CN205753192U - Adapt to the inspection robot frame for movement of solid conductor - Google Patents

Adapt to the inspection robot frame for movement of solid conductor Download PDF

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Publication number
CN205753192U
CN205753192U CN201620440456.4U CN201620440456U CN205753192U CN 205753192 U CN205753192 U CN 205753192U CN 201620440456 U CN201620440456 U CN 201620440456U CN 205753192 U CN205753192 U CN 205753192U
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CN
China
Prior art keywords
frame
support bar
wheel support
pinch wheels
travelling wheel
Prior art date
Application number
CN201620440456.4U
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Chinese (zh)
Inventor
高琦
杜宗展
Original Assignee
山东大学
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Application filed by 山东大学 filed Critical 山东大学
Priority to CN201620440456.4U priority Critical patent/CN205753192U/en
Application granted granted Critical
Publication of CN205753192U publication Critical patent/CN205753192U/en

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Abstract

The utility model discloses a kind of inspection robot frame for movement adapting to solid conductor, belong to robotics.The inspection robot frame for movement of described adaptation solid conductor includes frame, the top of described frame is provided with road wheel support bar that is scalable and that can rotate at lateral, described road wheel support bar includes the first row travelling wheel support bar, the second road wheel support bar and the third line travelling wheel support bar, and described the first row travelling wheel support bar, the second road wheel support bar and the third line travelling wheel support bar are respectively arranged with the first row travelling wheel, the second road wheel and the third line travelling wheel;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

Adapt to the inspection robot frame for movement of solid conductor
Technical field
This utility model relates to robotics, particularly relates to a kind of line walking adapting to solid conductor 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 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 throwing over barrier adapt to solid conductor inspection robot frame for movement.
For solving above-mentioned technical problem, this utility model provides technical scheme as follows:
A kind of inspection robot frame for movement adapting to solid conductor, including frame, wherein:
The top of described frame is provided with road wheel support bar that is scalable and that can rotate at lateral, Described road wheel support bar includes that the first row travelling wheel support bar, the second road wheel support bar and the third line are walked Wheel support bar, described the first row travelling wheel support bar, the second road wheel support bar and the third line travelling wheel support The first row travelling wheel, the second road wheel and the third line travelling wheel it is respectively arranged with on bar;
Described frame lower is additionally provided with can be along the counterweight of the direction of travel slide anteroposterior of described frame.
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 the first row travelling wheel support bar and the second road wheel support bar are arranged on described machine The side of frame and lay respectively at the front and rear of described frame, described the third line travelling wheel support bar is arranged At the opposite side of described frame and be positioned at the middle part of described frame.
Further, the front-end and back-end of described frame be respectively arranged with that expansible can be involutory first group Pinch wheels bracing frame and second group of pinch wheels bracing frame, described first group of pinch wheels bracing frame and second group Pinch wheels bracing frame all by being connected in described frame by motor-driven rotating shaft, described first group of folder It is separately provided on bearing up pulley bracing frame and second group of pinch wheels bracing frame clamping the of solid conductor A pair pinch wheels and second pair of pinch wheels.
Further, described first group of pinch wheels bracing frame and second group of pinch wheels bracing frame all include one To vertical supporting rod and a pair support rail being connected by bearing pin with described vertical supporting rod, described first right Pinch wheels and the second pair of pinch wheels are horizontally installed on the end of described support rail respectively.
Further, described counterweight is power controling box.
Further, described counterweight is connected with described frame by guide rail.
This utility model has the advantages that
The inspection robot frame for movement of adaptation solid conductor of the present utility model, is had diameter by two The road wheel support bar of the montant socket composition of difference is Collapsible structure, and this being designed to makes the first row Travelling wheel, the second road wheel and the third line travelling wheel depart from respectively or set up on the line, and counterweight can be along machine The direction of travel slide anteroposterior of frame, this structure can adjust center of gravity thus ensure the peace of robot self Entirely.This utility model by the first row travelling wheel, the second road wheel and the third line travelling wheel replace off-line, on Line obstacle detouring.Compared with prior art, this utility model have reducing labor intensity, reduce operating cost, Improve inspection robot safety, and can the advantage of throwing over barrier.
Accompanying drawing explanation
Fig. 1 is the structural representation of the inspection robot frame for movement of adaptation solid conductor of the present utility model Figure;
Fig. 2-Fig. 9 is the obstacle detouring of the inspection robot frame for movement of adaptation solid conductor of the present utility model The view that each step of 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 inspection robot frame for movement adapting to solid conductor, As it is shown in figure 1, include frame 1, wherein:
The top of frame 1 is provided with road wheel support bar that is scalable and that can rotate at lateral, OK Travelling wheel support bar includes the first row travelling wheel support bar the 2, second road wheel support bar 9 and the third line travelling wheel Support bar 7, the first row travelling wheel support bar the 2, second road wheel support bar 9 and the third line travelling wheel support The first row travelling wheel the 3, second road wheel 8 and the third line travelling wheel 6 it is respectively arranged with on bar 7;
The bottom of frame 1 is additionally provided with can be along the counterweight 12 of the direction of travel slide anteroposterior of frame 1.
The inspection robot frame for movement of adaptation solid conductor of the present utility model, is had diameter by two The road wheel support bar of the montant socket composition of difference is Collapsible structure, and this being designed to makes the first row Travelling wheel, the second road wheel and the third line travelling wheel depart from respectively or set up on the line, and counterweight can be along machine The direction of travel slide anteroposterior of frame, this structure can adjust center of gravity thus ensure the peace of robot self Entirely.To sum up, this utility model can reduce labor intensity, reduces operating cost, improve line walking machine People's safety, again can throwing over barrier.
Preferably, each road wheel support bar is all connected to by the rotating shaft 13 along frame fore-and-aft direction In frame 1, each rotating shaft 13 is all driven by motor.This design simple in construction, easy to control.
Further, the first row travelling wheel support bar 2 and the second road wheel support bar 9 are arranged on frame 1 Side and lay respectively at the front and rear of frame 1, the third line travelling wheel support bar 7 is arranged on frame The opposite side of 1 and be positioned at the middle part of frame 1.Travelling robot walking can improve in this location layout Time stability.In addition to the above-mentioned embodiment be given, it can also use people in the art Known other modes various of member, here is omitted.
As a kind of improvement of the present utility model, the front-end and back-end of frame 1 are respectively arranged with expansible First group of pinch wheels bracing frame 4 that can be involutory and second group of pinch wheels bracing frame 11, first group of pinch wheels Bracing frame 4 and second group of pinch wheels bracing frame 11 are all by being connected to frame 1 by motor-driven rotating shaft On, first group of pinch wheels bracing frame 4 and second group of pinch wheels bracing frame 11 are separately provided for First pair of pinch wheels 5 of clamping solid conductor and second pair of pinch wheels 10.First pair of pinch wheels 5 and The two pairs of pinch wheels 10, respectively from clamping sides circuit, normally work or during climb and fall at inspection robot Play the effect of increasing friction force, it is possible to increase the safety of inspection robot self.
Further, first group of pinch wheels bracing frame 4 and second group of pinch wheels bracing frame 11 all include A pair vertical supporting rod 4-1 and a pair support rail 4-2 being connected by bearing pin with vertical supporting rod 4-1, the A pair pinch wheels 5 and the second pair of pinch wheels 10 are horizontally installed on the end of support rail 4-2 respectively. The design of this structure can ensure that inspection robot is difficult to collide wire when walking, improves and presss from both sides wire The fastness held.
In this utility model, counterweight 12 is power controling box, it addition, counterweight 12 can pass through guide rail 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, makes inspection robot steadily of centre of gravity when obstacle detouring.
The inspection robot frame for movement of adaptation solid conductor of the present utility model can have when obstacle detouring Various motion method, effect is preferable, control the most at least following two, enters separately below Row is discussed in detail.
Obstacle-detouring method one, including:
Step 1: when not running into obstacle, counterweight 12 is positioned at the middle part of frame 1, the first row travelling wheel 3, Second road wheel 8 and the third line travelling wheel 6 band mobile robot move ahead;
Step 2: when running into obstacle, robot halts, and counterweight 12 moves to the rear of frame 1, The first row travelling wheel 3 departs from circuit under the effect of the first row travelling wheel support bar 2;
Step 3: the second road wheel 8 and the third line travelling wheel 6 band mobile robot move ahead, the first row travelling wheel 3 surmount obstacles after again set up on the line;
Step 4: the third line travelling wheel 6 departs from circuit under the effect of the third line travelling wheel support bar 7, the One road wheel 3 and the second road wheel 9 band mobile robot move ahead, and the third line travelling wheel 6 is heavy after surmounting obstacles New erection is on the line;
Step 5: counterweight 12 moves to the front of frame 1, the second road wheel 8 supports at the second road wheel Depart from circuit, the first row travelling wheel 3 and the third line travelling wheel 6 band mobile robot under the effect of bar 9 to move ahead, Second road wheel 8 sets up on the line after surmounting obstacles again;Counterweight 12 moves to the middle part of frame 1, Go to step 1, wait obstacle detouring next time.
The obstacle-detouring method of the inspection robot frame for movement of adaptation solid conductor of the present utility model, passes through The first row travelling wheel, the second road wheel and the third line travelling wheel alternately off-line, the obstacle detouring rather than pass through of reaching the standard grade Mechanical arm obstacle detouring, mechanical arm is used for overhauling circuit, and this utility model can be straight and have certain slope Walking on the wire of degree, solve in prior art, artificial line walking labor intensity is big and aircraft line walking is transported The problem that row cost is high, and conventional obstacles can be crossed over, it is achieved that patrolling and examining continuously solid conductor. Compared with prior art, this utility model have reducing labor intensity, reduce operating cost, improve patrol Line robot safety, and can the advantage of throwing over barrier.
Obstacle-detouring method two, this method can increase inspection robot rubbing when normal work or climb and fall Wiping power, improves safety, including:
Step 1: during as in figure 2 it is shown, do not run into obstacle, the first pair of pinch wheels 5 and second is to clamping Wheel is 10 respectively from clamping sides circuit, and counterweight 12 is positioned at the middle part of frame 1, the first row travelling wheel 3, Second road wheel 8 and the third line travelling wheel 6 band mobile robot move ahead;
Step 2: during as it is shown on figure 3, run into obstacle, robot halts, and counterweight 12 moves to machine The rear of frame 1, first pair of pinch wheels 5 departs from circuit under the effect of first group of pinch wheels bracing frame 4;
Step 3: as shown in Figure 4, the first row travelling wheel the 3, second road wheel 8, the third line travelling wheel 6 Moving ahead with second pair of pinch wheels 10 band mobile robot, first pair of pinch wheels 5 is pressed from both sides after surmounting obstacles again Hold on the line;
Step 4: as seen in figs. 5-6, the first row travelling wheel 3 and the third line travelling wheel 6 depart from circuit, join Weighing 12 and keep static, first pair of pinch wheels the 5, second road wheel 8 and second pair of pinch wheels 10 drive Robot moves ahead, and the first row travelling wheel 3 sets up on the line after surmounting obstacles again;
Step 5: as Figure 7-8, the second road wheel 8 is in the effect of the second road wheel support bar 9 Lower disengaging circuit, the first pair of pinch wheels 5, the first row travelling wheel 3 and second pair of pinch wheels 10 band movement machine People moves ahead, and the third line travelling wheel the 6, second road wheel 8 surmounts obstacles, before counterweight 12 moves to frame 1 Side, the third line travelling wheel the 6, second road wheel 8 sets up on the line again;
Step 6: as it is shown in figure 9, second pair of pinch wheels 10 is at second group of pinch wheels bracing frame 11 Circuit is departed from, first pair of pinch wheels 5, the first row travelling wheel the 3, second road wheel 8 and the 3rd under effect Road wheel 6 band mobile robot moves ahead, and second pair of pinch wheels 10 is clamped in circuit after surmounting obstacles again On, counterweight 12 moves in the middle part of frame 1, goes to step 1, waits obstacle detouring next time.
It should be noted that the inspection robot frame for movement of adaptation solid conductor of the present utility model and Its obstacle-detouring method merely illustrates the frame for movement of robot body, is not directed to other auxiliary device The design of (such as photographic head, the mechanical hand etc. of refuse cleaning of walking observation).It addition, in control System aspects processed, this utility model can use ground remote control table or robot self intelligence Change and control two ways.
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. the inspection robot frame for movement adapting to solid conductor, it is characterised in that include machine Frame, wherein:
The top of described frame is provided with road wheel support bar that is scalable and that can rotate at lateral, Described road wheel support bar includes that the first row travelling wheel support bar, the second road wheel support bar and the third line are walked Wheel support bar, described the first row travelling wheel support bar, the second road wheel support bar and the third line travelling wheel support The first row travelling wheel, the second road wheel and the third line travelling wheel it is respectively arranged with on bar;
The bottom of described frame is additionally provided with can joining along the direction of travel slide anteroposterior of described frame Weight.
The inspection robot frame for movement of adaptation solid conductor the most according to claim 1, its Being characterised by, each road wheel support bar is all by being connected to institute along the rotating shaft of described frame fore-and-aft direction Stating in frame, each rotating shaft is all driven by motor.
The inspection robot frame for movement of adaptation solid conductor the most according to claim 1, its Being characterised by, described the first row travelling wheel support bar and the second road wheel support bar are arranged on described frame Side and lay respectively at the front and rear of described frame, described the third line travelling wheel support bar is arranged on institute State the opposite side of frame and be positioned at the middle part of described frame.
The inspection robot frame for movement of adaptation solid conductor the most according to claim 1, its Being characterised by, the front-end and back-end of described frame are respectively arranged with first group of clamping that expansible can be involutory Wheeling supporting frame and second group of pinch wheels bracing frame, described first group of pinch wheels bracing frame and second group of clamping Wheeling supporting frame all by being connected in described frame by motor-driven rotating shaft, described first group of pinch wheels It is separately provided for clamping the first couple of solid conductor on bracing frame and second group of pinch wheels bracing frame Pinch wheels and second pair of pinch wheels.
The inspection robot frame for movement of adaptation solid conductor the most according to claim 4, its Being characterised by, described first group of pinch wheels bracing frame and second group of pinch wheels bracing frame all include a pair Support montant and a pair support rail being connected by bearing pin with described vertical supporting rod, described first to clamping Wheel is horizontally installed on the end of described support rail respectively with second pair of pinch wheels.
6. according to the arbitrary described inspection robot machinery knot adapting to solid conductor of claim 1-5 Structure, it is characterised in that described counterweight is power controling box.
The inspection robot frame for movement of adaptation solid conductor the most according to claim 6, its Being characterised by, described counterweight is connected with described frame by guide rail.
CN201620440456.4U 2016-05-12 2016-05-12 Adapt to the inspection robot frame for movement of solid conductor CN205753192U (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105846352A (en) * 2016-05-12 2016-08-10 山东大学 Line patrol robot mechanical structure suitable for single conducting wire and obstacle surmounting method therefor
CN109066464A (en) * 2018-08-31 2018-12-21 国网河北省电力有限公司沧州供电分公司 Inspection robot obstacle crossing device
CN109742684A (en) * 2019-03-14 2019-05-10 张辉 A kind of conducting wire is removed obstacles equipment automatically
CN111404078A (en) * 2020-04-03 2020-07-10 国网山东省电力公司禹城市供电公司 Power transmission line monitoring method and inspection robot for detecting power transmission line
CN111725733A (en) * 2020-06-09 2020-09-29 南方电网科学研究院有限责任公司 Power transmission line inspection robot and operation control method thereof
CN111725734A (en) * 2020-06-11 2020-09-29 南方电网科学研究院有限责任公司 Wire walking robot

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105846352A (en) * 2016-05-12 2016-08-10 山东大学 Line patrol robot mechanical structure suitable for single conducting wire and obstacle surmounting method therefor
CN109066464A (en) * 2018-08-31 2018-12-21 国网河北省电力有限公司沧州供电分公司 Inspection robot obstacle crossing device
CN109742684A (en) * 2019-03-14 2019-05-10 张辉 A kind of conducting wire is removed obstacles equipment automatically
CN109742684B (en) * 2019-03-14 2020-11-13 张辉 Automatic clearance barrier equipment of wire
CN111404078A (en) * 2020-04-03 2020-07-10 国网山东省电力公司禹城市供电公司 Power transmission line monitoring method and inspection robot for detecting power transmission line
CN111725733A (en) * 2020-06-09 2020-09-29 南方电网科学研究院有限责任公司 Power transmission line inspection robot and operation control method thereof
CN111725734A (en) * 2020-06-11 2020-09-29 南方电网科学研究院有限责任公司 Wire walking robot

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