CN205753190U - Walking mechanism, inspection robot frame for movement - Google Patents
Walking mechanism, inspection robot frame for movement Download PDFInfo
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- CN205753190U CN205753190U CN201620440411.7U CN201620440411U CN205753190U CN 205753190 U CN205753190 U CN 205753190U CN 201620440411 U CN201620440411 U CN 201620440411U CN 205753190 U CN205753190 U CN 205753190U
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Abstract
The utility model discloses a kind of walking mechanism, inspection robot frame for movement, belong to robotics.Described inspection robot frame for movement includes frame, it is provided with in described frame and drives subdivision wheel walking mechanism based on the independence that electricity sucker is external, the described independence external based on electricity sucker drives subdivision wheel walking mechanism to include at least one unit of walking, described walking unit includes a pair subdivision wheel support and a pair clamping sides wheel support, it is provided with the subdivision wheel that can dock mutually and separate on described subdivision wheel support, described clamping sides wheel support is provided with clamping sides wheel；Described subdivision wheel top is provided with and controls the wheel docking of described subdivision and the external electromagnetic sucker separated and external iron block.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 walking mechanism, line walking machine
People's 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, again can the walking mechanism of throwing over barrier, inspection robot frame for movement.
For solving above-mentioned technical problem, this utility model provides technical scheme as follows:
On the one hand, it is provided that a kind of drive subdivision wheel walking mechanism based on the electricity external independence of sucker, including
At least one unit of walking, wherein:
Described walking unit includes a pair subdivision wheel support and a pair clamping sides wheel support, described subdivision
It is provided with the subdivision wheel that can dock mutually and separate on wheel support, described clamping sides wheel support is arranged
Clamping sides is had to take turns；
Described subdivision wheel top is provided with the external electromagnetic sucker controlling the wheel docking of described subdivision and separating
With external iron block.
Further, each subdivision wheel support top is provided with motor mounting rack, described motor mounting rack
On be provided with horizontally arranged direct current generator and decelerator, described decelerator is cutd open with described by shaft coupling
Minute wheel connects.
Further, described external electromagnetic sucker and external iron block are all by external stent and described motor
Installing rack is fixing to be connected.
Further, described external stent is inverted L shape, and described external stent is provided with floor.
Further, include can the envelope side wheel of tabling and separation and crowded mutually for described clamping sides wheel
Pressure side wheel.
Further, described envelope side wheel is spill wheel construction, and described extrusion side wheel is with described
The spill wheel construction of spill wheel construction tabling.
Further, described subdivision wheel support and clamping sides wheel support are fixed jointly by bottom joint
And control, described bottom joint is driven by motor.
On the other hand, it is provided that a kind of inspection robot frame for movement, including frame, described frame sets
It is equipped with the above-mentioned independence external based on electricity sucker and drives subdivision wheel walking mechanism, each subdivision wheel support
All being arranged in described frame by rotating shaft, each rotating shaft is all driven by motor.
This utility model has the advantages that
Walking mechanism of the present utility model, inspection robot frame for movement, inspection robot frame for movement
Including frame, frame is provided with and drives subdivision wheel walking mechanism, base based on the independence that electricity sucker is external
Driving subdivision wheel walking mechanism to include at least one unit of walking in the independence that electricity sucker is external, walking is single
Unit includes a pair subdivision wheel support and a pair clamping sides wheel support, subdivision wheel support and clamping sides wheel
Being respectively arranged with subdivision wheel above support and clamping sides is taken turns, subdivision wheel top arranges external electromagnetic sucker
With external iron block, the structure design of above walking unit improve the clamping force in wire horizontal plane and
The accuracy of subdivision wheel docking, fastness, thus safety when increasing travelling robot walking.Outward
Put magnechuck energising to produce suction thus fit with external iron block, after power-off, with external iron block
Separating, subdivision wheel can depart under subdivision wheel support effect or set up on the line, and clamping sides is taken turns
Can be from clamping sides circuit or disengaging circuit under the effect of clamping sides wheel support.
To sum up, this utility model can straight and have on the circuit of certain slope walk, solve
In prior art, the problem that artificial line walking labor intensity is big and aircraft line walking operating cost is high, and can turn over
More conventional obstacles (such as insulator chain, aluminium hydraulic pressed connecting pipe, suspension clamp etc.), it is achieved that the company to circuit
Continue and patrol and examine.Therefore, compared with prior art, this utility model has reducing labor intensity, reduces fortune
Row cost, and can the advantage of crossing over blockage.
Accompanying drawing explanation
Fig. 1 is the knot that the independence external based on electricity sucker of the present utility model drives subdivision wheel walking mechanism
Structure schematic diagram；
Fig. 2 is the bag that the independence external based on electricity sucker of the present utility model drives subdivision wheel walking mechanism
Network side wheel perspective view；
Fig. 3 is that the independence external based on electricity sucker of the present utility model drives squeezing of subdivision wheel walking mechanism
Pressure side wheel perspective view.
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 independence external based on electricity sucker to drive subdivision wheel walking
Mechanism, as it is shown in figure 1, include at least one unit of walking, wherein:
Walking unit includes a pair subdivision wheel support 2 and a pair clamping sides wheel support 14, subdivision wheel
It is provided with the subdivision wheel 4 that can dock mutually and separate on frame 2, clamping sides wheel support 14 is provided with
Clamping sides wheel 11；
Subdivision is taken turns 4 tops and is provided with the external electromagnetic sucker 8 controlling subdivision wheel 4 docking and separation with outer
Put iron block 7.
The independence external based on electricity sucker of the present utility model drives subdivision wheel walking mechanism, including at least
One walking unit, walking unit includes a pair subdivision wheel support and a pair clamping sides wheel support, cuts open
Being respectively arranged with subdivision wheel above minute wheel support and clamping sides wheel support and clamping sides is taken turns, subdivision is taken turns
Top arranges external electromagnetic sucker and external iron block, and the structure design of above walking unit improves leading
Clamping force in line horizontal plane and the accuracy of subdivision wheel docking, fastness, thus increase line walking machine
Safety when people walks.
Preferably, each subdivision wheel support 2 top is provided with motor mounting rack 3, motor mounting rack 3
On be provided with horizontally arranged direct current generator 10 and decelerator 9, decelerator 9 can by shaft coupling with
Subdivision wheel 4 connection.This design can improve the stability of subdivision wheel docking, easy to control.
Further, the external electromagnetic sucker 8 in subdivision opinion 4 and external iron block 7 are all by external
Frame 5 is fixing with motor mounting rack 3 to be connected.It addition, external stent 5 can be inverted L shape, external
Floor 6 can be provided with on frame 5.This design simple in construction, it is possible to increase the rigidity of external stent,
Reliability is high.
As a kind of improvement of the present utility model, clamping sides wheel 11 includes can tabling and separation mutually
Envelope side wheel 12 and extrusion side wheel 13；As Figure 2-3, envelope side wheel 12 is spill
Wheel construction, extrusion side wheel 13 can be and the spill wheel construction of spill wheel construction tabling.Both
The most slightly difference, can reach good chimeric.Normally work or during climb and fall at inspection robot
Clamp circuit from side thus play the effect of increasing friction force, it is possible to increase inspection robot self
Safety.In addition to the above-mentioned embodiment be given, it can also use those skilled in the art public
Other modes various known, here is omitted.
In this utility model, subdivision wheel support 2 and clamping sides wheel support 14 are by bottom joint 1
Jointly fixing and control, bottom joint 1 is driven by motor.The design of this structure can ensure that subdivision
Wheel and clamping sides wheel can rise when motion can drop according to circuit physical location, can when running into barrier
To separate certain angle or distance.
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, inspection robot can be provided with one or more groups this walking mechanism, or
Person is also provided with other kinds of walking mechanism.
On the other hand, it is provided that a kind of inspection robot frame for movement, including frame, frame is provided with
The above-mentioned independence external based on electricity sucker drives subdivision wheel walking mechanism, and each subdivision wheel support 2 is equal
Being arranged in frame by rotating shaft, each rotating shaft is all driven by motor.
Inspection robot frame for movement of the present utility model, the energising of external electromagnetic sucker can produce suction
Thus fit with external iron block, after power-off, separating with external iron block, subdivision wheel can be at subdivision wheel
Departing under the mating reaction of frame and rotating shaft or set up on the line, clamping sides wheel can be at clamping sides
From clamping sides circuit or disengaging circuit under the effect of wheel support.To sum up, this utility model can alleviate
Labor intensity, reduction operating cost, raising inspection robot safety, again can throwing over barrier.
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.In terms of control system, this utility model can use ground
Control platform or robot self intelligentized control method two ways.
Another further aspect, this utility model also provides for the obstacle detouring of a kind of above-mentioned inspection robot frame for movement
Method, including:
Step 1: when not running into obstacle, external electromagnetic sucker 8 energising produces suction with external iron block 7,
Every pair of subdivision wheel 4 under the effect of subdivision wheel support 2 docking thus set up on the line, every pair of side
Pinch wheels 11 closes from clamping sides circuit, subdivision wheel 4 under the effect of clamping sides wheel support 14
Move ahead with clamping sides wheel 11 drive inspection robot；
Step 2: when running into obstacle, inspection robot halts, and a pair subdivision wheel 4 is taken turns at subdivision
Separating and depart from circuit under the effect of support 2, external electromagnetic sucker 8 power-off separates with external iron block 7,
A pair clamping sides wheel 11 separates under the effect of clamping sides wheel support 14 and departs from circuit；
Step 3: subdivision wheel 4 and clamping sides are taken turns after 11 leaping over obstacles respectively at subdivision wheel support 2
Dock under effect with clamping sides wheel support 14 and be again erected on circuit, external electromagnetic sucker 8
Energising and external iron block 7 produce suction, after every pair of subdivision wheel 4 and clamping sides take turns 11 leaping over obstacles,
Go to step 1, wait obstacle detouring next time.
It should be noted that the obstacle-detouring method of above-mentioned inspection robot frame for movement focuses on using
The method that the inspection robot of above-mentioned walking mechanism carries out obstacle detouring.If also set up on inspection robot
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 carries out obstacle detouring, not within focal point of the present utility model.
This utility model can straight and have on the circuit of certain slope walk, clamping sides wheel energy
Enough from side clamping circuit, wire is applied the clamping force in horizontal plane, stablizing when improving climb and fall
Property, 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 conventional obstacles (such as insulator chain, aluminium hydraulic pressed connecting pipe, suspension clamp etc.) can be crossed,
Achieve patrolling and examining continuously circuit.Therefore, compared with prior art, this utility model has and alleviates
Labor intensity, reduce operating cost, and can the advantage of crossing over blockage.
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. one kind drives subdivision wheel walking mechanism based on the independence that electricity sucker is external, it is characterised in that
Including at least one unit of walking, wherein:
Described walking unit includes a pair subdivision wheel support and a pair clamping sides wheel support, described subdivision
It is provided with the subdivision wheel that can dock mutually and separate on wheel support, described clamping sides wheel support is arranged
Clamping sides is had to take turns；
Described subdivision wheel top is provided with the external electromagnetic sucker controlling the wheel docking of described subdivision and separating
With external iron block.
The independence external based on electricity sucker the most according to claim 1 drives subdivision wheel vehicle with walking machine
Structure, it is characterised in that each subdivision wheel support top is provided with motor mounting rack, described motor is installed
Being provided with horizontally arranged direct current generator and decelerator on frame, described decelerator passes through shaft coupling with described
Subdivision wheel connects.
The independence external based on electricity sucker the most according to claim 2 drives subdivision wheel vehicle with walking machine
Structure, it is characterised in that described external electromagnetic sucker and external iron block are all by external stent and described electricity
Machine installing rack is fixing to be connected.
The independence external based on electricity sucker the most according to claim 3 drives subdivision wheel vehicle with walking machine
Structure, it is characterised in that described external stent is inverted L shape, and described external stent is provided with floor.
The independence external based on electricity sucker the most according to claim 1 drives subdivision wheel vehicle with walking machine
Structure, it is characterised in that described clamping sides wheel include can mutually tabling and separation envelope side wheel with
Extrusion side is taken turns.
The independence external based on electricity sucker the most according to claim 5 drives subdivision wheel vehicle with walking machine
Structure, it is characterised in that described envelope side wheel is spill wheel construction, described extrusion side wheel is and institute
State the spill wheel construction of spill wheel construction tabling.
7. drive subdivision wheel according to the arbitrary described independence external based on electricity sucker of claim 1-6
Walking mechanism, it is characterised in that described subdivision wheel support and clamping sides wheel support pass through bottom joint
Jointly fixing and control, described bottom joint is driven by motor.
8. an inspection robot frame for movement, including frame, it is characterised in that set in described frame
It is equipped with the arbitrary described independence external based on electricity sucker of claim 1-7 and drives subdivision wheel vehicle with walking machine
Structure, each subdivision wheel support is all arranged in described frame by rotating shaft, and each rotating shaft is all driven by motor
Dynamic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620440411.7U CN205753190U (en) | 2016-05-12 | 2016-05-12 | Walking mechanism, inspection robot frame for movement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620440411.7U CN205753190U (en) | 2016-05-12 | 2016-05-12 | Walking mechanism, inspection robot frame for movement |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205753190U true CN205753190U (en) | 2016-11-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620440411.7U Active CN205753190U (en) | 2016-05-12 | 2016-05-12 | Walking mechanism, inspection robot frame for movement |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105846348A (en) * | 2016-05-12 | 2016-08-10 | 济南舜风科技有限公司 | Travelling mechanism, line patrol robot mechanical structure and obstacle surmounting method therefor |
-
2016
- 2016-05-12 CN CN201620440411.7U patent/CN205753190U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105846348A (en) * | 2016-05-12 | 2016-08-10 | 济南舜风科技有限公司 | Travelling mechanism, line patrol robot mechanical structure and obstacle surmounting method therefor |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |