can move forward and backward along the direction of travel of described frame, described mechanical arm sliding bottom includes the first mechanical arm sliding bottom and the second mechanical arm sliding bottom, it is respectively arranged with liftable first mechanical arm and the second mechanical arm on described first mechanical arm sliding bottom and the second mechanical arm sliding bottom, 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 can be along the counterweight of the direction of travel slide anteroposterior of described frame.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 double mechanical arms climb type line walking
Robotic's structure.
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 or drainage thread cannot be crossed over, it is impossible to realize the continuous of extra high voltage network
Patrol and examine.Therefore, it is necessary to provide one can reduce labor intensity, reduce operating cost, again can
The inspection robot frame for movement of across obstacle or drainage thread.
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, again can across obstacle or the double mechanical arms climb type inspection robot machinery knot of drainage thread
Structure.
For solving above-mentioned technical problem, this utility model provides technical scheme as follows:
A kind of double mechanical arms climb type inspection robot frame for movement, it is characterised in that include frame,
Wherein:
The top of described frame is provided with the mechanical arm that can move forward and backward along the direction of travel of described frame
Sliding bottom, described mechanical arm sliding bottom includes that the first mechanical arm sliding bottom and the second mechanical arm are sliding
Dynamic base, described first mechanical arm sliding bottom and the second mechanical arm sliding bottom are respectively arranged with can
First mechanical arm of lifting and the second mechanical arm, described first mechanical arm and the second mechanical arm set respectively
Be equipped with that a pair expansible can be involutory for embracing the first mechanical hand and the second mechanical hand grabbing quadripartion line；
The bottom of described frame is additionally provided with can joining along the direction of travel slide anteroposterior of described frame
Weight.
Further, between described first mechanical arm and the first mechanical arm sliding bottom and described second
It is respectively arranged with the mechanical arm that can horizontally rotate between mechanical arm and the second mechanical arm sliding bottom to rotate
Base, described first mechanical arm and the second mechanical arm include the most respectively the most hinged mechanically
Arm, machinery forearm and the mechanical wrist that described first mechanical hand and the second mechanical hand rotate can be made.
Further, between described mechanical arm rotating base and machinery upper arm, described machinery upper arm and machine
Jointed shaft between tool forearm and between described first mechanical hand or the second mechanical hand and mechanical wrist
All driven by motor.
Further, between described mechanical arm rotating base and mechanical arm sliding bottom and described machinery
It is provided with rotating disk between wrist and machinery forearm.
Further, described first mechanical arm sliding bottom and the second mechanical arm sliding bottom are respectively provided with
Both sides in described frame.
Further, described first mechanical arm sliding bottom and the second mechanical arm sliding bottom pass through respectively
Leading screw is connected with described frame, and described counterweight is connected with described frame by guide rail.
Further, described counterweight is power controling box.
This utility model has the advantages that
The first mechanical hand in this utility model and the second mechanical hand respectively can the first mechanical arm, the
One mechanical arm sliding bottom and the second mechanical arm, the second mechanical arm sliding bottom effect under open, de-
Off-line road is also moved along frame fore-and-aft direction, and the first mechanical arm and the second mechanical arm are liftable structure,
During obstacle detouring, counterweight can be along the direction of travel slide anteroposterior of frame, by adjusting for inspection robot
Center of gravity improves the safety of robot self.To sum up, compared with prior art, this utility model has
Reduce labor intensity, reduce operating cost and can throwing over barrier or the advantage of drainage thread.
Accompanying drawing explanation
Fig. 1 is the structural representation of double mechanical arms climb type inspection robot frame for movement of the present utility model
Figure；
Fig. 2-Figure 11 is getting over of double mechanical arms climb type inspection robot frame for movement of the present utility model
The view that each step of barrier method is corresponding.
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 double mechanical arms climb type inspection robot frame for movement,
As it is shown in figure 1, include frame 1, wherein:
The top of frame 1 is provided with can slide at the end along the mechanical arm that the direction of travel of frame 1 is movable
Seat, mechanical arm sliding bottom includes the first mechanical arm sliding bottom 2 and the second mechanical arm sliding bottom
13, the first mechanical arm sliding bottom 2 and the second mechanical arm sliding bottom 13 are respectively arranged with and can rise
First mechanical arm 4 and the second mechanical arm 10 of fall, the first mechanical arm 4 and the second mechanical arm 10 divide
Be not provided with that a pair expansible can be involutory for embracing the first mechanical hand 6 and the second machine grabbing quadripartion line
Tool hands 8；
The bottom of frame 1 is additionally provided with can be along the counterweight 14 of the direction of travel slide anteroposterior of frame 1.
Double mechanical arms climb type inspection robot frame for movement of the present utility model, the first mechanical hand and
Two mechanical hands respectively can the first mechanical arm, the first mechanical arm sliding bottom and the second mechanical arm, the
Open under the effect of two mechanical arm sliding bottoms, depart from quadripartion line and move along frame fore-and-aft direction,
First mechanical arm and the second mechanical arm are that liftable structure (specifically can have diameter difference by two
Montant is socketed the expansion link formed or the mechanical upper arm connected by jointed shaft and machinery forearm), join
The enough direction of travel slide anteroposterior along frame of Beijing South Maxpower Technology Co. Ltd, this structure can adjust center of gravity thus ensure machine
The safety of people self.Compared with prior art, this utility model has reducing labor intensity, reduces fortune
Row cost and can throwing over barrier or the advantage of drainage thread.
Preferably, between the first mechanical arm 4 and the first mechanical arm sliding bottom 2 and the second mechanical arm
10 and second are respectively arranged with the mechanical arm that can horizontally rotate between mechanical arm sliding bottom 13 rotates the end
Seat 3, the first mechanical arm 4 and the second mechanical arm 10 include the most respectively the most hinged mechanically
Arm 9, machinery forearm 5 and the mechanical wrist that the first mechanical hand 6 and the second mechanical hand 8 rotate can be made
7.This it be designed to make the first mechanical hand and the second mechanical hand embrace respectively and catch or depart from quadripartion line,
Improve the speed of travel of inspection robot.It addition, the first mechanical hand 6 and the second mechanical hand 8 wrap respectively
Include and actively refer to and driven finger, actively refer to be respectively L hook-like configuration, this structure design energy with driven finger
The action making the first mechanical hand and the second mechanical hand is more fine, improves and embraces the accuracy grabbed.
Further, between mechanical arm rotating base 3 and machinery upper arm 9, machinery upper arm 9 and machinery
Hinged between forearm 5 and between the first mechanical hand 6 or the second mechanical hand 8 and mechanical wrist 7
Axle 11 is all driven by motor.This design simple in construction, easy to control.
Further, between mechanical arm rotating base 3 and mechanical arm sliding bottom and mechanical wrist 7
And it is provided with rotating disk 12 between machinery forearm 5.The design of this structure can ensure that inspection robot exists
It is difficult to collide wire, motility during raising travelling robot walking and safety during walking.Except upper
Stating beyond the embodiment be given, it can also use and well known to a person skilled in the art its other party various
Formula, here is omitted.
As further improvement of the utility model, the first mechanical arm sliding bottom 2 and the second mechanical arm
Sliding bottom 13 is separately positioned on the both sides of frame 1.Line walking machine can improve in this location layout
Stability when people walks.
In this utility model, it is preferred that the first mechanical arm sliding bottom 2 and the second mechanical arm slide at the end
Seat 13 is connected with frame 1 by leading screw respectively, and counterweight 14 is connected with frame 1 by guide rail.It addition,
Counterweight 14 can be power controling box.In this design, power controling box can not only be line walking machine
The motion of people provides the energy, it is also possible to takes into account as counterweight, makes inspection robot stable gravity center when obstacle detouring
Fixed.
It should be noted that inspection robot frame for movement of the present utility model merely illustrates robot
The frame for movement of body, is not directed to other auxiliary device (photographic head, rubbish such as walking observation
Remove mechanical hand etc.) design.It addition, in terms of control system, this utility model can be adopted
By ground remote control table or robot self intelligentized control method two ways.
On the other hand, it is provided that getting over of a kind of above-mentioned double mechanical arms climb type inspection robot frame for movement
Barrier method, as shown in figs. 2-11, for making figure simple, eliminates the process that counterweight 14 adjusts, including:
Step 1: as in figure 2 it is shown, the first mechanical hand 6 and the second mechanical hand 8 are respectively positioned on frame 1
Rear end and grasp quadripartion line respectively, counterweight 14 is positioned at the first mechanical hand 6 and the second mechanical hand 8
Lower section；
Step 2: as it is shown on figure 3, the first mechanical hand 6 is sliding at the first mechanical arm 4 and the first mechanical arm
Open under the effect of dynamic base 2, depart from quadripartion line and move to the front end of frame 1, the first mechanical hand
6 grasp quadripartion line under the effect of the first mechanical arm 4 again；
Step 3: as illustrated in figures 4-5, counterweight 14 moves to the lower section of the first mechanical hand 6, the second machinery
Hands 8 opens under the effect of the second mechanical arm 10 and the second mechanical arm sliding bottom 13, departs from four points
Again quadripartion line, now, the first mechanical hand 6 He is grasped after splitting line and moving to the front end of frame 1
Second mechanical hand 8 is respectively positioned on the front end of frame 1；
Step 4: as in figure 2 it is shown, the first mechanical hand 6 and the second mechanical hand 8 grasp four points respectively
Splitting line and maintain static, frame 1 moves forward so that the first mechanical hand 6 and the second mechanical hand 8 are equal
It is located relatively at the rear end of frame 1, then goes to step 1, the first mechanical hand 6 when running into barrier
Move ahead with the second mechanical hand 8 avoiding obstacles.
This utility model solves in prior art, and artificial line walking labor intensity is big and aircraft line walking runs
The problem that cost is high, and it is (such as drainage thread, insulator chain, aluminium hydraulic pressed connecting pipe, outstanding to cross conventional obstacles
Vertical line folder etc.), it is achieved that to patrolling and examining continuously of quadripartion line.Compared with prior art, this practicality is new
Type has reducing labor intensity, reduces operating cost, raising inspection robot safety, and can turn over
The advantage of obstacle-overpass thing.
In order to improve the inspection robot speed of walking, this practicality when normal work or throwing over barrier
The novel obstacle-detouring method to double mechanical arms climb type inspection robot frame for movement has made further improvement,
Including:
Step 2 is further: as shown in figs 6-8, the first mechanical hand 6 and the second equal position of mechanical hand 8
In the rear end of frame 1, counterweight 14 is positioned at the lower section of the second mechanical hand 8, and the first mechanical hand 6 is
Open under the effect of one mechanical arm 4 and the first mechanical arm sliding bottom 2, depart from quadripartion line and move to
The front end of frame 1, machinery upper arm 9 half-twist counterclockwise under the effect of mechanical arm rotating base 3,
And then, the first mechanical hand 6 turns clockwise 90 ° under the effect of mechanical wrist 7；
Step 3 is further: as shown in figs. 9-11, and the first mechanical hand 6 is at the first mechanical arm 4
Again grasping quadripartion line under effect, counterweight 14 moves to the lower section of the first mechanical hand 6, the second machine
Tool hands 8 opens under the effect of the second mechanical arm 10 and the second mechanical arm sliding bottom 13, departs from four
Divisural line also moves to the front end of frame 1, and machinery upper arm 9 is at the effect backspin of mechanical arm rotating base 3
Turning 90 °, and then, the second mechanical hand 8 turns clockwise 90 ° under the effect of mechanical wrist 7
After again grasp quadripartion line.
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 (7)
1. a double mechanical arms climb type inspection robot frame for movement, it is characterised in that include machine
Frame, wherein:
The top of described frame is provided with the mechanical arm that can move forward and backward along the direction of travel of described frame
Sliding bottom, described mechanical arm sliding bottom includes that the first mechanical arm sliding bottom and the second mechanical arm are sliding
Dynamic base, described first mechanical arm sliding bottom and the second mechanical arm sliding bottom are respectively arranged with can
First mechanical arm of lifting and the second mechanical arm, described first mechanical arm and the second mechanical arm set respectively
Be equipped with that a pair expansible can be involutory for embracing the first mechanical hand and the second mechanical hand grabbing quadripartion line；
The bottom of described frame is additionally provided with can joining along the direction of travel slide anteroposterior of described frame
Weight.
Double mechanical arms climb type inspection robot frame for movement the most according to claim 1, its
Be characterised by, between described first mechanical arm and the first mechanical arm sliding bottom and described second machinery
The mechanical arm rotating base that can horizontally rotate it is respectively arranged with between arm and the second mechanical arm sliding bottom,
Described first mechanical arm and the second mechanical arm include the most hinged mechanical upper arm, machine the most respectively
Tool forearm and the mechanical wrist that described first mechanical hand and the second mechanical hand rotate can be made.
Double mechanical arms climb type inspection robot frame for movement the most according to claim 2, its
Be characterised by, described mechanical arm rotating base and machinery upper arm between, described machinery upper arm and machinery little
Jointed shaft between arm and between described first mechanical hand or the second mechanical hand and mechanical wrist is the most logical
Cross motor to drive.
4. according to the double mechanical arms climb type inspection robot frame for movement described in Claims 2 or 3,
It is characterized in that, between described mechanical arm rotating base and mechanical arm sliding bottom and described mechanical hand
It is provided with rotating disk between wrist and machinery forearm.
Double mechanical arms climb type inspection robot frame for movement the most according to claim 4, its
Being characterised by, described first mechanical arm sliding bottom and the second mechanical arm sliding bottom are separately positioned on institute
State the both sides of frame.
Double mechanical arms climb type inspection robot frame for movement the most according to claim 5, its
Being characterised by, described first mechanical arm sliding bottom and the second mechanical arm sliding bottom pass through leading screw respectively
Being connected with described frame, described counterweight is connected with described frame by guide rail.
Double mechanical arms climb type inspection robot frame for movement the most according to claim 6, its
Being characterised by, described counterweight is power controling box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620437597.0U CN205753185U (en) | 2016-05-12 | 2016-05-12 | Double mechanical arms climb type inspection robot frame for movement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620437597.0U CN205753185U (en) | 2016-05-12 | 2016-05-12 | Double mechanical arms climb type inspection robot frame for movement |
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| Publication Number | Publication Date |
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| CN205753185U true CN205753185U (en) | 2016-11-30 |
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ID=57366851
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620437597.0U Active CN205753185U (en) | 2016-05-12 | 2016-05-12 | Double mechanical arms climb type inspection robot frame for movement |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105846347A (en) * | 2016-05-12 | 2016-08-10 | 山东大学 | Double mechanical arm climbing type line patrol robot mechanical structure and obstacle surmounting method therefor |
| CN106505475A (en) * | 2016-12-29 | 2017-03-15 | 广州供电局有限公司 | Crusing robot |
-
2016
- 2016-05-12 CN CN201620437597.0U patent/CN205753185U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105846347A (en) * | 2016-05-12 | 2016-08-10 | 山东大学 | Double mechanical arm climbing type line patrol robot mechanical structure and obstacle surmounting method therefor |
| CN106505475A (en) * | 2016-12-29 | 2017-03-15 | 广州供电局有限公司 | Crusing robot |
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