CN205753186U - Engagement drives road wheel structure, inspection robot frame for movement - Google Patents
Engagement drives road wheel structure, inspection robot frame for movement Download PDFInfo
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- CN205753186U CN205753186U CN201620438292.1U CN201620438292U CN205753186U CN 205753186 U CN205753186 U CN 205753186U CN 201620438292 U CN201620438292 U CN 201620438292U CN 205753186 U CN205753186 U CN 205753186U
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Abstract
The utility model discloses a kind of engagement and drive road wheel structure, inspection robot frame for movement, belong to robotics, described inspection robot frame for movement includes frame, and be provided with engagement in frame and drive road wheel structure, this road wheel structure includes at least one unit of walking, walking unit includes at least one pair of subdivision wheel and a pair clamping sides wheel, what actively subdivision wheel and passive subdivision were taken turns has been respectively arranged below the first row traveling wheel arm and the second walking wheel arm, what envelope pinch wheels and described clamping side were taken turns has been respectively arranged below the first side wheel arm and the second side wheel arm, the outside of described active subdivision wheel and passive subdivision wheel is separately provided for controlling subdivision wheel docking and the in-built electrical sucker separated and built-in iron block.Compared with prior art, this utility model has reducing labor intensity, reduces operating cost, and can the advantage of crossing over blockage.
Description
Technical field
This utility model relates to robotics, particularly relates to a kind of engagement and drives walking rolling hitch
Structure, inspection robot frame for movement.
Background technology
Extra high voltage network distribution site is many, area wide, and residing with a varied topography, natural environment is severe.
Electric lines of force and shaft tower adnexa are affected by mechanical tension, electric flashover, material aging etc. for a long time, can produce
Raw disconnected stock, wear and tear, corrode equivalent damage, as repaired not in time, major accident will be caused, to electric power biography
Defeated bring very big hidden danger.Therefore, it is necessary to transmission line of electricity to be carried out periodical inspection inspection, at any time grasp and
Understand the ruuning situation of transmission line of electricity and circuit surrounding and the situation of change in route protection district, and
Shi Faxian and removing a hidden danger, trouble-saving generation, it is ensured that power supply safety.
At present, transmission line of electricity is patrolled and examined main employing ground artificial range estimation to patrol and examine and helicopter boat
Survey.It is low that the former patrols and examines precision, and labor intensity is big, exists and patrols and examines blind area, forest disease and wild animal
Bring potential safety hazard also to tour personnel；There is flight safety hidden danger and line walking somewhat expensive in the latter, directly
Connect and limit being widely popularized of helicopter routing inspection.
Owing to extra high voltage network majority uses quadripartion line, therefore, devise for quadripartion line
Inspection robot, it can alleviate the labor intensity of workman's line walking, reduce the operation maintenance of high voltage power transmission
Cost, improves quality and the scientific management technical merit patrolling and examining operation, automatic for strengthening power generation
Change integration capability, create high economic benefit and social benefit is the most significant.Therefore, special
The development of inspection robot and technical research thereof have become a research heat in current particular kind of machine field
Point.The developed countries such as Japan, Canada, the U.S. have successively carried out the research work of inspection robot,
For there is the situations such as insulator chain, aluminium hydraulic pressed connecting pipe and suspension clamp on transmission line of electricity, it is impossible to cross over, no
Patrolling and examining continuously of extra high voltage network can be realized.Chinese Academy of Sciences's Shenyang Institute of Automation, Shandong University, force
The units such as Chinese university, BJ University of Aeronautics & Astronautics are also for the demand of patrolling and examining continuously of extra high voltage network
Carry out the development of this respect technology and equipment, achieve certain corresponding achievement, but the most do not possess more
Barrier function.
Utility model content
The technical problems to be solved in the utility model is to provide one and reduces labor intensity, reduces and run into
This, and can the inspection robot frame for movement of crossing over blockage.
For solving above-mentioned technical problem, this utility model provides technical scheme as follows:
A kind of engagement drives road wheel structure, including at least one unit of walking, wherein: described walking
Unit includes at least one pair of subdivision wheel and a pair clamping sides wheel, and described subdivision wheel includes can be the most relative
The active subdivision wheel connecing and separating and passive subdivision are taken turns, and described clamping sides wheel includes can tabling mutually
With the envelope pinch wheels separated and clamping side wheel, described active subdivision wheel and the lower section of passive subdivision wheel
It is respectively arranged with the first row traveling wheel arm and the second walking wheel arm, described envelope pinch wheels and described clamping side
Face wheel be respectively arranged below the first side wheel arm and the second side wheel arm, described active subdivision wheel and
The outside of passive subdivision wheel is separately provided for the in-built electrical sucker controlling subdivision wheel docking and separating
With built-in iron block.
A kind of inspection robot frame for movement, including frame, described frame is provided with described engagement
Road wheel structure, the lower end of described the first row traveling wheel arm and the second walking wheel arm is driven to be set by jointed shaft
Putting in described frame, the lower end of described first side wheel arm and the second side wheel arm is also by jointed shaft
It is arranged in described frame.
This utility model has the advantages that
This utility model provides engagement to drive road wheel structure, including at least one unit of walking, wherein:
Described walking unit includes at least one pair of subdivision wheel and a pair clamping sides wheel, and described subdivision wheel includes energy
Enough docking mutually and the active subdivision wheel and the passive subdivision that separate are taken turns, and described clamping sides wheel includes can
Tabling and the envelope pinch wheels of separation and clamping side are taken turns mutually, described active subdivision wheel and passive subdivision
That takes turns has been respectively arranged below the first row traveling wheel arm and the second walking wheel arm, described envelope pinch wheels and institute
That states clamping side wheel has been respectively arranged below the first side wheel arm and the second side wheel arm, described active
Subdivision wheel and passive subdivision wheel outside be separately provided for control subdivision wheel docking and separate interior
Putting electricity sucker and built-in iron block, the structure design of above road wheel is simple and compact for structure, not only increases
The stability that subdivision wheel couples, also improves and wire is applied the clamping force in horizontal plane, improves up and down
Stability when slope and obstacle detouring, this utility model can be straight and to have the lower road of certain slope up
Walking, solve in prior art, 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
Patrolling and examining continuously circuit.Therefore, compared with prior art, this utility model have lighten one's labor strong
Degree, reduce operating cost, and can the advantage of crossing over blockage.
Accompanying drawing explanation
Fig. 1-2 is the structural representation that engagement of the present utility model drives road wheel；
Fig. 3-4 is the subdivision wheel construction schematic diagram that engagement of the present utility model drives road wheel；
Fig. 5 is the overall schematic top plan view that engagement of the present utility model drives road wheel.
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 to engage and drives road wheel structure, as shown in Figure 1 and Figure 2,
Including at least one unit of walking, wherein walking unit includes at least one pair of subdivision wheel and a pair side folder
Bearing up pulley, as shown in Fig. 3, Fig. 4, Fig. 5, subdivision wheel includes the active can docked mutually and separate
Subdivision wheel 4 and passive subdivision wheel 3, clamping sides wheel include can mutually tabling and separation envelope press from both sides
Bearing up pulley 10 and clamping side wheel 9, actively subdivision wheel 4 and passive subdivision wheel 3 be respectively arranged below
The first row traveling wheel arm 14 and the second walking wheel arm 1, envelope pinch wheels 10 and described clamping side wheel 9
Be respectively arranged below the first side wheel arm 11 and the second side wheel arm 15, actively subdivision wheel 4 Hes
The outside of passive subdivision wheel 3 is separately provided for the in-built electrical sucker controlling subdivision wheel docking and separating
13 and built-in iron block.
The structure design of above road wheel is simple and compact for structure, not only increases stablizing of subdivision wheel connection
Property, also improve and wire is applied the clamping force in horizontal plane, stablizing when improving climb and fall and obstacle detouring
Property.
Further, the engagement that this utility model provides drives road wheel structure, and actively subdivision wheel 4 can
To be bevel gear structure, passive subdivision wheel 3 can be the groove knot with described bevel gear structure tabling
Structure, this design improves the compatible degree between subdivision wheel, is conducive to the stability moved on the line.
Further, the engagement that this utility model provides drives road wheel structure, envelope pinch wheels 10
For spill wheel construction, clamping side wheel 9 can be and the spill rolling hitch of described spill wheel construction tabling
Structure, both the most slightly differences, can reach good chimeric.This design improves side
The pinch wheels fixing to circuit.
As a kind of improvement of the present utility model, it is provided with bottom first bottom the first row traveling wheel arm 14
Joint 16, is provided with the second bottom joint 17, the first side wheel arm 11 bottom the second walking wheel arm 1
Jointly fixing by described first bottom joint 16 with described the first row traveling wheel arm 14 and control, the second side
Face wheel arm 15 is jointly fixing by described second bottom joint 17 with described second walking wheel arm 1 and controls,
The design of this structure can ensure that subdivision wheel and clamping sides wheel can be actual according to circuit when motion
Position can rise and can drop.
In order to ensure the more accurately more firm of subdivision wheel docking, this utility model has also done and has changed further
Entering: the first row traveling wheel arm 14 top is provided with horizontal aluminium-alloy pipe 2, aluminium-alloy pipe 2 one end comprises
In-built electrical sucker 13, aluminium-alloy pipe 2 is connected with passive subdivision wheel 3 by bearing 12, the second walking
Wheel arm 1 top is provided with motor mounting rack 6, and motor mounting rack 6 is provided with horizontally arranged direct current
Motor 8 and decelerator 7, decelerator 7 is connected with actively subdivision wheel 4 by shaft coupling 5.
Preferably, in this utility model, equal at the first bottom joint 16 and the second bottom joint 17
Driven by motor.The motor of this position drives can not only provide energy for the motion of road wheel structure
Source, it is also possible to simplify structure, makes road wheel structure keep balance at the volley simultaneously.
High voltage power transmission process is a diversified process, according to difference and the transmission of electricity ground of transmission voltage
The difference of shape feature, whole transmission line structure is also not quite similar.Walking mechanism of the present utility model should
When inspection robot frame for movement, inspection robot frame for movement can be provided with one group or many
Organize this walking mechanism, or be also provided with other kinds of walking mechanism.
On the other hand, this utility model also provides for a kind of engagement and drives road wheel structure, inspection robot
Frame for movement, inspection robot frame for movement comprises frame, the first row traveling wheel arm 14 and the second walking
The lower end of wheel arm 1 is arranged in frame by jointed shaft, the first side wheel arm 11 and the second side wheel
The lower end of arm 15 is arranged in frame also by jointed shaft.
Inspection robot frame for movement of the present utility model merely illustrates the machinery knot of robot body
Structure, is not directed to other auxiliary device (photographic head, machinery of refuse cleaning such as walking observation
Hands etc.) design.In terms of control system, this utility model can use ground control platform or
Robot self intelligentized control method two ways.
The work process of the inspection robot frame for movement that this utility model provides can be: normally walks
Time, in-built electrical sucker 13 energising produces suction with built-in iron block, and frame drives the first row traveling wheel arm 14
Rotate so that actively subdivision wheel 4 and passive subdivision wheel 3 dock with the second walking wheel arm 1,
Direct current generator 8 drives shaft coupling by decelerator 7 thus drives actively subdivision wheel 4 road direction forwards along the line
Dynamic, passive subdivision wheel 3 is rotated the most forward by the engagement of actively subdivision wheel 4, actively subdivision
While wheel 4 and passive subdivision wheel 3 dock, the first bottom joint 16 and the second bottom joint
17 control the first side wheel arm 11 and the second side wheel arm 15 lifts or rotates so that envelope respectively
Pinch wheels 10 and clamping side wheel 9 are fitted together to；
When running into obstacle, in-built electrical sucker 13 power-off, frame drives the first row traveling wheel arm 14 and second
Walking wheel arm 1 is so that actively subdivision wheel 4 and passive subdivision wheel 3 separate avoiding obstacles, actively
While subdivision wheel 4 and passive subdivision wheel 3 separate, bottom the first bottom joint 16 and second
Joint 17 controls the first side wheel arm 11 respectively and the second side wheel arm 15 lifts or rotates so that
Obtain envelope pinch wheels 10 and clamping side wheel 9 separation avoiding obstacles.
This utility model can straight and have on the lower road of certain slope walk, solve existing skill
In art, the problem that artificial line walking labor intensity is big and aircraft line walking operating cost is high, and routine can be crossed
Barrier (such as insulator chain, aluminium hydraulic pressed connecting pipe, suspension clamp etc.), it is achieved that patrolling and examining continuously circuit.
Therefore, compared with prior art, this utility model has reducing labor intensity, reduces operating cost,
And can the advantage of crossing over blockage.
It should be noted that obstacle-detouring method of the present utility model focuses on have employed above-mentioned walking mechanism
The inspection robot frame for movement method that carries out obstacle detouring.If also set in inspection robot frame for movement
Put other kinds of can the walking mechanism of obstacle detouring, then this other kinds of walking mechanism uses it to give tacit consent to
Obstacle-detouring method carry out obstacle detouring, not within focal point of the present utility model.
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. an engagement drives road wheel structure, it is characterised in that include at least one unit of walking,
Wherein:
Described walking unit includes at least one pair of subdivision wheel and a pair clamping sides wheel, described subdivision wheel bag
Including the active subdivision wheel that can dock mutually and separate and passive subdivision is taken turns, described clamping sides wheel includes
Can the envelope pinch wheels of tabling and separation and clamping side wheel mutually；
Described active subdivision wheel and passive subdivision wheel be respectively arranged below the first row traveling wheel arm and the
Two walking wheel arm, what described envelope pinch wheels and described clamping side were taken turns has been respectively arranged below the first side
Face wheel arm and the second side wheel arm；
It is right that the outside of described active subdivision wheel and passive subdivision wheel is separately provided for controlling subdivision wheel
The in-built electrical sucker connecing and separating and built-in iron block.
Engagement the most according to claim 1 drives road wheel structure, it is characterised in that described master
Dynamic subdivision wheel is bevel gear structure, and described passive subdivision wheel is recessed with described bevel gear structure tabling
Groove structure.
Engagement the most according to claim 1 drives road wheel structure, it is characterised in that described
Envelope pinch wheels is spill wheel construction, described clamping side wheel and described spill wheel construction tabling
Spill wheel construction.
Engagement the most according to claim 1 drives road wheel structure, it is characterised in that described
It is provided with the first bottom joint bottom the first row traveling wheel arm, bottom described second walking wheel arm, is provided with the
Two bottom joints, described first side wheel arm and described the first row traveling wheel arm are by described first bottom joint
Common fixing and control, described second side wheel arm and described second walking wheel arm are by bottom described second
Joint is jointly fixing and controls.
Engagement the most according to claim 4 drives road wheel structure, it is characterised in that described
The first row traveling wheel arm top is provided with horizontal aluminium-alloy pipe, and described aluminium-alloy pipe one end comprises described interior
Putting electricity sucker, described aluminium-alloy pipe is connected with described passive subdivision wheel by bearing, described second walking
Wheel arm top is provided with motor mounting rack, and described motor mounting rack is provided with horizontally arranged unidirectional current
Machine and decelerator, described decelerator is connected with described active subdivision wheel by shaft coupling.
Engagement the most according to claim 4 drives road wheel structure, it is characterised in that described
All driven by motor at first bottom joint and the second bottom joint.
7. an inspection robot frame for movement, including frame, it is characterised in that in described frame
It is provided with the arbitrary described engagement of claim 1-6 and drives road wheel structure, described the first row traveling wheel arm
It is arranged in described frame by jointed shaft with the lower end of the second walking wheel arm, described first side wheel arm
It is arranged in described frame also by jointed shaft with the lower end of the second side wheel arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620438292.1U CN205753186U (en) | 2016-05-12 | 2016-05-12 | Engagement drives road wheel structure, inspection robot frame for movement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620438292.1U CN205753186U (en) | 2016-05-12 | 2016-05-12 | Engagement drives road wheel structure, inspection robot frame for movement |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205753186U true CN205753186U (en) | 2016-11-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620438292.1U Active CN205753186U (en) | 2016-05-12 | 2016-05-12 | Engagement drives road wheel structure, inspection robot frame for movement |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107834482A (en) * | 2017-10-13 | 2018-03-23 | 国网新疆电力公司电力科学研究院 | Deicing of high-voltage wires snow removing equipment |
-
2016
- 2016-05-12 CN CN201620438292.1U patent/CN205753186U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107834482A (en) * | 2017-10-13 | 2018-03-23 | 国网新疆电力公司电力科学研究院 | Deicing of high-voltage wires snow removing equipment |
| CN107834482B (en) * | 2017-10-13 | 2020-03-17 | 国网新疆电力公司电力科学研究院 | Deicing and snow removing equipment for high-voltage line |
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|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |