CN206417094U - A kind of walking mechanism for transmission line polling robot - Google Patents

A kind of walking mechanism for transmission line polling robot Download PDF

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Publication number
CN206417094U
CN206417094U CN201720051694.0U CN201720051694U CN206417094U CN 206417094 U CN206417094 U CN 206417094U CN 201720051694 U CN201720051694 U CN 201720051694U CN 206417094 U CN206417094 U CN 206417094U
Authority
CN
China
Prior art keywords
road wheel
transmission line
walking
wheel
flange
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201720051694.0U
Other languages
Chinese (zh)
Inventor
朱爱斌
刘洋洋
罗文成
邹超
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Xian Jiaotong University
Original Assignee
Xian Jiaotong University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Xian Jiaotong University filed Critical Xian Jiaotong University
Priority to CN201720051694.0U priority Critical patent/CN206417094U/en
Application granted granted Critical
Publication of CN206417094U publication Critical patent/CN206417094U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses a kind of walking mechanism for transmission line polling robot, including the body mounting bracket at least three road wheels and road wheel, cable clamping interface is recessed in the middle of the wheel face of road wheel, contrate is provided with outer rim on the inside of road wheel, the medial surface of road wheel is connected with motor, the output shaft of motor is compressed with the hollow shaft of road wheel by jackscrew to be connected, the two ends of hollow shaft are arranged deep groove ball bearing, socket inner flange outside deep groove ball bearing, the outer end of inner flange is provided with end cap, spring shim is provided with above inner flange, spring damper is vertically arranged with spring shim, the body mounting bracket is arranged on spring damper, the shell of motor is fixed on the end cap on the inside of road wheel.The utility model compact conformation, can smoothly walk on transmission line of electricity, be rapidly completed inspection work, and can easily cross the obstacles such as conductor spacer and stockbridge damper.

Description

A kind of walking mechanism for transmission line polling robot
Technical field
The utility model is related to a kind of automation equipment, more particularly to a kind of walking for transmission line polling robot Mechanism.
Background technology
As the energy pillar of the support national economic development, power network plays irreplaceable work in current social development With it is related to the stable development of entire society.Ultra-high-tension power transmission line safety and economic operation is the strong electricity of China's economic construction Try hard to keep card.Transmission line of electricity breaks down, and then causes power system trunk interconnector to trip greatly, causes large area blackout. Prevention work for power system problem hidden danger is very important, it is necessary to discovering device defect and ask in time along thread environment Topic.
Existing transmission line polling robot is mostly excessively heavy, and on the one hand bulky body influences its routing inspection efficiency, On the other hand the use time of robot electric supply installation is greatly shortened;And the road wheel design of existing crusing robot, obstacle detouring It is limited in one's ability, especially in spanning spacers, stockbridge damper.
Utility model content
The technical problems to be solved in the utility model is to provide a kind of walking mechanism for transmission line polling robot, Compact conformation, smoothly can walk on transmission line of electricity, be rapidly completed inspection work, and can easily cross conductor spacer and anti- The obstacles such as shake hammer.
To achieve these goals, technical solution adopted in the utility model is:For transmission line polling robot Walking mechanism, including at least three road wheels and the body mounting bracket that is erected on road wheel, road wheel is generally aligned in the same plane It is interior and it is incomplete on the same line, be recessed in the outer rim on the inside of cable clamping interface, road wheel and be provided with the middle of the wheel face of road wheel Contrate, the medial surface of road wheel is connected with motor, and the output shaft of motor and the hollow shaft of road wheel pass through jackscrew pressure Tight to be connected, the two ends of hollow shaft are arranged socket inner flange outside deep groove ball bearing, deep groove ball bearing, and the outer end of inner flange is set It is equipped with above end cap, inner flange and is provided with spring shim, spring damper, the body is vertically arranged with spring shim Mounting bracket is arranged on spring damper, and the shell of motor is fixed on the end cap on the inside of road wheel.
As a kind of optimal technical scheme of the present utility model, the inside diameter of the road wheel is less than outside diameter.
As a kind of optimal technical scheme of the present utility model, the bottom land of the cable clamping interface is circular arc.
As a kind of optimal technical scheme of the present utility model, the road wheel is four, and road wheel uses polyurethane material Material is made.
It is using the beneficial effect produced by above-mentioned technical proposal:The utility model compact conformation, can smoothly exist Walked on transmission line of electricity, be rapidly completed inspection work, and by the contrate and spring damper energy in the outer rim on the inside of road wheel It is enough easily to cross the obstacles such as conductor spacer and stockbridge damper.
Brief description of the drawings
The utility model is described in further detail with reference to the accompanying drawings and detailed description.
Fig. 1 is dimensional structure diagram of the present utility model.
Fig. 2 is the sectional view of the utility model road wheel.
In figure:1st, road wheel 2, body mounting bracket 3, cable clamping interface 4, contrate 5, motor 6, output shaft 7, hollow Axle 8, jackscrew 9, deep groove ball bearing 10, inner flange 11, end cap 12, spring shim 13, spring damper.
Embodiment
Referring to attached Fig. 1 and 2, the structure of one embodiment of the utility model includes the He of at least three road wheel 1 Be erected at the body mounting bracket 2 on road wheel 1, in road wheel 1 is generally aligned in the same plane and it is incomplete on the same line, road wheel 1 Wheel face in the middle of be recessed cable clamping interface 3, be provided with contrate 4 in the outer rim of the inner side of road wheel 1, the medial surface axle of road wheel 1 connects There is motor 5, the output shaft 6 of motor 5 is compressed with the hollow shaft 7 of road wheel 1 by jackscrew 8 to be connected, the two of hollow shaft 7 End is arranged deep groove ball bearing 9, and the outside of deep groove ball bearing 9 socket inner flange 10, the outer end of inner flange 10 is provided with end cap 11, The top of inner flange 10, which is provided with spring shim 12, spring shim 12, is vertically arranged with spring damper 13, the body Mounting bracket 2 is arranged on spring damper 13, and the shell of motor 5 is fixed on the end cap 11 of the inner side of road wheel 1.
The inside diameter of the road wheel 1 is less than outside diameter.When running into the obstacles such as conductor spacer or stockbridge damper, walking The contrate 4 that wheel 1 is relied primarily on internal periphery carrys out obstacle detouring, and the special tectonic that the inside diameter of road wheel 1 is less than outside diameter can Reduce the difference in height at the top of the inner side lower edge of road wheel 1 and barrier, so as to reduce obstacle detouring difficulty.
The bottom land of the cable clamping interface 3 is circular arc.The cable clamping interface 3 of circular arc can with cylinder transmission line structure it is mutual Mend, the contact surface of increase road wheel 1 and power transmission line increases the stability of walking.
The road wheel 1 is four, and road wheel 1 is made of polyurethane material.Ensure the friction of road wheel 1 and circuit Power, it is to avoid skid.
Operation principle of the present utility model is:The cable clamping interface 3 of road wheel 1 blocks power transmission line, the driving road wheel of motor 5 1 rolls along power transmission line, and road wheel 1 drives body mounting bracket 2 to move, and enables crusing robot on body mounting bracket 2 along defeated Electric line carries out inspection.When running into the obstacles such as conductor spacer or stockbridge damper, by stirring for contrate 4, road wheel 1 can be light Surmount obstacles, can quickly be raised in the presence of spring damper 13, during 1 obstacle detouring of road wheel and resilience, not only further dropped Low obstacle detouring difficulty, and the amplitude of jolting of body mounting bracket 2 is reduced, make the walking of crusing robot more steady.
End cap 11 plays a part of seal deep groove ball bearing 9, prevents dust and other impurities from influenceing the rotation of deep groove ball bearing 9.
Foregoing description only proposes as the enforceable technical scheme of the utility model, not as to its technical scheme in itself Single restrictive condition.

Claims (4)

1. a kind of walking mechanism for transmission line polling robot, it is characterised in that:Including at least three road wheels and frame Be located at the body mounting bracket on road wheel, in road wheel is generally aligned in the same plane and it is incomplete on the same line, the wheel face of road wheel Centre, which is recessed in the outer rim on the inside of cable clamping interface, road wheel, is provided with contrate, and the medial surface of road wheel is connected with motor, The output shaft of motor is compressed with the hollow shaft of road wheel by jackscrew to be connected, and the two ends of hollow shaft are arranged deep groove ball bearing, Socket inner flange outside deep groove ball bearing, the outer end of inner flange, which is provided with above end cap, inner flange, is provided with spring Spring damper is vertically arranged with pad, spring shim, the body mounting bracket is arranged on spring damper, motor Shell be fixed on the end cap on the inside of road wheel.
2. the walking mechanism according to claim 1 for transmission line polling robot, it is characterised in that:The walking The inside diameter of wheel is less than outside diameter.
3. the walking mechanism according to claim 1 for transmission line polling robot, it is characterised in that:The card line The bottom land of groove is circular arc.
4. the walking mechanism for transmission line polling robot according to claim any one of 1-3, it is characterised in that: The road wheel is four, and road wheel is made of polyurethane material.
CN201720051694.0U 2017-01-17 2017-01-17 A kind of walking mechanism for transmission line polling robot Expired - Fee Related CN206417094U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201720051694.0U CN206417094U (en) 2017-01-17 2017-01-17 A kind of walking mechanism for transmission line polling robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201720051694.0U CN206417094U (en) 2017-01-17 2017-01-17 A kind of walking mechanism for transmission line polling robot

Publications (1)

Publication Number Publication Date
CN206417094U true CN206417094U (en) 2017-08-18

Family

ID=59572056

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201720051694.0U Expired - Fee Related CN206417094U (en) 2017-01-17 2017-01-17 A kind of walking mechanism for transmission line polling robot

Country Status (1)

Country Link
CN (1) CN206417094U (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109533367A (en) * 2018-11-19 2019-03-29 西安交通大学 Skid and the unmanned plane of the device is installed additional on a kind of high voltage transmission line 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

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109533367A (en) * 2018-11-19 2019-03-29 西安交通大学 Skid and the unmanned plane of the device is installed additional on a kind of high voltage transmission line 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

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GR01 Patent grant
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20170818

Termination date: 20180117

CF01 Termination of patent right due to non-payment of annual fee