CN205829024U - Inspection robot for high-voltage transmission lines - Google Patents
Inspection robot for high-voltage transmission lines Download PDFInfo
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- CN205829024U CN205829024U CN201620532000.0U CN201620532000U CN205829024U CN 205829024 U CN205829024 U CN 205829024U CN 201620532000 U CN201620532000 U CN 201620532000U CN 205829024 U CN205829024 U CN 205829024U
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- palm
- screw
- transmission lines
- voltage transmission
- inspection robot
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 33
- 238000007689 inspection Methods 0.000 title claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims abstract description 48
- 230000033001 locomotion Effects 0.000 claims abstract description 10
- 238000010276 construction Methods 0.000 abstract description 4
- 238000012423 maintenance Methods 0.000 abstract description 4
- 230000009471 action Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 208000010877 cognitive disease Diseases 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 208000031481 Pathologic Constriction Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001595 contractor effect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
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Abstract
The utility model discloses a kind of inspection robot for high-voltage transmission lines, including three moving obstacle-crossing arm mechanisms, moving obstacle-crossing arm mechanism includes arm body, drive the telescoping drive mechanism of the upper and lower stretching motion of arm body, can the palm mechanism of folding, palm mechanism includes the first palm being oppositely arranged and the second palm being controlled folding by open-and-close mechanism, open-and-close mechanism includes the second leading screw, second drives motor, the second screw being fixed on the second leading screw, two connecting plates being fixed on the second screw, it is separately fixed at the first palm and second-hand's palm two pins being slidably connected respectively with two connecting plates, slide rail, the guide groove being obliquely installed is had on connecting plate, slide in pin is located in this guide groove and along guide groove, first palm and the second palm are installed on slide rail and move along slide rail.This utility model simple in construction, easy to maintenance, patrol and examine efficiently, obstacle detouring stable, beneficially safe and efficient the carrying out of inspecting high-voltage transmission lines work.
Description
Technical field
This utility model relates to inspection device field, is specifically related to the inspection robot for high-voltage transmission lines of a kind of arm hanging type.
Background technology
Ultra-high-tension power transmission line is the tremulous pulse of power system, and its safe operation is increasingly paid attention to by departments at different levels.Transmission line of electricity is not only
Bear the internal pressure of intrinsic mechanical load and electric load.Accumulate over a long period in time, certainly will cause circuit that various faults occur,
As: contact resistance increase, wire strand breakage, discharging rod fracture, shaft tower inclination, insulator flicker, gold utensil come off, as not in time
Find and remove, power system will be constituted calamitous harm.In China, current most patrol task is all by manually patrolling
Having examined, the most mostly there is structure complexity in crusing robot, keeps in repair with difficult in maintenance, obstacle detouring instability and effect
The feature that rate is low, and the most extensively apply in China's inspecting high-voltage transmission lines work.
Utility model content
In order to solve the problems referred to above, this utility model provide a kind of simple in construction, easy to maintenance, patrol and examine efficiently, obstacle detouring stable
Inspection robot for high-voltage transmission lines.
To achieve these goals, the technical solution of employing is this utility model:
A kind of inspection robot for high-voltage transmission lines, including three moving obstacle-crossing arm mechanisms, moving obstacle-crossing arm mechanism includes arm
Body, drive the upper and lower stretching motion of arm body telescoping drive mechanism, be installed on arm body upper part can the palmtop computer of folding
Structure, described palm mechanism includes the first palm being oppositely arranged and the second palm, the described opening-closing machine being controlled folding by open-and-close mechanism
Structure includes the second leading screw, drives the second of the second screw turns to drive motor, the second screw being fixed on the second leading screw, fix
Two connecting plates on the second screw, it is separately fixed at the first palm and second-hand's palm company of sliding respectively with two connecting plates
Two pins connect, the relative second vertically disposed slide rail of leading screw, described connecting plate has the guide groove being obliquely installed, described pin
Sliding in nail is located in this guide groove and along guide groove, described first palm and the second palm are installed on slide rail and move along slide rail.
Based on technique scheme, the vertical direction that robot realizes arm body by telescoping drive mechanism stretches, palm mechanism
In realized the folding of palm by open-and-close mechanism.During patrolling and examining, when running into obstacle, telescoping drive mechanism action drives arm
Body rising realizes off-line, and the second driving motor action in open-and-close mechanism makes palm open, and telescoping drive mechanism action band is started
Arm body drops to desired height, and robot proceeds to the distance that can clear the jumps, and arm body rises, and palm has closed
Becoming hanging wire, remaining two moving obstacle-crossing arm mechanism is sequentially completed obstacle detouring action, it is achieved that obstacle detouring and patrolling and examining, simple in construction, dimension
Protect convenience, patrol and examine efficiently.
Wherein the folding of palm is driven by screw mechanism, and screw mechanism uses stable leading screw, screw transmission, concrete,
Second drives driven by motor the second screw turns, and the second leading screw drives the second screw upward-downward translation by screw-driven, connecting plate and
Second screw links together, and drives connecting plate with moving up and down under the second screw drives, and two palms pass through with connecting plate
Pin links together, the pin guide groove movement being obliquely installed along connecting plate, and being moved up and down by connecting plate is transformed into two
In the horizontal movement of palm, to realize palm folding.Slide rail remains stationary as during whole, and pin is in the guide groove of connecting plate
Sliding, connecting plate gives the first palm, the power of second one vertical guide slot of palm by pin in sliding process, and this power is being hung down
Nogata is respectively arranged with a component to horizontal direction, and its horizontal component drives two palms to carry out open and close movement, thus realizes design and want
Ask.Whole folding obstacle detouring process, stable action, stable obstacle detouring can be realized.
Inspection robot for high-voltage transmission lines as above, described telescoping drive mechanism includes the first leading screw, drives the first leading screw to turn
The first screw that dynamic first drives motor, is installed on the first leading screw, described arm body and the first screw are fixing to be connected.Its
In, arm body connects by flange and the first screw are fixing.First drives driven by motor the first screw turns, drives first
Female up and down motion, thus drive arm body to move up and down and realize expanding-contracting action.
Inspecting high-voltage transmission lines machine as above, it is preferred that in order to avoid the action arranging two palms of obstruction of connecting plate,
Described connecting plate is triangular plate.
Inspection robot for high-voltage transmission lines as above, described palm mechanism is additionally provided with the guide guided for the second leading screw, institute
The both sides stating guide are provided with the opening being oppositely arranged, and described opening is for guiding the second screw.
Inspection robot for high-voltage transmission lines as above, it is preferred that described slide rail is fixed on guide.
Inspection robot for high-voltage transmission lines as above, described first-hand palm is provided with the first row travelling wheel, described second-hand's palm
Being provided with the second road wheel and the traction drive motor driving the second road wheel to rotate, the second road wheel is provided with spline, the first row
Travelling wheel is provided with for the spline opening with this spline fitted.
Inspection robot for high-voltage transmission lines as above, described palm mechanism also includes brake gear, and brake gear includes brake
Leading screw, brake drive motor, brake block, and brake block is used for carrying out contacting realization with the first row travelling wheel and moves the brake of walking process
Make.
Inspection robot for high-voltage transmission lines as above, also include battery, GPS system, for placing battery and GPS system
Casing, this casing includes that upper and lower box plate, upper and lower box plate are connected by screw rod.
Inspection robot for high-voltage transmission lines as above, also includes micro-camera device.
Inspection robot for high-voltage transmission lines as above, also include sensor stand and be arranged on sensor stand for feeling
Whether should there is the sensor of obstacle.Preferably, sensor stand is set to two groups, is separately mounted to position before and after crusing robot
Put, each sensor stand is respectively provided with sensor, facilitate the distance of cognitive disorders thing, thus realize crossing obstacle automatically.
The beneficial effect that this utility model can produce: this utility model simple in construction, easy to maintenance, patrol and examine efficiently, use spiral shell
Stricture of vagina structure realizes the opening and closing movement of palm, and palm is to realize folding by horizontal balance, and folding is steady, contributes to stable obstacle detouring,
Thus safe and efficient the carrying out of beneficially inspecting high-voltage transmission lines work.
Accompanying drawing explanation
Accompanying drawing 1 is structural representation of the present utility model；
Accompanying drawing 2 is the structural representation of palm mechanism；
Wherein: 1, casing；2, sensor；3, sensor stand；4, palm mechanism；5, traction drive motor；6、
Slide rail；7, guide；8, arm body；9, battery；10, battery case；11, flange；12, the first screw；13, first
Leading screw；14, micro-camera device；15, decelerator；16, screw rod；17, first motor is driven；18, brake gear；19、
Connecting plate；20, pin；21, guide groove；22, opening；41, the first palm；42, the second palm；43, the first row travelling wheel；
44, the second road wheel；45, spline.
Detailed description of the invention
Below in conjunction with the accompanying drawings detailed description of the invention of the present utility model is described in further detail.
In conjunction with Fig. 1,2 explanation present embodiments.As illustrated in fig. 1 and 2, a kind of inspection robot for high-voltage transmission lines, including three
Moving obstacle-crossing arm mechanism, each moving obstacle-crossing arm mechanism all includes arm body 8, drives the flexible fortune of arm body about 8
Dynamic telescoping drive mechanism, be installed on arm body 8 top can the palm mechanism 4 of folding.This robot also includes miniature taking the photograph
As device 14, sensor stand 3, be arranged on sensor stand 3 for sensing whether have the sensor 2 of obstacle, battery 9,
GPS system, casing 1 for placing battery 9 and GPS system.Preferably, sensor stand 3 is set to two groups, respectively
Be arranged on position before and after crusing robot, each sensor stand 3 be respectively provided with sensor 2, facilitate cognitive disorders thing away from
From, thus realize crossing obstacle automatically.Casing 1 includes upper and lower box plate, and upper and lower box plate is connected by screw rod 16, battery 9
It is arranged in casing 1 by battery case 10.
Telescoping drive mechanism includes the first leading screw 13, the first driving motor 17 driving the first leading screw 13 rotation, is installed on first
The first screw 12 on leading screw 13, arm body 8 is connected by flange 11 is fixing with the first screw 12.First drives motor
17 drive the first leading screws 13 to rotate, and drive the first screw 12 to move up and down, thus drive arm body 8 realization that moves up and down to stretch
Contracting action.First drives motor 17 to be fixed on below the lower box plate of casing 1, is provided with through hole for driving electricity with first in casing 1
The first leading screw 13 that machine connects passes, and arm body 8 is arranged on above casing 1.First drives motor 17 by decelerator 15
It is connected with the first leading screw 13.The first preferred ball-screw of leading screw 13.
Palm mechanism 4 includes the first palm 41 and the second palm 42 being oppositely arranged being controlled folding by open-and-close mechanism.First-hand
The palm 41 is provided with the first row travelling wheel 43, and the second palm 42 is provided with the second road wheel 44 and drives the second road wheel 44 to rotate
Traction drive motor 5, the second road wheel 44 is provided with spline 45, and the first row travelling wheel 43 is provided with for joining with this spline 45
The spline opening (not indicating in figure) closed.Palm mechanism 4 also include brake gear 18, brake gear 18 include brake leading screw,
Brake drives motor, brake block, and brake block for carrying out the brake contacting realization to walking process with the first row travelling wheel 43.
Open-and-close mechanism include the second leading screw (not indicating in figure), drive the second screw turns second driving motor (figure does not indicates),
The second screw (not indicating in figure) being fixed on the second leading screw, two connecting plates 19 being fixed on the second screw, solid respectively
Be scheduled on the first palm 41 with on the second palm 42 and respectively with two pins 20 that two connecting plates 19 are slidably connected, relative
The two vertically disposed slide rails of leading screw 6, connecting plate 19 has the guide groove 21 being obliquely installed, and pin 20 is located in this guide groove 21
And slide along guide groove 21, the first palm 41 and the second palm 42 are installed on slide rail 6 and move along slide rail 6.Connecting plate 19
It is preferably triangular plate.Palm mechanism 4 is additionally provided with the guide 7 guided for the second leading screw, and the both sides of guide 7 are provided with and relatively set
The opening 22 put, opening 22 is for guiding the second screw, and slide rail 6 is fixed on guide 7.
In the present embodiment, the folding of palm is driven by screw mechanism, and screw mechanism uses stable leading screw, screw transmission.
As in figure 2 it is shown, second drives driven by motor the second screw turns, the second leading screw drives the second screw to put down up and down by screw-driven
Dynamic, connecting plate 19 links together with the second screw, and under the second screw drives, drive connecting plate 19 is with moving up and down, and two
Individual palm is linked together by pin 20 with connecting plate 19, and the pin 20 guide groove 21 being obliquely installed along connecting plate moves,
Moved up and down by connecting plate 19 and be transformed in the horizontal movement of two palms, to realize palm folding.Slide rail 6 is in whole process
In remain stationary as, pin 20 slides in the guide groove 21 of connecting plate 19, and connecting plate 19 is given by pin 20 in sliding process
The power of first palm 42 1 vertical guide slot 21 of the 41, second palm, this power is both vertically and horizontally being respectively arranged with one point
Power, its horizontal component drives two palms to carry out open and close movement, thus realizes designing requirement.
Certainly, described above is not to restriction of the present utility model, and this utility model is also not limited to the example above, this skill
Change that the technical staff in art field is made in essential scope of the present utility model, retrofit, add or replace, also should belong to
Protection domain of the present utility model.
Claims (10)
1. an inspection robot for high-voltage transmission lines, including three moving obstacle-crossing arm mechanisms, moving obstacle-crossing arm mechanism includes hands
Arm body, drive the upper and lower stretching motion of arm body telescoping drive mechanism, be installed on arm body upper part can the palm of folding
Mechanism, described palm mechanism includes the first palm being oppositely arranged and the second palm being controlled folding by open-and-close mechanism, and its feature exists
In: described open-and-close mechanism includes the second leading screw, the second driving motor driving the second screw turns, is fixed on the second leading screw
Second screw, two connecting plates being fixed on the second screw, it is separately fixed at the first palm and second-hand's palm and respectively with two
Two pins that individual connecting plate is slidably connected, the relative second vertically disposed slide rail of leading screw, described connecting plate has and is obliquely installed
Guide groove, described pin is located in this guide groove and slides along guide groove, and described first palm and the second palm are installed on slide rail also
Move along slide rail.
Inspection robot for high-voltage transmission lines the most according to claim 1, it is characterised in that: described telescoping drive mechanism includes
First leading screw, drive the first driving motor of the first screw turns, the first screw of being installed on the first leading screw, described arm this
Body and the fixing connection of the first screw.
Inspection robot for high-voltage transmission lines the most according to claim 1, it is characterised in that: described connecting plate is triangular plate.
Inspection robot for high-voltage transmission lines the most according to claim 1, it is characterised in that: described palm mechanism is additionally provided with use
In the guide that the second leading screw guides, the both sides of described guide are provided with the opening being oppositely arranged, and described opening is for entering the second screw
Row guides.
Inspection robot for high-voltage transmission lines the most according to claim 4, it is characterised in that: described slide rail is fixed on guide.
Inspection robot for high-voltage transmission lines the most according to claim 1, it is characterised in that: described first-hand palm is provided with
One road wheel, described second-hand's palm is provided with the second road wheel and drives the traction drive motor of the second road wheel rotation, and second
Road wheel is provided with spline, and the first row travelling wheel is provided with for the spline opening with this spline fitted.
Inspection robot for high-voltage transmission lines the most according to claim 1, it is characterised in that: described palm mechanism also includes stopping
Car device, brake gear includes brake leading screw, brake driving motor, brake block.
Inspection robot for high-voltage transmission lines the most according to claim 1, it is characterised in that: also include battery, GPS system,
For placing battery and the casing of GPS system.
Inspection robot for high-voltage transmission lines the most according to claim 1, it is characterised in that: also include micro-camera device.
Inspection robot for high-voltage transmission lines the most according to claim 1, it is characterised in that: also include sensor stand and
The sensor whether having obstacle for sensing being arranged on sensor stand.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620532000.0U CN205829024U (en) | 2016-06-02 | 2016-06-02 | Inspection robot for high-voltage transmission lines |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620532000.0U CN205829024U (en) | 2016-06-02 | 2016-06-02 | Inspection robot for high-voltage transmission lines |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205829024U true CN205829024U (en) | 2016-12-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620532000.0U Expired - Fee Related CN205829024U (en) | 2016-06-02 | 2016-06-02 | Inspection robot for high-voltage transmission lines |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205829024U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106655006A (en) * | 2017-03-10 | 2017-05-10 | 华北电力大学（保定） | Transmission line inspection robot obstacle-crossing device |
| CN106786170A (en) * | 2017-03-09 | 2017-05-31 | 华北电力大学（保定） | Transmission line polling robot |
| CN108512119A (en) * | 2018-05-17 | 2018-09-07 | 安徽工业大学 | A kind of HV Transmission Line Routing Inspection robot |
| CN110034518A (en) * | 2019-04-26 | 2019-07-19 | 青岛大学 | A kind of active obstacle formula power transmission line patrol car and working method |
-
2016
- 2016-06-02 CN CN201620532000.0U patent/CN205829024U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106786170A (en) * | 2017-03-09 | 2017-05-31 | 华北电力大学（保定） | Transmission line polling robot |
| CN106786170B (en) * | 2017-03-09 | 2018-05-18 | 华北电力大学（保定） | Transmission line polling robot |
| CN106655006A (en) * | 2017-03-10 | 2017-05-10 | 华北电力大学（保定） | Transmission line inspection robot obstacle-crossing device |
| CN106655006B (en) * | 2017-03-10 | 2018-05-18 | 华北电力大学（保定） | Transmission line polling robot obstacle-surmounting travelling gear |
| CN108512119A (en) * | 2018-05-17 | 2018-09-07 | 安徽工业大学 | A kind of HV Transmission Line Routing Inspection robot |
| CN110034518A (en) * | 2019-04-26 | 2019-07-19 | 青岛大学 | A kind of active obstacle formula power transmission line patrol car and working method |
| CN110034518B (en) * | 2019-04-26 | 2021-01-22 | 青岛大学 | Autonomous obstacle-crossing type power transmission line inspection vehicle and working method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161221 Termination date: 20170602 |