CN207218115U - A kind of microminiature obstacle crossing type electric inspection process robot - Google Patents
A kind of microminiature obstacle crossing type electric inspection process robot Download PDFInfo
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- CN207218115U CN207218115U CN201720512065.3U CN201720512065U CN207218115U CN 207218115 U CN207218115 U CN 207218115U CN 201720512065 U CN201720512065 U CN 201720512065U CN 207218115 U CN207218115 U CN 207218115U
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Abstract
The utility model provides a kind of microminiature obstacle crossing type electric inspection process robot, including driving part and hanging parts (13) setting up and down, it is spaced a distance between the driving part and hanging parts (13), the lower end of the driving part is provided with driving wheel (8) and Stump-jump wheel (9), along the direction of travel of the robot, the position and the position of Stump-jump wheel (9) of driving wheel (8) are staggered；The driving part and hanging parts (13) are connected by linking arm (12), along the centerline direction of driving wheel (8), linking arm (12) is located at the same side of driving wheel (8) and Stump-jump wheel (9).The robot needs not rely on its own mechanical structure obstacle detouring but relies on obstacle detouring bridge obstacle detouring so that robot body structure is simple, compact, is easily installed maintenance；When climbing obstacle detouring bridge, running safety and stability is reliable, is to realize transmission line polling robot lightweight, commercialization, practical key breakthrough.
Description
Technical field
A kind of power transmission line inspection device field is the utility model is related to, particularly a kind of microminiature obstacle crossing type electric inspection process
Robot.
Background technology
Robot for polling transmission line substantially experienced two developing stage.The crusing robot of early stage is not got over
Barrier ability, it can only be run in a span.The representative type of this kind of crusing robot has Japan's assistant rattan building industry strain formula meeting
" the overhead power transmission conducting wire damage automatic detection machine people " that society developed in 1993.In addition, king University of Science and Technology of Thailand and Japan
Polytechnical university can only also run in a span in " the autonomous crusing robot " of cooperation research and development in 2001, not possess obstacle detouring energy
Power.
The country, Chinese Academy of Sciences's automation research the pool people, beam is since the development work of the crusing robot from 2002 such as pool
Make, and given to the world the result of one's studies since 2004.The crusing robot that they develop employs " triple arm wheel " distribution form.Wuhan
It is to start to develop the routing inspection trolley with active obstacle function that the Wu Gong equalitys people of hydraulic and electric engineering university is last early in generation nineteen ninety, is adopted
With " triple arm wheel " distribution form, and two-arm wheel scheme was discussed." the extra high voltage network inspection of Shenyang Institute of Automation development
Robot " has two arms that roller is housed, and robot passes through around 180 ° of rotation obstacle detourings of suspension arm.In addition, Shandong science and technology is big
, Shandong University, BJ University of Aeronautics ＆ Astronautics, Deng Duojia colleges and universities of Shanghai University have also carried out related research.Existing transmission of electricity
Although the robot of line data-logging has obstacle climbing ability, its barrier getting over mechanism is complicated, construction weight is big, the stabilization of robot work
Property and reliability are not fine.
Utility model content
In order to solve the problems, such as the barrier getting over mechanism complexity of existing transmission line polling robot, the utility model provides one
Kind microminiature obstacle crossing type electric inspection process robot, the microminiature obstacle crossing type electric inspection process robot need not rely on its own mechanical knot
Structure obstacle detouring but rely on obstacle detouring bridge obstacle detouring so that robot body structure is simple, compact, is easily installed maintenance；Climbing
During obstacle detouring bridge, running safety and stability is reliable, realizes transmission line polling robot lightweight, commercialization, practical
Key breakthrough.
Technical scheme is used by the utility model solves its technical problem：A kind of microminiature obstacle crossing type electric inspection process machine
Device people, including driving part setting up and down and hanging parts, are spaced a distance between the driving part and hanging parts, should
The lower end of driving part is provided with driving wheel and Stump-jump wheel, and driving wheel can drive the microminiature obstacle crossing type electric inspection process robot to exist
Walked on power transmission cable, Stump-jump wheel can drive the microminiature obstacle crossing type electric inspection process robot to be walked on obstacle detouring guide rail, main
The center line of driving wheel and the centerline parallel of Stump-jump wheel, it is main along the direction of travel of the microminiature obstacle crossing type electric inspection process robot
The position of driving wheel and the position of Stump-jump wheel are staggered；The driving part is connected with hanging parts by linking arm, along driving wheel
Heart line direction, linking arm are located at the same side of driving wheel and Stump-jump wheel.
Mounting seat is contained on the top of the driving part, and driving wheel and Stump-jump wheel are connected with the mounting seat, and mounting seat is located at
The top of driving wheel and Stump-jump wheel.
The center line of driving wheel and the center line of Stump-jump wheel overlap, and driving wheel and Stump-jump wheel share a drive shaft and one
Motor, motor are located at outside mounting seat.
The lower end of the driving part is provided with two Stump-jump wheels, and the center line of two Stump-jump wheels overlaps, and driving wheel is located at two
Between Stump-jump wheel, driving wheel and two Stump-jump wheels share the drive shaft and a motor.
Two Stump-jump wheels are respectively the first Stump-jump wheel and the second Stump-jump wheel, and along the centerline direction of the drive shaft, this first
Stump-jump wheel, driving wheel, the second Stump-jump wheel and motor are arranged in order, and hanging parts are located at the underface of the driving part, even
Connect the upper end of arm and the edge of mounting seat to be connected, linking arm is located between second Stump-jump wheel and motor.
Along the direction of travel of the microminiature obstacle crossing type electric inspection process robot, the front or behind of driving wheel is provided with anti-off line
Structure, the escapement can prevent the microminiature obstacle crossing type electric inspection process robot from departing from the power transmission cable, the escapement with
Mounting seat is connected, and the escapement is located at the lower section of mounting seat.
The escapement contains the paw arm of two columns, and centerline direction of two paw arms along driving wheel is set successively
Put, two paw arms can rotate, and the lower end of two paw arms can be close to each other or remote, and the lower end of two paw arms is equal
Positioned at the top of hanging parts, the upper end of two paw arms be connected with can drive paw arm rotate worm type of reduction gearing and
Paw arm motor, when the lower end of two paw arms is close to each other, driving wheel and two paw arms can be embraced described defeated jointly
Electrical cables.
Mirror image, two paw arms can rotate two paw arms in same perpendicular each other, the perpendicular with
The centerline parallel of driving wheel, driving wheel is equal with the distance between two Stump-jump wheels, and the lower end of paw arm is located at driving wheel
Lower section, when two paw arms are in erectility, along the direction of travel of the microminiature obstacle crossing type electric inspection process robot, one
Individual paw arm is located between driving wheel and first Stump-jump wheel, another paw arm be located at driving wheel and second Stump-jump wheel it
Between.
Along the direction of travel of the microminiature obstacle crossing type electric inspection process robot, the front or behind of driving wheel is additionally provided with auxiliary
Arm, sub-arm are inclined U-shaped structure, and upper end and the mounting seat of sub-arm are connected, and the lower end of sub-arm is provided with cross bar, should
The centerline parallel of cross bar and driving wheel, the cross bar is arranged with sub-arm roll sleeve outside, in the microminiature obstacle crossing type electric inspection process machine
During device people walks, sub-arm roll sleeve can be pressed on the power transmission cable and roll.
Hanging parts are located at the underface of the driving part, and the distance being spaced between the driving part and hanging parts is
250mm~350mm, the inside of hanging parts are provided with the control for being used for controlling the microminiature obstacle crossing type electric inspection process robot to run
Unit, the outsides of hanging parts are provided with battery, and the lower ends of hanging parts is provided with camera, the lower end of linking arm and hanging parts
The edge of upper end is hinged by rotary shaft, the center line of the rotary shaft and the centerline parallel of driving wheel.
The beneficial effects of the utility model are：
1st, the utility model proposes crusing robot obstacle detouring mode, solving conventional robot needs on human assistance
Line, it is offline the problem of, solve the problems, such as that robot circulates inspection in multiple spans.
2nd, a kind of brand-new robot patrol mode is proposed, staff need to only pass through remote control center, Bian Keshi
Remote control and Real Time Observation robot inspection video image now are carried out to robot, revolutionize manual inspection and artificial auxiliary
Help robot routine inspection mode.
3rd, the direct crossing tower of double track obstacle detouring bridge and stockbridge damper of design, the complexity of conventional crusing robot obstacle detouring is simplified
Action, avoids contact of the robot in obstacle detouring with ground wire and gold utensil, reduces the abrasion to transmission line hardware.
4 compare with conventional crusing robot, the bulk mechanical configuration aspects of the robot, design more simple, installation side
Easy operation；Walking and paw respectively use a motor, reduce the movable joint of robot, effectively reduce robot
The weight of body, the lightweight of crusing robot is realized, it is practical.
5th, three road wheels of robot body and paw arm coordinate jointly, to reach the mesh for clamping ground wire and obstacle detouring bridge
, robot goes for the ground wire of different type transmission line of electricity and different-diameter, the mode that road wheel and paw arm coordinate
Substantially increase the use range of crusing robot.
Brief description of the drawings
The Figure of description for forming the part of the application is used for providing further understanding to of the present utility model, this practicality
New schematic description and description is used to explain the utility model, does not form to improper restriction of the present utility model.
Fig. 1 is the front view of microminiature obstacle crossing type electric inspection process robot described in the utility model.
Fig. 2 is the top view of microminiature obstacle crossing type electric inspection process robot described in the utility model.
Fig. 3 is the right view of microminiature obstacle crossing type electric inspection process robot described in the utility model.
Fig. 4 is the left view of microminiature obstacle crossing type electric inspection process robot described in the utility model.
Fig. 5 is the face upwarding stereogram of microminiature obstacle crossing type electric inspection process robot described in the utility model.
Fig. 6 is the top perspective view of microminiature obstacle crossing type electric inspection process robot described in the utility model.
Fig. 7 is the original schematic diagram of work of paw arm.
Fig. 8 was the schematic diagram in the upper bridge stage of microminiature obstacle crossing type electric inspection process robot described in the utility model.
Fig. 9 is the schematic diagram in stage on bridge of microminiature obstacle crossing type electric inspection process robot described in the utility model.
Figure 10 is the schematic diagram in the lower bridge stage of microminiature obstacle crossing type electric inspection process robot described in the utility model.
1st, camera；2nd, battery；3rd, sub-arm roll sleeve；4th, paw arm；5th, worm type of reduction gearing；6th, first sensor；
7th, second sensor；8th, driving wheel；9th, Stump-jump wheel；10th, motor；11st, paw arm motor；12nd, linking arm；13rd, hanging portion
Part；14th, mounting seat；15th, sub-arm；16th, worm gear；17th, worm screw；
21st, obstacle detouring guide rail；22nd, connector；23rd, stockbridge damper；
31st, steel tower；32nd, ground wire.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.Describe the utility model in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
A kind of microminiature obstacle crossing type electric inspection process robot, including driving part setting up and down and hanging parts 13, should
It is spaced a distance between driving part and hanging parts 13, the lower end of the driving part is provided with driving wheel 8 and Stump-jump wheel 9, main
Driving wheel 8 can drive the microminiature obstacle crossing type electric inspection process robot to be walked on power transmission cable (such as ground wire 32), the energy of Stump-jump wheel 9
The microminiature obstacle crossing type electric inspection process robot is enough driven to be walked on obstacle detouring guide rail 21, the center line and Stump-jump wheel 9 of driving wheel 8
Centerline parallel, along the direction of travel of the microminiature obstacle crossing type electric inspection process robot perpendicular to the center line of driving wheel 8, edge
The direction of travel of the microminiature obstacle crossing type electric inspection process robot, the position and the position of Stump-jump wheel 9 of driving wheel 8 are staggered；The drive
Dynamic component and hanging parts 13 are connected by linking arm 12, and along the centerline direction of driving wheel 8, linking arm 12 is located at driving wheel 8
With the same side of Stump-jump wheel 9, as shown in Figures 1 to 6.
The implication of microminiature described in the microminiature obstacle crossing type electric inspection process robot is that the microminiature obstacle crossing type electric power patrols
The weight for examining robot is 10 kilograms to 15 kilograms, such as 15 kilograms of the weight of the microminiature obstacle crossing type electric inspection process robot.Its
In, driving part, hanging parts 13 and linking arm 12 surround groove structure, as shown in figure 1, the opening direction figure of the groove structure
1 left side, the junction (obstacle of required leap) that the groove structure is used for steel tower 31 and power transmission cable pass through.The microminiature is got over
In inspection, driving wheel 8 is walked on ground wire 32 for Zhang Shi electric inspection process robot；The microminiature obstacle crossing type electric inspection process robot
When across barrier, Stump-jump wheel 9 is walked on the obstacle detouring guide rail 21 of obstacle detouring bridge.Ground wire 32 is parallel with obstacle detouring guide rail 21, along the microminiature
The direction of travel (i.e. perpendicular to the direction of Fig. 1 papers) of obstacle crossing type electric inspection process robot, position and the Stump-jump wheel 9 of driving wheel 8
Position stagger, as shown in figure 1, so as to so that driving wheel 8 depart from power transmission cable, so as to realize the leaping over obstacles of driving wheel 8.Should
The obstacle detouring mode of microminiature obstacle crossing type electric inspection process robot can also be summarized as conversion walking track crossings obstacle, referred to as switch tracks
Obstacle detouring.
In the present embodiment, mounting seat 14 is contained on the top of the driving part, and mounting seat 14 is slab construction, driving wheel 8
It is connected with Stump-jump wheel 9 by connector and the mounting seat 14, mounting seat 14 is located at the top of driving wheel 8 and Stump-jump wheel 9,
As shown in Figures 1 to 4.
In the present embodiment, preferably the center line of the center line of driving wheel 8 and Stump-jump wheel 9 overlaps, the center line of driving wheel 8
Horizontally disposed with the center line of Stump-jump wheel 9, driving wheel 8 and Stump-jump wheel 9 share a drive shaft and a driving electricity
Machine 10, motor 10 are located at outside mounting seat 14, as shown in Figure 1.
In the present embodiment, Stump-jump wheel 9 can select setting one to select to set multiple, the quantity of Stump-jump wheel 9
Corresponded with the quantity of the obstacle detouring guide rail 21 of obstacle detouring bridge.It is preferred that the lower end of the driving part is provided with two Stump-jump wheels 9, two more
The center line of barrier wheel 9 overlaps, and for driving wheel 8 between two Stump-jump wheels 9, driving wheel 8 and two Stump-jump wheels 9 share the drive
Moving axis and a motor 10.The center line of driving wheel 8 and the center line of Stump-jump wheel 9 are the center line of the drive shaft.
In the present embodiment, two Stump-jump wheels 9 are respectively the first Stump-jump wheel and the second Stump-jump wheel, along the center of the drive shaft
Line direction, first Stump-jump wheel, driving wheel 8, the second Stump-jump wheel and motor 10 are arranged in order from left to right, as shown in figure 1,
Hanging parts 13 are located at the underface of the driving part, and the upper end and the edge of mounting seat 14 of linking arm 12 are connected, connection
Arm 12 is located between second Stump-jump wheel and motor 10.Driving wheel 8 and the size of Stump-jump wheel 9 are identical with structure, main
Driving wheel 8 is circumferentially with annular groove, and the circumference of Stump-jump wheel 9 also is provided with annular groove, as shown in Figure 1.
In the present embodiment, along the direction of travel of the microminiature obstacle crossing type electric inspection process robot, the front of driving wheel 8 or
Rear is provided with escapement, and the escapement can prevent the microminiature obstacle crossing type electric inspection process robot from departing from transmission of electricity electricity
Cable, the escapement are connected with mounting seat 14, and the escapement is located at the lower section of mounting seat 14.The escapement can be
The microminiature obstacle crossing type electric inspection process robot ambulation surrounds power transmission cable when on power transmission cable, and this in the utility model is micro-
The obstacle detouring of small-sized obstacle crossing type electric inspection process robot is also for the obstacle detouring for realizing the escapement.
Specifically, the escapement contains the paw arm 4 of two columns, center line side of two paw arms 4 along driving wheel 8
To being arranged at intervals successively, two paw arms 4 can rotate, and the lower end of two paw arms 4 can be close to each other or remote, two
The lower end of paw arm 4 is respectively positioned on the top of hanging parts 13, and the upper end of two paw arms 4, which is connected with, can drive 4 turns of paw arm
Connected mode such as Fig. 7 of dynamic worm type of reduction gearing 5 and paw arm motor 11, worm type of reduction gearing 5 and two paw arms 4
Shown, wherein two worm gears 16 of worm type of reduction gearing 5 is oppositely oriented, the upper end of two paw arms 4 and two worm gears 16
Rotating shaft connect one to one fixation, worm screw 17 is connected with paw arm motor 11, and paw arm motor 11 is arranged at positioned at mounting seat
Outside 14.Paw arm motor 11 rotates by worm type of reduction gearing 5 two synchronous backwards of paw arm 4, in being formed
Eight words or toed-out shape, when the lower end of two paw arms 4 is close to each other, driving wheel 8 and two paw arms 4 can be embraced jointly
The power transmission cable.
In the present embodiment, mirror image, two paw arms 4 can turn two paw arms 4 in same perpendicular each other
It is dynamic, or rotate respectively in two perpendiculars being parallel to each other, the centerline parallel of the perpendicular and driving wheel 8, actively
Wheel 8 is equal with the distance between two Stump-jump wheels 9, and the lower end of two paw arms 4 is located at the lower section of driving wheel 8, two paw arms 4
Upper end be respectively positioned on driving wheel 8 center line top, when two paw arms 4 are in erectility, got over along the microminiature
The direction of travel of Zhang Shi electric inspection process robot, a paw arm 4 are located between driving wheel 8 and first Stump-jump wheel, another
Paw arm 4 is located between driving wheel 8 and second Stump-jump wheel, as shown in Figure 1.
In the present embodiment, along the direction of travel of the microminiature obstacle crossing type electric inspection process robot, the front of driving wheel 8 or
Rear is additionally provided with sub-arm 15, and the escapement is between sub-arm 15 and driving wheel 8, i.e., when sub-arm 15 is arranged at actively
During the front of wheel 8, the escapement also is located at the front of driving wheel 8；, should when sub-arm 15 is arranged at the rear of driving wheel 8
Escapement also is located at the rear of driving wheel 8.Sub-arm 15 is inclined U-shaped structure, the upper end of sub-arm 15 and mounting seat 14
It is connected, the lower end of sub-arm 15 is provided with cross bar, the centerline parallel of the cross bar and driving wheel 8, and the cross bar is arranged with auxiliary outside
Arm roll sleeve 3 is helped, during the microminiature obstacle crossing type electric inspection process robot ambulation, it is defeated that sub-arm roll sleeve 3 can be pressed in this
On electrical cables and roll.
In the present embodiment, hanging parts 13 are located at the underface of the driving part, and the inside of hanging parts 13 is provided with sky
Chamber, the inside of hanging parts 13 are provided with the control unit for being used for controlling the microminiature obstacle crossing type electric inspection process robot to run, such as
Figure single-chip microcomputer or PLC, the outside of hanging parts 13 are provided with battery 2, and the lower end of hanging parts 13 is provided with the camera 1 of high definition, even
The edge for connecing the lower end and the upper end of hanging parts 13 of arm 12 is hinged by rotary shaft, hanging parts 13 can using the rotary shaft as
Axle freely rotates, and the center line of the rotary shaft and the centerline parallel of driving wheel 8, linking arm 12 are located at the edge of the driving part
With the same side at the edge of hanging parts 13, the edge of the driving part and the edge of hanging parts 13 are located at such as linking arm 12
Right side, as shown in figure 1, the distance being spaced between the driving part and hanging parts 13 is 250mm~350mm, such as 300mm.
Wherein, sub-arm 15 is the part for keeping inspection machine human body to balance, and sub-arm roll sleeve 3 can be pressed in defeated
On electrical cables and roll, reduce crusing robot friction of the sub-arm to power transmission cable in the process of walking.Paw arm 4 is to patrol
Examine in robot running can stable operation critical component, it can make crusing robot in the process of walking, tightly
Be clamped on power transmission cable, prevent crusing robot from surprisingly coming off.When crusing robot is being walked on power transmission cable, paw
Arm motor 11 controls paw arm 4 to close, and ground wire is held tightly with the collective effect of driving wheel 8 of centre.When robot is up in obstacle detouring bridge
When walking, the lower end of two paw arms 4 is opened, and the Stump-jump wheel 9 on both sides clamps two obstacle detouring guide rails 21 of obstacle detouring bridge with sub-arm 4,
Collective effect holds obstacle detouring bridge tightly.Worm type of reduction gearing 5 can be with self-locking and stable drive, noise very little, large carrying capacity, worm gear
The reverse self-locking of worm reducer 5 can play safeguard protection.Middle driving wheel 8 is to maintain crusing robot on ground wire
The driving wheel of walking, the Stump-jump wheel 9 on both sides are the driving wheels for maintaining crusing robot to be walked on obstacle detouring bridge.
Worm type of reduction gearing 5 is connected with first sensor 6, and first sensor 6 is used for the limit for detecting the opening of paw arm 4
Position；Second sensor 7 is connected with mounting seat 14, second sensor 7 is infrared sensor, and second sensor 7 is used to detect
Whether obstacle detouring bridge is encountered during robot ambulation.The camera 1 of high definition is fixed in hanging parts 13, robot installation
High-definition camera carry head, it is possible to achieve 360 ° rotation, available for the power transmission line corridor and iron for observing any angle
Equipment operation condition on tower.Battery 2 is rechargeable battery, can be that crusing robot improves reliable and stable power supply, be patrolled for robot
Circuit is examined to use.The electrical parts such as first sensor 6, second sensor 7, camera 1, battery 2 are connected with control unit.
The connection of linking arm 12 and driving part is Hard link, if the upper end of linking arm 12 and the connection of mounting seat 14 are hard
Connection, linking arm 12 and the edge of lower end and the upper end of hanging parts 13 be hinged by rotary shaft, it is ensured that robot exists
During traveling, the microminiature obstacle crossing type electric inspection process robot can be made according to its center of gravity of the center of gravity automatic adjusument of robot
Center of gravity in the microminiature obstacle crossing type electric inspection process robot, to keep maintenance of the inspection machine human body on ground wire to balance
State.
Obstacle detouring bridge is to match the special part used with microminiature obstacle crossing type electric inspection process robot described in the utility model,
As shown in figure 8, obstacle detouring bridge contains two obstacle detouring being parallel to each other guide rails 21, two obstacle detouring guide rails 21 are connected solid by connector 22
Fixed, connector 22 is connected with stockbridge damper 23, and obstacle detouring bridge is connected by connector 22 and steel tower 31, power transmission cable and steel tower 31
It is connected, the tie point of power transmission cable and steel tower 31 is located at the lower section of connector 22.
The course of work of the microminiature obstacle crossing type electric inspection process robot is described below：
Crusing robot climbing obstacle detouring bridge is broadly divided into following three phases：Upper bridge stage, stage, lower bridge rank on bridge
Section.
1st, the upper bridge stage
When microminiature obstacle crossing type electric inspection process robot detects obstacle detouring bridge by second sensor 7, the microminiature is got over
The control unit of Zhang Shi electric inspection process robot can first control the driving part to make the microminiature obstacle crossing type electric inspection process robot
Decelerate to setting speed；After Stump-jump wheel 9 touches the end of obstacle detouring guide rail 21 of obstacle detouring bridge, two paw arms 4 can unclamp, i.e.,
The microminiature obstacle crossing type electric inspection process robot unclamps ground wire 32, while the lower end of two paw arms 4 continues to be flared out, actively
Wheel 8 departs from ground wire 32, and Stump-jump wheel 9 climbs up obstacle detouring guide rail 21, by the microminiature obstacle crossing type electric inspection process robotic gripper in obstacle detouring
On bridge, then crusing robot can steadily go up bridge according to default speed, as shown in Figure 8.
2nd, the stage on bridge
After the microminiature obstacle crossing type electric inspection process robot completed the upper bridge stage by setting speed, control unit makes this micro-
The speed rise of small-sized obstacle crossing type electric inspection process robot is high, is then steadily passed a bridge by default speed, as shown in Figure 9.
3rd, the lower bridge stage
When second sensor 7 detects lower bridge, control unit makes the microminiature obstacle crossing type electric inspection process robot first subtract
Speed arrives setting speed, and then by bridge under default speed, driving wheel 8 climbs up ground wire 32, and Stump-jump wheel 9 departs from obstacle detouring guide rail 21,
The lower end of two paw arms 4 is being stepped up, as shown in Figure 10.
After crusing robot has climbed obstacle detouring bridge, by clamping unguiculus closure, robot unclamps obstacle detouring bridge, while paw arm
Ground wire is clamped, crusing robot is fixed on ground wire.Then robot walks and started along ground wire according to default logic
Perform patrol task.
It is described above, only specific embodiment of the utility model, it is impossible to which the scope that utility model implemented, institute are limited with it
With the displacement of its equivalent assemblies, or the equivalent variations made according to the utility model patent protection domain and modification, it should all still fall within
The category that this patent is covered.In addition, between technical characteristic and technical characteristic in the utility model, technical characteristic and technical scheme
Between, can be used with independent assortment between technical scheme and technical scheme.
Claims (10)
- A kind of 1. microminiature obstacle crossing type electric inspection process robot, it is characterised in that the microminiature obstacle crossing type electric inspection process robot Be spaced including driving part and hanging parts (13) setting up and down, between the driving part and hanging parts (13) one section away from From the lower end of the driving part is provided with driving wheel (8) and Stump-jump wheel (9), and driving wheel (8) can drive the microminiature obstacle crossing type electric Power crusing robot is walked on power transmission cable, and Stump-jump wheel (9) can drive the microminiature obstacle crossing type electric inspection process robot to exist Walked on obstacle detouring guide rail, the center line of driving wheel (8) and the centerline parallel of Stump-jump wheel (9), along the microminiature obstacle crossing type electric power The direction of travel of crusing robot, the position and the position of Stump-jump wheel (9) of driving wheel (8) are staggered；The driving part and hanging portion Part (13) is connected by linking arm (12), and along the centerline direction of driving wheel (8), linking arm (12) is located at driving wheel (8) and got over The same side of barrier wheel (9).
- 2. microminiature obstacle crossing type electric inspection process robot according to claim 1, it is characterised in that the driving part it is upper Mounting seat (14) is contained in portion, and driving wheel (8) and Stump-jump wheel (9) are connected with the mounting seat (14), and mounting seat (14) is positioned at actively Take turns (8) and the top of Stump-jump wheel (9).
- 3. microminiature obstacle crossing type electric inspection process robot according to claim 2, it is characterised in that in driving wheel (8) The center line of heart line and Stump-jump wheel (9) overlaps, and driving wheel (8) and Stump-jump wheel (9) share a drive shaft and a motor (10), motor (10) is located at mounting seat (14) outside.
- 4. microminiature obstacle crossing type electric inspection process robot according to claim 3, it is characterised in that under the driving part End is provided with two Stump-jump wheels (9), and the center line of two Stump-jump wheels (9) overlaps, and driving wheel (8) is located between two Stump-jump wheels (9), Driving wheel (8) and two Stump-jump wheels (9) share the drive shaft and a motor (10).
- 5. microminiature obstacle crossing type electric inspection process robot according to claim 4, it is characterised in that two Stump-jump wheels (9) Respectively the first Stump-jump wheel and the second Stump-jump wheel, along the centerline direction of the drive shaft, first Stump-jump wheel, driving wheel (8), Two Stump-jump wheels and motor (10) are arranged in order, and hanging parts (13) are located at the underface of the driving part, linking arm (12) Upper end and the edge of mounting seat (14) be connected, linking arm (12) be located at second Stump-jump wheel and motor (10) it Between.
- 6. microminiature obstacle crossing type electric inspection process robot according to claim 5, it is characterised in that along the microminiature obstacle detouring The direction of travel of formula electric inspection process robot, the front or behind of driving wheel (8) are provided with escapement, and the escapement can be prevented Only the microminiature obstacle crossing type electric inspection process robot departs from the power transmission cable, and the escapement is connected with mounting seat (14), The escapement is located at the lower section of mounting seat (14).
- 7. microminiature obstacle crossing type electric inspection process robot according to claim 6, it is characterised in that the escapement contains The paw arm (4) of two columns, centerline direction of two paw arms (4) along driving wheel (8) are set gradually, two paw arms (4) can rotate, the lower end of two paw arms (4) can be close to each other or remote, and the lower end of two paw arms (4) is respectively positioned on The top of hanging parts (13), the upper end of two paw arms (4) are connected with the worm and gear that paw arm (4) can be driven to rotate and subtracted Fast device (5) and paw arm motor (11), when the lower end of two paw arms (4) is close to each other, driving wheel (8) and two paw arms (4) power transmission cable can be embraced jointly.
- 8. microminiature obstacle crossing type electric inspection process robot according to claim 7, it is characterised in that two paw arms (4) Mirror image each other, two paw arms (4) can rotate in same perpendicular, the center of the perpendicular and driving wheel (8) Line is parallel, and driving wheel (8) is equal with the distance between two Stump-jump wheels (9), and the lower end of paw arm (4) is located at driving wheel (8) Lower section, when two paw arms (4) are in erectility, along the walking side of the microminiature obstacle crossing type electric inspection process robot To a paw arm (4) is located between driving wheel (8) and first Stump-jump wheel, and another paw arm (4) is located at driving wheel (8) Between second Stump-jump wheel.
- 9. microminiature obstacle crossing type electric inspection process robot according to claim 6, it is characterised in that along the microminiature obstacle detouring The direction of travel of formula electric inspection process robot, the front or behind of driving wheel (8) are additionally provided with sub-arm (15), and sub-arm (15) is Inclined U-shaped structure, upper end and the mounting seat (14) of sub-arm (15) are connected, and the lower end of sub-arm (15) is provided with cross bar, The centerline parallel of the cross bar and driving wheel (8), the cross bar are arranged with sub-arm roll sleeve (3) outside, in microminiature obstacle crossing type electricity During power crusing robot is walked, sub-arm roll sleeve (3) can be pressed on the power transmission cable and roll.
- 10. microminiature obstacle crossing type electric inspection process robot according to claim 1, it is characterised in that hanging parts (13) Positioned at the underface of the driving part, the distance being spaced between the driving part and hanging parts (13) is 250mm~350mm, The inside of hanging parts (13) is provided with the control unit for being used for controlling the microminiature obstacle crossing type electric inspection process robot to run, hanging The outside of part (13) is provided with battery (2), and the lower ends of hanging parts (13) is provided with camera (1), the lower end of linking arm (12) with The edge of the upper end of hanging parts (13) is hinged by rotary shaft, and the center line of the center line and driving wheel (8) of the rotary shaft is put down OK.
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| CN201720512065.3U CN207218115U (en) | 2017-05-10 | 2017-05-10 | A kind of microminiature obstacle crossing type electric inspection process robot |
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| CN201720512065.3U CN207218115U (en) | 2017-05-10 | 2017-05-10 | A kind of microminiature obstacle crossing type electric inspection process robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111478223A (en) * | 2020-04-09 | 2020-07-31 | 山东欧玛嘉宝电气科技有限公司 | Obstacle crossing assembly of cable inspection robot |
| CN113542530A (en) * | 2021-07-15 | 2021-10-22 | 南京林业大学 | Cable physical damage point visual identification system and method based on unmanned inspection |
-
2017
- 2017-05-10 CN CN201720512065.3U patent/CN207218115U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111478223A (en) * | 2020-04-09 | 2020-07-31 | 山东欧玛嘉宝电气科技有限公司 | Obstacle crossing assembly of cable inspection robot |
| CN113542530A (en) * | 2021-07-15 | 2021-10-22 | 南京林业大学 | Cable physical damage point visual identification system and method based on unmanned inspection |
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