CN206894140U - A kind of walking mechanism and its inspection robot using wire as passage - Google Patents
A kind of walking mechanism and its inspection robot using wire as passage Download PDFInfo
- Publication number
- CN206894140U CN206894140U CN201720866774.1U CN201720866774U CN206894140U CN 206894140 U CN206894140 U CN 206894140U CN 201720866774 U CN201720866774 U CN 201720866774U CN 206894140 U CN206894140 U CN 206894140U
- Authority
- CN
- China
- Prior art keywords
- roller
- telescopic arm
- wire
- walking mechanism
- sliding block
- 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.)
- Active
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 21
- 238000007689 inspection Methods 0.000 title claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 230000000694 effects Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 abstract description 4
- 230000007547 defect Effects 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 238000009826 distribution Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000005674 electromagnetic induction Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000003292 diminished effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
It the utility model is related to a kind of walking mechanism using wire as passage, including the first roller, the second roller, the first telescopic arm, the second telescopic arm and fixed plate, first roller is arranged on the top of the first telescopic arm, second roller is arranged on the top of the second telescopic arm, holes for clamping is formed between first roller and the second roller, first telescopic arm and the second telescopic arm are movably connected in fixed plate, and fixed plate is provided with infrared ray sensor；The advantages of the utility model：Wire is clamped by the first roller and the second roller, and rotated by movable motor and drive the first roller or the second roller to rotate, then the automatically walk of the first roller and the second roller on wire is realized by transmission belt, relative to the method for artificial line walking, artificial workload and human cost greatly reduces, and substantially increases the efficiency of wire line walking, in addition, the utility model also provides a kind of inspection robot, including above-mentioned walking mechanism.
Description
Technical field
It the utility model is related to a kind of walking mechanism and its inspection robot using wire as passage.
Background technology
At present, walking operation is more important in Research Work of Power Transmission Line and is frequently necessary to the work carried out, and passes through line walking
The running situation of circuit can be understood in time, if line failure, can also be found by line walking defect particular location and
Defect situation, however, the important line often maked an inspection tour is needed for some, it is necessary to the number of line walking also accordingly increases, but with
Manpower is calculated, and a base shaft tower can only also be maked an inspection tour in by meeting one people when The distance is far and the mountain is high, and less efficient, patrol a circuit just
The time need to be taken days, such case forms lance extreme between the requirement of current power transmission circuit operation and operations staff's quantity
Shield.
Utility model content
The technical problems to be solved in the utility model is just to provide a kind of walking mechanism and its line walking using wire as passage
Robot, solve the problems, such as that existing walking operation efficiency is low.
In order to solve the above-mentioned technical problem, the utility model is achieved through the following technical solutions：It is a kind of using wire as
The walking mechanism of passage, including the first roller, the second roller, the first telescopic arm, the second telescopic arm and fixed plate, the first roller are set
The height for being used to control the first roller on the top of the first telescopic arm is put, the top that the second roller is arranged on the second telescopic arm is used for
The height of the second roller is controlled, the holes for clamping for clamping wire, the first telescopic arm and the are formed between the first roller and the second roller
Two telescopic arms, which are movably connected in, is used for the size for controlling holes for clamping in fixed plate, row is connected with the first roller or the second roller
Motor is walked, transmission belt is provided between the first roller and the second roller, fixed plate is provided with infrared ray sensor and is used to control first
The activity of telescopic arm and the second telescopic arm.
Preferably, the first roller is arranged on the first telescopic arm by first support, and the second roller is set by second support
Put on the second telescopic arm, and first support and second support are set in mirror image each other, first support and second support are advantageous to
The positioning respectively of first roller and the second roller, the stationarity of the first roller and the second roller when height is adjusted is can guarantee that, and
First support and second support are set in mirror image each other can realize that the first roller and the second roller are symmetrical set at wire both ends,
Clamping effect is good, is advantageous to walk.
Preferably, first support includes vertical adapter sleeve, location-plate and positioning beam, and location-plate is arranged on vertical adapter sleeve
Top, positioning beam is arranged on the middle part of vertical adapter sleeve, and positioning beam and location-plate be arranged in parallel, between positioning beam and location-plate
Provided with the rotary shaft for fixing the first roller, vertical adapter sleeve is connected with the top of the first telescopic arm, simple in construction, can guarantee that first
The linearity of the vertical direction of roller, and the height of positioning beam and rotary shaft can be set according to the model of the first roller, adapt to
Different occasions.
Preferably, telescopic arm is provided with the connecting screw of fixed vertical adapter sleeve, can further be adjusted by connecting screw
Position of the vertical adapter sleeve on telescopic arm is saved, adapts to different installation environments.
Preferably, fixed plate is provided with line slideway, and line slideway is provided with the first sliding block and the second sliding block, and first is flexible
Arm is arranged on the first sliding block, and the second telescopic arm is arranged on the second sliding block, be equipped with the first sliding block and the second sliding block with it is red
The connected signal receiving end of outside line sensor, the first sliding block is controlled by the signal of signal receiving end receiving infrared-ray sensor
Slided with the second sliding block on line slideway, so as to adjust the size of holes for clamping, holes for clamping can be changed when can realize walking
Size crosses over the wire under varying environment, and practical performance is good.
Preferably, fixed plate is provided with the connecting plate of fixed infrared ray sensor, and infrared ray sensor is in connecting plate
Sector distribution, the setting of connecting plate, reduces the damage of infrared ray sensor, is fixedly mounted reliably, and sector distribution can improve red
The pickup area of outside line sensor, ensure reliability during walking.
A kind of inspection robot, including robot body, robot body are provided with above-mentioned walking mechanism, pass through vehicle with walking machine
Structure can realize inspection robot automatically walk on wire, and can control the size of holes for clamping to adapt to the wire of different model,
And in walking process, height and clamping come the first roller and the second roller are controlled according to the signal of infrared ray sensor collection
The size in hole, robot body is set to adapt to the wire under varying environment, and the barrier being provided with across wire that can stablize,
The defects of realizing the automated job of inspection robot, and will likely occurring, in time, accurately feeds back to fortune inspection personnel's hand
On, improve the efficiency of maintenance.
In summary, the advantages of the utility model：1. clamping wire by the first roller and the second roller, and pass through walking
Motor, which rotates, drives the first roller or the second roller to rotate, and then realizes the first roller and the second roller in wire by transmission belt
On automatically walk, relative to the method for artificial line walking, artificial workload and human cost greatly reduces, and carry significantly
The high efficiency of wire line walking；
2. controlling the height of the first roller and the second roller respectively by the first telescopic arm and the second telescopic arm, adapt it to
Wire under varying environment, and the first telescopic arm and the second telescopic arm are arranged to be flexibly connected in fixed plate, make its first rolling
The holes for clamping size of wheel and the second roller is adjustable, can be according to the environment of wire come auto-adjustment control, when occurring obstacle on wire
When thing or wire change, leap can be realized automatically；
3. the first telescopic arm and the second telescopic arm can guarantee that height is adjusted, the stationarity of the first roller and the second roller,
Energy Rapid reset clamps wire after ensureing across obstacle, improves security performance during walking；
4. the setting of infrared ray sensor, the environmental factor of wire surrounding can accurately be gathered, so as to which preferably control is gone
Mechanism is walked, ensures stationarity during walking, high sensitivity.
Brief description of the drawings
The utility model is described in further detail below in conjunction with the accompanying drawings：
Fig. 1 is a kind of structural representation using wire as the walking mechanism of passage of the utility model；
Fig. 2 is the structural representation of the utility model first support.
Embodiment
As shown in Figure 1 and Figure 2, a kind of walking mechanism using wire as passage, including the first roller 1, the second roller 2, first
Telescopic arm 3, the second telescopic arm 4 and fixed plate 5, the top that the first roller 1 is arranged on the first telescopic arm 3 are used to control the first roller
1 height, the top that the second roller 2 is arranged on the second telescopic arm 4 are used for the height for controlling the second roller 2, the first roller 1 and the
The holes for clamping 6 for clamping wire is formed between second wheel 2, the first telescopic arm 3 and the second telescopic arm 4 are movably connected in fixed plate 5
Above it is used for the size for controlling holes for clamping 6, is connected with movable motor 7 on the first roller 1, is set between the first roller 1 and the second roller 2
There is transmission belt 8, fixed plate 5 is provided with the activity that infrared ray sensor 9 is used to control the first telescopic arm 3 and the second telescopic arm 4.
First roller 1 is arranged on the first telescopic arm 3 by first support 10, and the second roller 2 is set by second support 20
Put on the second telescopic arm 4, and first support 10 and second support 20 are set in mirror image each other, first support and second support have
Beneficial to the positioning respectively of the first roller and the second roller, it can guarantee that the first roller and the second roller are steady when height is adjusted
Property, and first support and second support can realize the first roller and the second roller at wire both ends in symmetrical in the setting of mirror image each other
Set, clamping effect is good, is advantageous to walk.
First support 10 includes vertical adapter sleeve 11, location-plate 12 and positioning beam 13, and location-plate 12 is arranged on vertical connection
The top of set 11, positioning beam 13 is arranged on the middle part of vertical adapter sleeve 11, and positioning beam and location-plate be arranged in parallel, positioning beam 13
The rotary shaft 14 for fixing the first roller is provided between location-plate 12, vertical adapter sleeve 11 is connected with the top of the first telescopic arm 3,
It is simple in construction, the linearity of the vertical direction of the first roller is can guarantee that, and positioning beam can be set according to the model of the first roller
And the height of rotary shaft, different occasions is adapted to, vertical adapter sleeve 11 can be arranged in the vertical direction height by the present embodiment
Adjustable structure is spent, specific structure includes lower connecting tube 15 and upper connecting tube 16, and upper connecting tube 16 is connected by threads turn
In lower connecting tube 15, and location-plate 12 is fixedly connected in connecting tube 16, and positioning beam 13 is fixedly connected on lower connecting tube 15
On, telescopic arm 3 is provided with the connecting screw 31 of the lower connecting tube 15 of connection, can further adjust vertical connection by connecting screw
The position being enclosed on telescopic arm, adapt to different installation environments.
Fixed plate 5 is provided with line slideway 51, and line slideway 51 is provided with the first sliding block 52 and the second sliding block 53, and first stretches
Contracting arm 3 is arranged on the first sliding block 52, and the second telescopic arm 4 is arranged on the second sliding block 53, the first sliding block 52 and the second sliding block 53
On be equipped with the signal receiving end 54 being connected with infrared ray sensor, pass through the signal of signal receiving end receiving infrared-ray sensor
To control the first sliding block and the second sliding block to be slided on line slideway, when being walked so as to adjust the size of holes for clamping, realize
The size of holes for clamping can be changed to cross over the wire under varying environment, practical performance is good, and fixed plate 5 is provided with fixed infrared ray and passed
The connecting plate 55 of sensor 9, and infrared ray sensor is distributed in connecting plate in fan-shaped, the setting of connecting plate, reduces infrared ray biography
The damage of sensor, fixed installation is reliable, and sector distribution can improve the pickup area of infrared ray sensor, reliable when ensureing to walk
Property, for the safe and stable operation of walking mechanism, the stand-by power supply being connected with movable motor and main electricity are installed in fixed plate 5
Electromagnetic induction charged system is connected on source, stand-by power supply and main power source, electromagnetic induction charged system includes being arranged on admittedly
Electric energy reception device on fixed board and the electric energy transmission device being placed on ground or shaft tower, electric energy reception device include electric energy and received
Module and receiving coil, receiving coil are connected by electric energy receiving module with power supply, and electric energy transmission device includes emission lines
Circle and electric energy transmitter module, transmitting coil are arranged on electric energy transmitter module, and electric energy transmitter module is used to turn low frequency ac
High-frequency alternating current is changed to, ground launch coil is used for the AC magnetic field that high frequency is produced by high frequency alternating current, receiving coil position
When AC magnetic field caused by transmitting coil, corresponding alternating current is produced, and direct current is converted to simultaneously by electric energy receiving module
It is supplied to power supply to store, just power supply can be completed to charge by sensing non-contact power charging system, without artificial dry
In advance, the workload of existing robot charging is largely avoided, charge efficiency is improved, reduces production cost, and improve machine
Device task efficiency.
A kind of inspection robot, including robot body, robot body are provided with above-mentioned walking mechanism, pass through vehicle with walking machine
Structure can realize inspection robot automatically walk on wire, and can control the size of holes for clamping to adapt to the wire of different model,
And in walking process, height and clamping come the first roller and the second roller are controlled according to the signal of infrared ray sensor collection
The size in hole, robot body is set to adapt to the wire under varying environment, and the barrier being provided with across wire that can stablize,
The defects of realizing the automated job of inspection robot, and will likely occurring, in time, accurately feeds back to fortune inspection personnel's hand
On, improve the efficiency of maintenance.
In use, walking mechanism is arranged on robot body, being clamped by the first roller 1 and the second roller 2 needs
On the wire of inspection, during walking, the first roller 1 is driven to rotate by movable motor 7, the first roller 1 drives the by transmission belt 8
Second wheel 2 rotates, it is achieved thereby that the automatically walk of the first roller 1 and the second roller 2 on wire, and pass through infrared ray sensing
Device 9 is acquired to the surrounding enviroment factor of wire, when infrared ray sensor 9, which is collected on wire, barrier or foreign matter,
First sliding block 52 and the second sliding block 53 make the He of the first sliding block 52 by the signal of the receiving infrared-ray sensor 9 of signal receiving end 54
Second sliding block 53 slides on line slideway 51, the holes for clamping 6 between the first roller 1 and the second roller 2 is become big or is diminished, and
Control the height of the first roller 1 and the second roller 2 respectively by the first telescopic arm 3 and the second telescopic arm 4, can smoothly across
Obstacle-overpass thing or foreign matter, then the first roller 1 and the second roller 2 need to only be resetted to can continue to walk on wire.
In addition to above preferred embodiment, the utility model also has other embodiments, and those skilled in the art can root
It is variously modified and deforms according to the utility model, without departing from spirit of the present utility model, the utility model all should be belonged to
Scope defined in appended claims.
Claims (7)
- A kind of 1. walking mechanism using wire as passage, it is characterised in that：Including the first roller (1), the second roller (2), first Telescopic arm (3), the second telescopic arm (4) and fixed plate (5), the top that the first roller (1) is arranged on the first telescopic arm (3) are used to control The height of the first roller (1) is made, the top that the second roller (2) is arranged on the second telescopic arm (4) is used to control the second roller (2) Highly, the holes for clamping (6) for clamping wire, the first telescopic arm (3) and second are formed between the first roller (1) and the second roller (2) Telescopic arm (4), which is movably connected in, is used for the size for controlling holes for clamping (6), the first roller (1) or the second roller in fixed plate (5) (2) movable motor (7) is connected with, is provided with transmission belt (8) between the first roller (1) and the second roller (2), in fixed plate (5) It is used for the activity for controlling the first telescopic arm (3) and the second telescopic arm (4) provided with infrared ray sensor (9).
- A kind of 2. walking mechanism using wire as passage according to claim 1, it is characterised in that：First roller (1) is logical Cross first support (10) to be arranged on the first telescopic arm (3), the second roller (2) is arranged on second by second support (20) and stretched On arm (4), and first support (10) and second support (20) are set in mirror image each other.
- A kind of 3. walking mechanism using wire as passage according to claim 2, it is characterised in that：First support (10) is wrapped Vertical adapter sleeve (11), location-plate (12) and positioning beam (13) are included, location-plate (12) is arranged on the top of vertical adapter sleeve (11), Positioning beam (13) is arranged on the middle part of vertical adapter sleeve (11), and positioning beam and location-plate be arranged in parallel, positioning beam (13) and fixed The rotary shaft (14) for fixing the first roller, vertical adapter sleeve (11) and the top of the first telescopic arm (3) are provided between position plate (12) It is connected.
- A kind of 4. walking mechanism using wire as passage according to claim 3, it is characterised in that：Telescopic arm is set on (3) There is the connecting screw (31) of fixed vertical adapter sleeve (11).
- A kind of 5. walking mechanism using wire as passage according to claim 1, it is characterised in that：Fixed plate is set on (5) There is line slideway (51), line slideway (51) is provided with the first sliding block (52) and the second sliding block (53), and the first telescopic arm (3) is set On the first sliding block (52), the second telescopic arm (4) is arranged on the second sliding block (53), the first sliding block (52) and the second sliding block (53) On be equipped with the signal receiving end (54) being connected with infrared ray sensor.
- A kind of 6. walking mechanism using wire as passage according to claim 1, it is characterised in that：Fixed plate is set on (5) There is the connecting plate (55) of fixed infrared ray sensor (9), and infrared ray sensor is distributed in connecting plate in fan-shaped.
- 7. a kind of inspection robot, including robot body, it is characterised in that：Robot body is provided with claim 1-6 and appointed The walking mechanism of one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720866774.1U CN206894140U (en) | 2017-07-17 | 2017-07-17 | A kind of walking mechanism and its inspection robot using wire as passage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720866774.1U CN206894140U (en) | 2017-07-17 | 2017-07-17 | A kind of walking mechanism and its inspection robot using wire as passage |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206894140U true CN206894140U (en) | 2018-01-16 |
Family
ID=61297295
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720866774.1U Active CN206894140U (en) | 2017-07-17 | 2017-07-17 | A kind of walking mechanism and its inspection robot using wire as passage |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206894140U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107370069A (en) * | 2017-07-17 | 2017-11-21 | 国网浙江省电力公司台州供电公司 | A kind of walking mechanism and its inspection robot using wire as passage |
| CN112260144A (en) * | 2020-10-22 | 2021-01-22 | 怀化宇隆电工材料有限公司 | Positioning support frame for cable transportation |
| CN114162340A (en) * | 2021-11-29 | 2022-03-11 | 浙江图盛输变电工程有限公司温州科技分公司 | Tower hanging point absolute coordinate acquisition system |
-
2017
- 2017-07-17 CN CN201720866774.1U patent/CN206894140U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107370069A (en) * | 2017-07-17 | 2017-11-21 | 国网浙江省电力公司台州供电公司 | A kind of walking mechanism and its inspection robot using wire as passage |
| CN107370069B (en) * | 2017-07-17 | 2024-04-09 | 国网浙江省电力公司台州供电公司 | Walking mechanism taking wires as channels and line inspection robot thereof |
| CN112260144A (en) * | 2020-10-22 | 2021-01-22 | 怀化宇隆电工材料有限公司 | Positioning support frame for cable transportation |
| CN114162340A (en) * | 2021-11-29 | 2022-03-11 | 浙江图盛输变电工程有限公司温州科技分公司 | Tower hanging point absolute coordinate acquisition system |
| CN114162340B (en) * | 2021-11-29 | 2024-06-04 | 浙江图盛输变电工程有限公司温州科技分公司 | Absolute coordinate acquisition system for pole tower hanging point |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206894140U (en) | A kind of walking mechanism and its inspection robot using wire as passage | |
| CN107370069A (en) | A kind of walking mechanism and its inspection robot using wire as passage | |
| CN107756375A (en) | A kind of tunnel cruising inspection system and its robot | |
| CN109494617B (en) | Obstacle clearing inspection robot and obstacle clearing method thereof | |
| CN107990266A (en) | A kind of solar panel adjustable LED street lamp | |
| CN105843115A (en) | Photovoltaic intelligent mobile platform | |
| CN206544183U (en) | A kind of crusing robot system communicated based on wide area Internet | |
| CN205982541U (en) | Solar array drive circuit test system | |
| CN106788169B (en) | Solar energy surveys light vehicle | |
| CN107571236A (en) | A kind of long-life, low maintenance rate crusing robot | |
| CN205200866U (en) | Intelligence welding industrial robot | |
| CN206120334U (en) | Portable X -ray digit camera system | |
| CN107336242A (en) | A kind of unattended crusing robot | |
| CN209320943U (en) | A kind of Novel chicken-raising field is with automaticly inspecting vehicle | |
| CN206878381U (en) | A kind of inspection robot using wire in transmission line of electricity as passage | |
| CN208112335U (en) | It is a kind of for automation of transformation substations intelligent patrol detection device | |
| CN107317256B (en) | Line inspection robot taking wires in power transmission line as channels | |
| CN107671883B (en) | Stone grabbing operation device | |
| CN103234441B (en) | A kind of contact line conducting wire wear detector | |
| CN106053996A (en) | Flexible magnetic induction wave record fault monitoring system | |
| CN215932681U (en) | Attendance automatic identification device based on artificial intelligence | |
| CN209676359U (en) | A kind of multifunctional pick-up head | |
| CN207712179U (en) | A kind of auxiliary walking device for overhead line detection | |
| CN113721668A (en) | Triaxial bracket system applied to photovoltaic bus and control method thereof | |
| CN207139784U (en) | A kind of modularization wheeled pipe robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |