CN205791203U - Adapt to the suspension type inspection robot structure of single conductor - Google Patents
Adapt to the suspension type inspection robot structure of single conductor Download PDFInfo
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- CN205791203U CN205791203U CN201620490714.XU CN201620490714U CN205791203U CN 205791203 U CN205791203 U CN 205791203U CN 201620490714 U CN201620490714 U CN 201620490714U CN 205791203 U CN205791203 U CN 205791203U
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Abstract
The utility model discloses a kind of suspension type inspection robot structure adapting to single conductor, belong to robotics.Described frame be provided above middle wheel arm, described middle wheel arm is connected with described frame by being arranged on the elevating mechanism of described machine frame inside；Unsettled front wheel arm and the rear wheel arms of being symmetrically arranged with in described frame, is respectively arranged with the first pitching joint and the second pitching joint between described front wheel arm and middle wheel arm and between described rear wheel arms and middle wheel arm；Described front wheel arm, middle wheel arm and rear wheel arms all include being arranged in pairs and can the active wheel arm of folding and driven wheel arm, the end of described active wheel arm and driven wheel arm is provided with road wheel and for driving the driving motor of described road wheel, and the lower section of described front wheel arm, middle wheel arm and rear wheel arms is provided with folding controlling organization.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 suspension type adapting to single conductor
Inspection robot 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 high pressure of research, extra high voltage network robot mostly are both arms antisymmetry knot the most both at home and abroad
Structure, three-arm arrangement and many arm configurations, its running environment mostly is aerial earth wire.It is installed on aerial earth wire
Line robot not only running in easily affected by the external force in natural environment, cause run shakiness
Fixed, even drop from transmission line of electricity, but also existence is patrolled and examined to remove obstacles and is limited in scope, inefficiency,
And there is the biggest distance between wire.Therefore, it is necessary to provide one can reduce labor intensity, reduce
Operating cost, again can the inspection robot frame for movement of throwing over barrier.
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 single conductor suspension type inspection robot structure.
For solving above-mentioned technical problem, this utility model provides technical scheme as follows:
A kind of suspension type inspection robot structure adapting to single conductor, including frame, wherein:
Described frame be provided above middle wheel arm, described middle wheel arm is by being arranged on described frame
Internal elevating mechanism is connected with described frame；
Unsettled front wheel arm and the rear wheel arms of being symmetrically arranged with in described frame, described front wheel arm and middle wheel arm
Between and described rear wheel arms and middle wheel arm between be respectively arranged with the first pitching joint and second and bow
Face upward joint；
Described front wheel arm, middle wheel arm and rear wheel arms all include being arranged in pairs and can the active wheel arm of folding
With driven wheel arm, the end of described active wheel arm and driven wheel arm is provided with road wheel and for driving
The driving motor of described road wheel, the lower section of described front wheel arm, middle wheel arm and rear wheel arms is provided with
Folding controlling organization.
Further, the end of described active wheel arm and driven wheel arm is provided with road wheel installing rack,
Described driving motor and road wheel vertical equity arrangement be arranged on described road wheel installing rack, described in drive
Galvanic electricity machine is connected with described road wheel by main shaft.
Further, the folding controlling organization below described front wheel arm, middle wheel arm and rear wheel arms all wraps
Include wheel arm base, described wheel arm base is provided with wheel arm folding motor and the gear of transverse horizontal arrangement
Transmission, described gear drive include for drive described active wheel arm driving gear and with described active
Gear connects and for driving the driven gear of described driven wheel arm, and described wheel arm folding motor is by passing
Moving axis drives described driving gear.
Further, described elevating mechanism includes fixing, with described middle wheel arm, the push-rod electric machine being connected,
Described push-rod electric machine is internally provided with the telescopic shaft controlling the lifting of described middle wheel arm.
Further, described first pitching joint and the second pitching joint all include pitching joint installing rack
With the connecting rod being hinged on the installing rack of described pitching joint, described pitching joint installing rack is provided with use
In the pitching joint motor driving jointed shaft.
Further, the end of described active wheel arm is provided with dome structure, the end of described driven wheel arm
End is provided with and the groove structure of described dome structure tabling.
Further, the bottom of described frame is provided with counterweight, and described counterweight is power controling box.
This utility model has the advantages that
The suspension type inspection robot structure of adaptation single conductor of the present utility model, inspection robot machinery
The frame front and back end of structure is unsettled is symmetrically arranged with front wheel arm and rear wheel arms, and middle part is provided above centre
Wheel arm, middle wheel arm is connected with frame by elevating mechanism, front wheel arm, rear wheel arms and centre wheel arm it
Between be respectively arranged with control its lifting the first pitching joint and the second pitching joint, front wheel arm, trailing wheel
Arm and middle wheel arm all include being arranged in pairs and can the active wheel arm of folding and driven wheel arm, actively wheel arm
It is erected on circuit under the effect of each folding controlling organization with the road wheel of driven wheel arm thus drives
Inspection robot moves ahead.When running into barrier, the road wheel of front wheel arm disengage and away from circuit after, in
Between the road wheel of wheel arm and rear wheel arms drive inspection robot to move ahead, the road wheel of front wheel arm surmounts obstacles
Again set up on the line after thing, followed by middle wheel arm across obstacle, until rear wheel arms is crossed
After barrier, inspection robot returns to normal walking states.
To sum up, this utility model by the road wheel of front wheel arm, middle wheel arm and rear wheel arms replace off-line,
Reach the standard grade thus across obstacle.Compared with prior art, this utility model have reduce labor intensity,
Reduce operating cost, and can the advantage of throwing over barrier.
Accompanying drawing explanation
Fig. 1 is the structural representation of the suspension type inspection robot structure of adaptation single conductor of the present utility model
Figure；
Fig. 2 is the road wheel peace of the suspension type inspection robot structure of adaptation single conductor of the present utility model
The structural representation shelved；
Fig. 3 is the elevating mechanism of the suspension type inspection robot structure of adaptation single conductor of the present utility model
Structural representation；
Fig. 4-Fig. 8 is the obstacle detouring side that this utility model adapts to the suspension type inspection robot structure of single conductor
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 suspension type inspection robot structure adapting to single conductor,
As Figure 1-3, including frame 1, wherein:
Frame 1 be provided above middle wheel arm 15, middle wheel arm 15 is by being arranged in frame 1
The elevating mechanism 25 in portion is connected with frame 1；
Unsettled in frame 1 it is symmetrically arranged with front wheel arm 14 and rear wheel arms 17, front wheel arm 14 and breast wheel
It is respectively arranged with the first pitching joint 2 between arm 14 and between rear wheel arms 17 and middle wheel arm 15
With the second pitching joint 24；
Front wheel arm 14, middle wheel arm 15 and rear wheel arms 17 all include being arranged in pairs and can the actives of folding
Wheel arm 9 and driven wheel arm 13, actively the end of wheel arm 9 and driven wheel arm 13 is provided with road wheel
16 and for driving the driving motor 11 of road wheel 16, front wheel arm 14, middle wheel arm 15 and trailing wheel
The lower section of arm 17 is provided with folding controlling organization 4.
The suspension type inspection robot structure of adaptation single conductor of the present utility model, inspection robot machinery
The frame front and back end of structure is unsettled is symmetrically arranged with front wheel arm and rear wheel arms, and middle part is provided above centre
Wheel arm, middle wheel arm is connected with frame by elevating mechanism, front wheel arm, rear wheel arms and centre wheel arm it
Between be respectively arranged with control its lifting the first pitching joint and the second pitching joint, front wheel arm, trailing wheel
Arm and middle wheel arm all include being arranged in pairs and can the active wheel arm of folding and driven wheel arm, actively wheel arm
It is erected on circuit under the effect of each folding controlling organization with the road wheel of driven wheel arm thus drives
Inspection robot moves ahead, elevating mechanism, each pitching joint respectively with corresponding folding controlling organization phase
Cooperation can make active wheel arm and the road wheel alternately off-line of driven wheel arm, reach the standard grade thus leaping over obstacles
Thing.To sum up, this utility model can reduce labor intensity, reduce operating cost, can cross again barrier
Hinder thing.
Preferably, actively the end of wheel arm 9 and driven wheel arm 13 is provided with road wheel installing rack 12,
Drive motor 11 and the arrangement of road wheel 16 vertical equity to be arranged on road wheel installing rack 12, drive
Motor 11 is connected with road wheel 16 by main shaft 10.This design is easy to control, can make each row
Travelling wheel realizes good synchronicity.
Further, the folding controlling organization below front wheel arm 14, middle wheel arm 15 and rear wheel arms 17
4 all include wheel arm base 7, and wheel arm base 7 is provided with the wheel arm folding motor 5 of transverse horizontal arrangement
With gear drive 8, gear drive 8 include for drive actively wheel arm 9 driving gear 18 and with master
Moving gear 18 connects and for driving the driven gear 19 of driven wheel arm 13, wheel arm folding motor 5
Driving gear 18 is driven by power transmission shaft 6.Gear transmission mode have reliable operation, compact conformation,
Efficiency is high and the advantage such as life-span length, it is possible to increase front wheel arm, middle wheel arm and rear wheel arms action steady
Property and accuracy.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, elevating mechanism 25 includes fixing even with middle wheel arm 15
The push-rod electric machine connect, push-rod electric machine is internally provided with the telescopic shaft controlling middle wheel arm 15 lifting.In
Between wheel arm road wheel can be driven away from circuit by the shortening of telescopic shaft, it is to avoid road wheel is to power transmission line
The collision on road, reduces abrasion, improves the life-span of transmission line of electricity.It addition, the first pitching joint 2 and
Two pitching joints 24 all include pitching joint installing rack 22 and are hinged on pitching joint installing rack 22
Connecting rod 3, pitching joint installing rack 22 is provided with for drive jointed shaft 20 pitching close economize on electricity
Machine 21.The design of this structure can make connecting rod rotate to an angle thus ensure the row of front wheel arm and rear wheel arms
Travelling wheel avoids circuit.
In order to improve actively wheel arm and the compatible degree of driven wheel arm, improve the safety of inspection robot self
Property, actively the end of wheel arm 9 is provided with dome structure, and the end of driven wheel arm 13 is provided with convex
The groove structure of circle structure tabling.
In this utility model, the bottom of frame 1 can be provided with counterweight 23, and counterweight 23 is power supply control
Case processed.Power controling box can not only provide the energy for the motion of inspection robot, it is also possible to takes into account work
For counterweight, make inspection robot steadily of centre of gravity when obstacle detouring.
It should be noted that high voltage power transmission process is a diversified process, according to transmission voltage
Difference and the difference of transmission of electricity features of terrain, whole transmission line structure is also not quite similar.This practicality is new
The inspection robot frame for movement of type merely illustrates the frame for movement of robot body, is not directed to it
The design of his auxiliary device (such as the photographic head of observation, the failure eliminating device etc. of walking).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.
On the other hand, this utility model also provides for a kind of above-mentioned suspension type line walking machine adapting to single conductor
The obstacle-detouring method of device people's structure, for convenience of drawing, does not draws barrier, including:
Step 1: as shown in Figure 4, when not running into barrier, front wheel arm 14, middle wheel arm 15 and
The road wheel 16 of rear wheel arms 17 is at each folding controlling organization 4, elevating mechanism 25 and each pitching joint machine
It is erected on circuit under the effect of structure and drives travelling robot walking；
Step 2: as seen in figs. 5-6, when running into barrier, inspection robot halts, front-wheel
The road wheel 16 of arm 14 is de-under the effect in corresponding folding controlling organization 4 and the first pitching joint 2
Open and away from circuit；
Step 3: as it is shown in fig. 7, the road wheel 16 of middle wheel arm 15 and rear wheel arms 17 drives line walking
Robot moves ahead, the road wheel 16 of front wheel arm 14 clear the jumps after at corresponding folding controlling organization
4 and first pitching joint 2 effect under again set up on the line；
Step 4: as it is shown in fig. 7, the road wheel 16 of middle wheel arm 15 controls machine in corresponding folding
Disengage and away from circuit under the effect of structure 4 and elevating mechanism 25, now, front wheel arm 14 and rear wheel arms
The road wheel 16 of 17 drives inspection robot to move ahead；
Step 5: as shown in Figure 8, the road wheel 16 of middle wheel arm 15 clear the jumps after in correspondence
Folding controlling organization 4 and elevating mechanism 25 effect under again set up on the line, then, after
Wheel arm 17 repeats the action of front wheel arm 14, until after inspection robot across obstacle, going to step
1, wait obstacle detouring next time.
This utility model is when running into barrier, and front wheel arm, middle wheel arm and rear wheel arms can respectively opened
Close controlling organization effect under open after and then under the effect of each pitching joint or elevating mechanism under
Fall makes each road wheel disengage and away from circuit thus across obstacle.This utility model can straight and
Have on the wire of certain slope and walk, solve in prior art, artificial line walking labor intensity big and
The problem that aircraft line walking operating cost is high, and conventional obstacles can be crossed over, it is achieved that to transmission line of electricity
Patrol and examine continuously.Compared with prior art, this utility model has reducing labor intensity, reduces and run into
This, and can the advantage of throwing over barrier.
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 suspension type inspection robot structure adapting to single conductor, it is characterised in that include machine
Frame, wherein:
Described frame be provided above middle wheel arm, described middle wheel arm is by being arranged on described frame
Internal elevating mechanism is connected with described frame；
Unsettled front wheel arm and the rear wheel arms of being symmetrically arranged with in described frame, described front wheel arm and middle wheel arm
Between and described rear wheel arms and middle wheel arm between be respectively arranged with the first pitching joint and second and bow
Face upward joint；
Described front wheel arm, middle wheel arm and rear wheel arms all include being arranged in pairs and can the active wheel arm of folding
With driven wheel arm, the end of described active wheel arm and driven wheel arm is provided with road wheel and for driving
The driving motor of described road wheel, the lower section of described front wheel arm, middle wheel arm and rear wheel arms is provided with
Folding controlling organization.
The suspension type inspection robot structure of adaptation single conductor the most according to claim 1, its
Being characterised by, the end of described active wheel arm and driven wheel arm is provided with road wheel installing rack, described
Motor and the arrangement of road wheel vertical equity is driven to be arranged on described road wheel installing rack, described driving electricity
Machine is connected with described road wheel by main shaft.
The suspension type inspection robot structure of adaptation single conductor the most according to claim 1, its
Being characterised by, the folding controlling organization below described front wheel arm, middle wheel arm and rear wheel arms all includes wheel
Arm base, wheel arm folding motor and gear that described wheel arm base is provided with transverse horizontal arrangement pass
Dynamic, described gear drive include for drive described active wheel arm driving gear and with described driving tooth
Wheel connects and for driving the driven gear of described driven wheel arm, described wheel arm folding motor passes through transmission
Axle drives described driving gear.
The suspension type inspection robot structure of adaptation single conductor the most according to claim 1, its
Being characterised by, described elevating mechanism includes fixing, with described middle wheel arm, the push-rod electric machine being connected, described
Push-rod electric machine is internally provided with the telescopic shaft controlling the lifting of described middle wheel arm.
The suspension type inspection robot structure of adaptation single conductor the most according to claim 4, its
Being characterised by, described first pitching joint and the second pitching joint all include pitching joint installing rack and hinge
It is connected on the connecting rod on the installing rack of described pitching joint, described pitching joint installing rack is provided with for driving
The pitching joint motor of dynamic jointed shaft.
The suspension type inspection robot structure of adaptation single conductor the most according to claim 5, its
Being characterised by, the end of described active wheel arm is provided with dome structure, and the end of described driven wheel arm sets
It is equipped with and the groove structure of described dome structure tabling.
The suspension type inspection robot structure of adaptation single conductor the most according to claim 6, its
Being characterised by, the bottom of described frame is provided with counterweight, and described counterweight is power controling box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620490714.XU CN205791203U (en) | 2016-05-25 | 2016-05-25 | Adapt to the suspension type inspection robot structure of single conductor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620490714.XU CN205791203U (en) | 2016-05-25 | 2016-05-25 | Adapt to the suspension type inspection robot structure of single conductor |
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| CN205791203U true CN205791203U (en) | 2016-12-07 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105826865A (en) * | 2016-05-25 | 2016-08-03 | 山东大学 | Suspended line inspection robot structure applicable to single wires and obstacle crossing method thereof |
| CN109444613A (en) * | 2018-12-21 | 2019-03-08 | 北京史河科技有限公司 | Contact line detector |
| CN109599793A (en) * | 2019-01-14 | 2019-04-09 | 湖北工业大学 | A kind of inspection robot for high-voltage line |
| CN110142739A (en) * | 2019-05-30 | 2019-08-20 | 西安交通大学 | A kind of three-stage high voltage transmission line slides crusing robot |
| CN110556777A (en) * | 2018-06-01 | 2019-12-10 | 郭盈涛 | Cable deicing device |
| CN112003185A (en) * | 2020-08-21 | 2020-11-27 | 南京智能仿真技术研究院有限公司 | Inspection robot for overhead transmission line |
| CN112873245A (en) * | 2021-03-25 | 2021-06-01 | 深圳亿嘉和科技研发有限公司 | Overhead line three-arm inspection robot |
-
2016
- 2016-05-25 CN CN201620490714.XU patent/CN205791203U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105826865A (en) * | 2016-05-25 | 2016-08-03 | 山东大学 | Suspended line inspection robot structure applicable to single wires and obstacle crossing method thereof |
| CN105826865B (en) * | 2016-05-25 | 2018-02-27 | 山东大学 | Adapt to the suspension type inspection robot structure and its obstacle-detouring method of single conductor |
| CN110556777A (en) * | 2018-06-01 | 2019-12-10 | 郭盈涛 | Cable deicing device |
| CN109444613A (en) * | 2018-12-21 | 2019-03-08 | 北京史河科技有限公司 | Contact line detector |
| CN109599793A (en) * | 2019-01-14 | 2019-04-09 | 湖北工业大学 | A kind of inspection robot for high-voltage line |
| CN110142739A (en) * | 2019-05-30 | 2019-08-20 | 西安交通大学 | A kind of three-stage high voltage transmission line slides crusing robot |
| CN112003185A (en) * | 2020-08-21 | 2020-11-27 | 南京智能仿真技术研究院有限公司 | Inspection robot for overhead transmission line |
| CN112003185B (en) * | 2020-08-21 | 2021-06-18 | 南京智能仿真技术研究院有限公司 | Inspection robot for overhead transmission line |
| CN112873245A (en) * | 2021-03-25 | 2021-06-01 | 深圳亿嘉和科技研发有限公司 | Overhead line three-arm inspection robot |
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