CN206490364U - Mechanical arm applied to transmission line polling robot obstacle-surmounting travelling gear - Google Patents
Mechanical arm applied to transmission line polling robot obstacle-surmounting travelling gear Download PDFInfo
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- CN206490364U CN206490364U CN201720227752.0U CN201720227752U CN206490364U CN 206490364 U CN206490364 U CN 206490364U CN 201720227752 U CN201720227752 U CN 201720227752U CN 206490364 U CN206490364 U CN 206490364U
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Abstract
The utility model discloses a kind of mechanical arm applied to transmission line polling robot obstacle-surmounting travelling gear, including the mechanical arm support being fixedly installed on movable machine frame, the driving walking mechanism for realizing hoofing part, the skidding mechanism of control parking are provided with mechanical arm support, the slide block mechanism of falling ear come off and the palm open-and-close mechanism for realizing obstacle detouring is prevented；The bottom of palm open-and-close mechanism is fixedly installed on mechanical arm support, driving walking mechanism is arranged on palm open-and-close mechanism top, skidding mechanism is arranged in the middle part of the palm open-and-close mechanism below driving walking mechanism, and the slide block mechanism of falling ear sets up separately in palm open-and-close mechanism both sides.The utility model is applied in transmission line polling robot obstacle-surmounting travelling gear, the Daily Round Check of transmission line of electricity can not only be realized, but also obstacle detouring inspection can be realized, precision and the degree of accuracy of polling transmission line are improved, is that the safe operation of transmission line of electricity provides safeguard.
Description
Technical field
The utility model is related to the inspection technical field of transmission line of electricity in power system, particularly one kind can be along power transmission line
Walk and complete the device of inspection in road.
Background technology
It is the major way of long range transmission ＆ distribution electric power using high pressure and super-pressure overhead power transmission line in power system.But
Because power line and shaft tower annex are chronically exposed to field, for a long time by lasting mechanical tension, electric flashover, material aging
Influence and produce stranded, abrasion, corrosion equivalent damage, such as repair and change not in time, originally small breakage and defect may expand
Greatly, major accident is ultimately resulted in, the power failure of large area and huge economic loss is caused.Therefore, Utilities Electric Co. needs periodically right
Line equipment inspection, to find earlier damage and defect in time and be assessed, then according to the order of importance and emergency of defect, with reasonable
Expense and correct priority, arrange necessary maintenance and reparation.Therefore, HV Transmission Line Routing Inspection is to ensureing power transmission line
Road safe and stable operation tool is of great significance.
At present, mainly there are following three kinds of modes to polling transmission line：1）Artificial ocular estimate：Using naked eyes or telescope pair
Local power line is observed, and manual inspection is still domestic topmost method for inspecting at present；Although with stronger spirit
The advantages of activity and adaptability, but because transmission line of electricity is distributed, multi-point and wide-ranging, geographical conditions are complicated, and inspection workman needs to cross over a hill
More ridge, inspection of wading across a river.This method labor intensity is big, and operating efficiency and detection accuracy are low, poor reliability.2）Aerophotographic method：
It is that control helicopter flies along transmission line of electricity, staff is abnormal with the naked eye or along the observation of airborne picture pick-up device and record
The situation of point；This method improves detection efficient and precision although apart from close, but power line is from observer or camera-shooting and recording device
The visual field in quickly through adding technical difficulty, operating cost is higher.
The content of the invention
The utility model technical issues that need to address are to provide a kind of applied to transmission line polling robot obstacle detouring row
The mechanical arm of walking apparatus, can not only realize the Daily Round Check of transmission line of electricity, but also can realize obstacle detouring inspection, improve defeated
The precision of electric line inspection and the degree of accuracy, so as to be provided safeguard for the safe operation of transmission line of electricity.
In order to solve the above technical problems, technical solution adopted in the utility model is as follows.
Applied to the mechanical arm of transmission line polling robot obstacle-surmounting travelling gear, including it is fixedly installed on movable machine frame
On mechanical arm support, the driving walking mechanism of realizing hoofing part, control parking are provided with mechanical arm support and is stopped
Car arrestment mechanism, prevent the slide block mechanism of falling ear come off and the palm open-and-close mechanism for realizing obstacle detouring；The bottom of palm open-and-close mechanism
End is fixedly installed on mechanical arm support, and driving walking mechanism is arranged on palm open-and-close mechanism top, and skidding mechanism is set
Put in the middle part of the palm open-and-close mechanism below driving walking mechanism, the slide block mechanism of falling ear sets up separately in palm open-and-close mechanism both sides.
The above-mentioned mechanical arm applied to transmission line polling robot obstacle-surmounting travelling gear, the palm open-and-close mechanism bag
Include the first servomotor, B yielding couplings, sliding block, drive lead screw, left side palm and right side palm, first servomotor
It is vertically set on mechanical arm support, the bottom of drive lead screw passes through B yielding couplings and the output shaft of the first servomotor
Connection, sliding block is arranged on drive lead screw, and left side palm and right side palm are symmetricly set on the left and right ends of sliding block upper backup pad.
The above-mentioned mechanical arm applied to transmission line polling robot obstacle-surmounting travelling gear, the slide block mechanism of the falling ear bag
Include guide rod and the ear that falls being slidably arranged on guide rod；The guide rod is identical including being symmetricly set on palm open-and-close mechanism structure on two sides
Left side guide rod and right side guide rod, guide rod include being vertically fixed on main part on mechanical arm support and main part top, to
The outer kink for bending and being connected with main part arc transition, the outer end of kink and main part are perpendicular；The ear includes
Fall ear and right ear on a structure identical left side, and one end of ear is slided with guide rod and is equipped with, the other end of ear and left side palm and the right side
Side palm is fixedly connected.
The above-mentioned mechanical arm applied to transmission line polling robot obstacle-surmounting travelling gear, the driving walking mechanism bag
Include direct-drive motor, A yielding couplings, power transmission shaft and the wheel of left driving half being oppositely arranged and right driving half is taken turns, direct current drives
Dynamic motor is fixedly connected through A yielding couplings with one end of power transmission shaft, and the left wheel of driving half and the wheel of right driving half are arranged on biography
On moving axis；The top of the left side palm and right side palm is arranged on the power transmission shaft of the left wheel of driving half and the wheel of right driving half, left
Side palm and right side palm are connected with power transmission shaft by bearing.
The above-mentioned mechanical arm applied to transmission line polling robot obstacle-surmounting travelling gear, skidding mechanism bag
Electromagnetic brake, contact roller and spring mechanism are included, electromagnetic brake is arranged on transmission shaft end, and contact roller, which is located at left driving half, takes turns
With the lower section of the right wheel of driving half, spring mechanism is arranged on below contact roller by support, and contact roller is in the presence of spring mechanism
Transmission line of electricity is pressed on left drive between half wheel and the wheel of right driving half.
As a result of above technical scheme, technological progress acquired by the utility model is as follows.
The utility model is applied in transmission line polling robot obstacle-surmounting travelling gear, for entering to ultra-high-tension power transmission line
Row Daily Round Check, can have the advantages that routing inspection cost is low, precision is high and safe and reliable, no with Close approach transmission line of electricity
Can only realize the Daily Round Check of transmission line of electricity, but also can realize obstacle detouring inspection, improve polling transmission line precision and
The degree of accuracy, so as to be provided safeguard for the safe operation of transmission line of electricity.
The utility model packaging driving walking mechanism, the slide block mechanism of falling ear, palm open-and-close mechanism and skidding mechanism,
Both obstacle detouring walking, skidding Functional Requirement had been met, the compact of equipment is in turn ensure that.When breaking down or run into severe day
During gas, the slide block mechanism of falling ear ensure that the reliable self-locking of robot, in order to avoid dropped from transmission line of electricity；Palm open-and-close mechanism is to be based on
The slide block mechanism of falling ear is realized, and the slide block mechanism of falling ear is used to ensure that the track of palm open and close movement to be accurate, stable movement, centering
Property is good, and the margin of safety of mechanical arm is larger；Skidding mechanism ensures that robot power-off rear drive sprocket will not autorotation, two
The wheel centering of driving half is good, and skidding mechanism greatly strengthen the climbing capacity of robot.
The utility model follow-up function exploitation transformed space is very big, and power transmission line can be realized if carrying defectoscope on arm
The stranded flaw detection on road, transforms the palm structure of three arms, it is possible to achieve the function such as deicing, online fault restoration.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is side view of the present utility model；
Fig. 3 is the stereogram of mechanical arm described in the utility model.
Wherein：11. drive walking mechanism, 111. direct-drive motors, 112.A yielding couplings, 113. power transmission shafts, 114.
Right driving half is taken turns, and 115. left drivings half are taken turns；12. skidding mechanism, 121. electromagnetic brakes, 122. contact rollers, 123. strokes
Switch, 124. range sensors, 125. spring mechanisms, 126. pressure sensors；13. the slide block mechanism of falling ear, 131. left side guide rods,
132. fall ear on a left side, 133. right side guide rods, 134. right ears；14. palm open-and-close mechanism, 141. first servomotors, 142.B elasticity
Shaft coupling, 143. sliding blocks, 144. drive lead screws, 145. left side palms, 146. right side palms；15. mechanical arm support.
Embodiment
The utility model is further elaborated below in conjunction with specific embodiment.
A kind of mechanical arm applied to transmission line polling robot obstacle-surmounting travelling gear, for completing walking and obstacle detouring
Operation, as shown in Figure 1 to Figure 3, including mechanical arm support 15 is provided with driving vehicle with walking machine on mechanical arm support 15 to its structure
Structure 11, skidding mechanism 12, the slide block mechanism of falling ear 13 and palm open-and-close mechanism 14.
Mechanical arm support 15 is used to driving walking mechanism 11, skidding mechanism 12, the slide block mechanism of falling ear is fixedly mounted
13 and palm open-and-close mechanism 14；Wherein, the bottom of palm open-and-close mechanism 14 is fixedly installed on mechanical arm support 15, driving
Walking mechanism 11 is arranged on the top of palm open-and-close mechanism 14, and skidding mechanism 12 is arranged on the hand of the lower section of driving walking mechanism 11
The middle part of open-and-close mechanism 14 is slapped, the slide block mechanism of falling ear 13 sets up separately in the both sides of palm open-and-close mechanism 14.The structure realizes whole device
Be accurately positioned, and meet the design concept of compact conformation.
Palm open-and-close mechanism 14 provides the motion opened and closed up of mechanical arm based on the slide block mechanism of falling ear, realizes obstacle detouring
Function.Palm open-and-close mechanism 14 includes the first servomotor 141, B yielding couplings 142, sliding block 143, drive lead screw 144, a left side
Side palm 145 and right side palm 146；Wherein, the first servomotor 141 is vertically set on mechanical arm support 15, driving wire
The bottom of bar 144 is connected by B yielding couplings 142 with the output shaft of the first servomotor 141, and sliding block 143 is arranged on transmission
On screw mandrel 144, left side palm 145 and right side palm 146 are symmetricly set on the left and right ends of the upper backup pad of sliding block 143.Palm is opened
When closing mechanism work, the first servomotor drives drive lead screw to rotate by B yielding couplings, and drive lead screw promotes two palm edges
The both sides slide block mechanism of falling ear motion, realizes the opening and closing movement of palm.
The slide block mechanism of falling ear 13 provides accurate movement locus for palm open-and-close mechanism, it is ensured that the accuracy of closure, prevents
Phenomenon is fallen off when obstacle-surmounting travelling gear is along polling transmission line.The slide block mechanism of falling ear 13 includes guide rod and is slidably arranged in lead
Ear on bar；Wherein, guide rod includes being symmetricly set on guide rod 131 and the right side on the left of the structure on two sides identical of palm open-and-close mechanism 14
Side guide rod 133, guide rod include being vertically fixed on main part on mechanical arm support 15 and main part top, outward bending and with
The kink of main part arc transition connection, the outer end of kink and main part are perpendicular；Ear falls including a structure identical left side
Ear 132 and right ear 134, one end of ear and guide rod slip are equipped, the other end of ear and left side palm 145 and right side palm
146 are fixedly connected.Both sides are fallen ear and slided respectively along both sides guide rod, when palm open-and-close mechanism is opened, and the slide block mechanism of falling ear ensures
Its movement locus is accurately and reliably；After palm open-and-close mechanism closes up, the slide block mechanism of falling ear can ensure that obstacle-surmounting travelling gear is not sent out
Raw falling accident.
Walking mechanism 11 is driven to be used to realize the walking function on transmission line of electricity.Walking mechanism 11 is driven to include DC driven
Motor 111, A yielding couplings 112, power transmission shaft 113 and the wheel 115 of left driving half being oppositely arranged and the wheel 114 of right driving half, directly
Stream motor is fixedly connected through A yielding couplings with one end of power transmission shaft, and the left wheel of driving half and the wheel of right driving half are set
On power transmission shaft；The top of the left side palm 145 and right side palm 146 is arranged on the left wheel 115 of driving half and right driving half is taken turns
On 114 power transmission shaft, left side palm 145 and right side palm 146 are connected with power transmission shaft by bearing.Drive walking mechanism work
When, power is provided by direct-drive motor, drives the left driving being arranged on power transmission shaft half to take turns by A yielding couplings and is driven with right
Dynamic half wheel realizes driving walking.
Skidding mechanism 12 provides braking friction, it is ensured that robot being capable of timely, accurate Brake stop.Brake system
Motivation structure 12 includes electromagnetic brake 121, contact roller 122 and spring mechanism 125, and electromagnetic brake 121 is arranged on power transmission shaft end
End, contact roller 122 is located at the lower section of the left wheel 115 of driving half and the wheel 114 of right driving half, and spring mechanism 125 is arranged on by support
Below contact roller, transmission line of electricity is pressed on the left wheel 115 of driving half and right drive by contact roller 122 in the presence of spring mechanism 125
Between dynamic half wheel 114.In the utility model, travel switch 123 is additionally provided with the mechanical arm support for assembling contact roller, is installed
The cantilever tip of spring mechanism is provided with range sensor 124, the position for detecting travel switch；The branch of spring mechanism is installed
Pressure sensor 126 is provided with frame bottom face.Wherein, spring mechanism function has two：One is driving walking mechanism work shape
During state, spring mechanism pressure is combined into driving wheel with the matching of crusing robot self gravitation and is provided with enough driving frictional force；Its
Two be driving walking mechanism stopped status when, spring mechanism be driving wheel produce braking friction, ensure obstacle-surmounting travelling gear and
When, accurate stopping.
When skidding mechanism works, control realizes electromagnetic brake with direct-drive motor while obtaining electric and dead electricity.Directly
When stream motor obtains electric work, electromagnetic brake does not produce braking friction in relaxation state, once direct-drive motor
Power-off shut down, electromagnetic brake can at once in holding state produce braking friction, along with spring mechanism thrust with
The self-locking performance of direct-drive motor coordinates, can be promptly and accurately realize skidding；Secondly, shape is opened in palm open-and-close mechanism
Under state, electromagnetic brake ensures that the wheel of two driving half does not occur voluntarily to rotate with motor self-locking property, and two halves wheel centering is accurate
Really；The braking friction that last spring mechanism is acted on contact roller is also to ensure the key accurately braked.
The utility model is applied in transmission line polling robot obstacle-surmounting travelling gear, can make obstacle-surmounting travelling gear not
But can be on transmission line of electricity with certain speed even running, and the barrier on the span transmission line that can flexibly stablize
（Including stockbridge damper, suspension clamp, jumper clamp shaft tower etc.）, and then complete polling transmission line using airborne equipment；Contrast people
Work routine inspection mode, efficiency of the present utility model is greatly improved, and reduces labour cost, and whole equipment is simple in construction, be easy to
Operation, convenient processing and manufacture, manufacturing cost are low.
Claims (5)
1. the mechanical arm applied to transmission line polling robot obstacle-surmounting travelling gear, it is characterised in that：Including being fixedly installed
Mechanical arm support on movable machine frame（15）, mechanical arm support（15）On be provided with realize hoofing part driving walking
Mechanism（11）, control parking skidding mechanism（12）, prevent the slide block mechanism of falling ear that comes off（13）And realize obstacle detouring
Palm open-and-close mechanism（14）；Palm open-and-close mechanism（14）Bottom be fixedly installed on mechanical arm support（15）On, driving walking
Mechanism（11）It is arranged on palm open-and-close mechanism（14）Top, skidding mechanism（12）It is arranged on driving walking mechanism（11）Lower section
Palm open-and-close mechanism（14）Middle part, the slide block mechanism of falling ear（13）Set up separately in palm open-and-close mechanism（14）Both sides.
2. the mechanical arm according to claim 1 applied to transmission line polling robot obstacle-surmounting travelling gear, it is special
Levy and be：The palm open-and-close mechanism（14）Including the first servomotor（141）, B yielding couplings（142）, sliding block（143）、
Drive lead screw（144）, left side palm（145）With right side palm（146）, first servomotor（141）It is vertically set on machine
Tool arm support（15）On, drive lead screw（144）Bottom pass through B yielding couplings（142）With the first servomotor（141）'s
Output shaft is connected, sliding block（143）It is arranged on drive lead screw（144）On, left side palm（145）With right side palm（146）Symmetrically set
Put in sliding block（143）The left and right ends of upper backup pad.
3. the mechanical arm according to claim 2 applied to transmission line polling robot obstacle-surmounting travelling gear, it is special
Levy and be：The slide block mechanism of falling ear（13）Including guide rod and the ear that falls being slidably arranged on guide rod；The guide rod includes symmetrical
It is arranged on palm open-and-close mechanism（14）Guide rod on the left of structure on two sides identical（131）With right side guide rod（133）, guide rod includes vertical
It is fixed on mechanical arm support（15）On main part and main part top, outward bending and be connected with main part arc transition
Kink, the outer end of kink and main part are perpendicular；The ear includes a structure identical left side ear（132）With right ear
（134）, one end of ear and guide rod slip are equipped, the other end of ear and left side palm（145）With right side palm（146）It is fixed
Connection.
4. the mechanical arm according to claim 2 applied to transmission line polling robot obstacle-surmounting travelling gear, it is special
Levy and be：The driving walking mechanism（11）Including direct-drive motor（111）, A yielding couplings（112）, power transmission shaft（113）
And the left driving being oppositely arranged half is taken turns（115）Taken turns with right driving half（114）, direct-drive motor is through A yielding couplings with passing
One end of moving axis is fixedly connected, and the left wheel of driving half and the wheel of right driving half are arranged on power transmission shaft；The left side palm（145）
With right side palm（146）Top be arranged on left driving half and take turns（115）Taken turns with right driving half（114）Power transmission shaft on, left side hand
The palm（145）With right side palm（146）It is connected with power transmission shaft by bearing.
5. the mechanical arm according to claim 4 applied to transmission line polling robot obstacle-surmounting travelling gear, it is special
Levy and be：The skidding mechanism（12）Including electromagnetic brake（121）, contact roller（122）And spring mechanism（125）, electricity
Magnetic brake（121）It is arranged on transmission shaft end, contact roller（122）Taken turns positioned at left driving half（115）Taken turns with right driving half（114）
Lower section, spring mechanism（125）It is arranged on by support below contact roller, contact roller（122）In spring mechanism（125）Effect
It is lower that transmission line of electricity is pressed on the left wheel of driving half（115）Taken turns with right driving half（114）Between.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720227752.0U CN206490364U (en) | 2017-03-10 | 2017-03-10 | Mechanical arm applied to transmission line polling robot obstacle-surmounting travelling gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720227752.0U CN206490364U (en) | 2017-03-10 | 2017-03-10 | Mechanical arm applied to transmission line polling robot obstacle-surmounting travelling gear |
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| Publication Number | Publication Date |
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| CN206490364U true CN206490364U (en) | 2017-09-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720227752.0U Expired - Fee Related CN206490364U (en) | 2017-03-10 | 2017-03-10 | Mechanical arm applied to transmission line polling robot obstacle-surmounting travelling gear |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109217167A (en) * | 2017-07-04 | 2019-01-15 | 克诺有限公司 | The compound clamping device and cable crusing robot that cable crusing robot uses |
| CN110465919A (en) * | 2019-09-11 | 2019-11-19 | 天地（常州）自动化股份有限公司 | New type mining wire suspension type intelligent intrinsic safety type crusing robot |
| CN111431095A (en) * | 2020-04-27 | 2020-07-17 | 锡林郭勒电力建设有限责任公司 | Automatic installation device and control method for damping wire of overhead transmission line |
-
2017
- 2017-03-10 CN CN201720227752.0U patent/CN206490364U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109217167A (en) * | 2017-07-04 | 2019-01-15 | 克诺有限公司 | The compound clamping device and cable crusing robot that cable crusing robot uses |
| CN110465919A (en) * | 2019-09-11 | 2019-11-19 | 天地（常州）自动化股份有限公司 | New type mining wire suspension type intelligent intrinsic safety type crusing robot |
| CN111431095A (en) * | 2020-04-27 | 2020-07-17 | 锡林郭勒电力建设有限责任公司 | Automatic installation device and control method for damping wire of overhead transmission line |
| CN111431095B (en) * | 2020-04-27 | 2021-06-15 | 锡林郭勒电力建设有限责任公司 | Automatic installation device and control method for damping wire of overhead transmission line |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20170912 |