CN207588347U - A kind of adjustable for height power transmission line crusing robot - Google Patents
A kind of adjustable for height power transmission line crusing robot Download PDFInfo
- Publication number
- CN207588347U CN207588347U CN201721419430.2U CN201721419430U CN207588347U CN 207588347 U CN207588347 U CN 207588347U CN 201721419430 U CN201721419430 U CN 201721419430U CN 207588347 U CN207588347 U CN 207588347U
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- China
- Prior art keywords
- transmission line
- power transmission
- traveling wheel
- support arm
- drive motor
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Abstract
The utility model discloses a kind of adjustable for height power transmission line crusing robots, it includes body and walking mechanism, the body is arranged on by the support of walking mechanism on power transmission line, the walking mechanism includes support arm and traveling wheel, the support arm upper end is connected with body, and the traveling wheel is arranged on the side of support arm, relative displacement can occur in vertical direction with support arm, the traveling wheel is arranged on power transmission line, and body is driven to be moved along power transmission line.The robot can freely adjust upper-lower height when being moved on power transmission line, and robot can not pass through when avoiding occurring above or below power transmission line barrier.
Description
Technical field
The utility model is related to power transmission lines to protect field, refers in particular to a kind of adjustable for height power transmission line crusing robot.
Background technology
In order to ensure the normal operation of power circuit, need that transmission line of electricity progress periodic maintenance is conducive to understand circuit
Operation conditions can also identify defects of the variation of circuit and equipment and local environmental conditions in time, be provided for line maintenance maintenance
Data.The inspection of current power transmission line is mainly carried out by the way of artificial detection, but China's transmission line of electricity mileage is long, coverage area
Extensively, also across mountain area, great river, meadow and virgin forest etc., this just makes inspection labor intensity big and is difficult to protect some circuits
Cyclic in-position measuring is demonstrate,proved, and influences inspection quality, while altitude hot-line operation, the security presence hidden danger of patrol officer.
To solve the above-mentioned problems, inspection is carried out to circuit using robot；Since power transmission line will pass through the environment such as forest,
It will appear many obstacles around power transmission line.And existing transmission of electricity crusing robot height is fixed, some tops are oversized, have
Lower section is oversized.There is branch above and below power transmission line when barriers, robot can not pass through.
Utility model content
The purpose of this utility model is that：In view of the above problems, a kind of adjustable for height power transmission line inspection is provided
Robot, the robot can freely adjust upper-lower height when being moved on power transmission line, avoid occurring above or below power transmission line
Robot can not pass through during barrier.
The technical solution adopted in the utility model is as follows：
A kind of adjustable for height power transmission line crusing robot, it includes body and walking mechanism, and the body passes through walking
The support of mechanism is arranged on power transmission line, and the walking mechanism includes support arm and traveling wheel, the support arm upper end and body
It is connected, the traveling wheel is arranged on the side of support arm, and relative displacement, the row can occur in the vertical direction with support arm
It walks wheel to be arranged on power transmission line, body is driven to be moved along power transmission line.
Due to that relative displacement can occur in vertical direction between traveling wheel and support arm；There is obstacle above power transmission line
When, support arm is moved down relative to power transmission line and traveling wheel；Height of the body above power transmission line is made to shorten, body is enable to pass through
Obstacle above power transmission line；
When there is obstacle below power transmission line, support arm is moved up relative to power transmission line and traveling wheel；Make body in power transmission line
The height of lower section shortens, and body is enable to pass through the obstacle below power transmission line.
Further, it is cavity inside the support arm, the elevating mechanism that traveling wheel is driven to move up and down is arranged inside.
Further, the elevating mechanism includes the screw and sliding block that are mutually matched, the screw edge support arm lengths side
To arrangement；The traveling wheel is arranged on by traveling wheel mounting bracket on sliding block；Screw drive motor is provided in the support arm,
When screw drive motor driving screw rotation, sliding block drives traveling wheel to move in the vertical direction.
Due to above structure, when there is obstacle above power transmission line, screw drive motor drives screw rotation, make sliding block to
Upper movement, support arm are moved down relative to power transmission line and traveling wheel；Height of the body above power transmission line is made to shorten, enables body
Pass through the obstacle above power transmission line；
When there is obstacle below power transmission line, screw drive motor drives screw rotation, moves down sliding block, support arm
It is moved up relative to power transmission line and traveling wheel；Height of the body below power transmission line is made to shorten, body is enable to pass through under power transmission line
The obstacle of side.
Further, the support arm is equipped with displacement mouth close to traveling wheel side, and the displacement opening's edge supports arm lengths side
To setting；The sliding block by the way that the connector of displacement mouth is passed through to be connected with walking wheeling supporting frame, along displacement mouth slide by the connector
It is dynamic.
Due to above structure, connector is arranged in displacement mouth, and connector coordinates with displacement mouth, plays guiding role, just
It is relatively moved in the vertical direction with support arm in traveling wheel.
Further, the traveling wheel mounting bracket is in " door " font, and traveling wheel is mounted on by shaft in door word frame, door word
Frame side is connected by connector with the sliding block in support arm, and opposite side is equipped with traction drive motor；The traveling wheel drives
Dynamic motor drives traveling wheel rotation.
Further, power transmission line status monitoring sensor, surrounding environment monitoring sensor are provided on the body；It is described
Power transmission line status monitoring sensor, surrounding environment monitoring sensor, traction drive motor and screw drive motor are and body
On controller be connected；Power supply is additionally provided on the body, which is power transmission line status monitoring sensor, surrounding environment is supervised
Survey sensor, traction drive motor and screw drive motor power supply.
Due to above structure, power transmission line status monitoring sensor can detect the state of power transmission line, whether find power transmission line
It needs to overhaul；Surrounding environment monitoring sensor can detect above or below power transmission line whether have obstacle, when it detects transmission of electricity
When having obstacle above or below line, control screw drive motor rotation.Machine human organism is adjusted above or below power transmission line
Highly, the obstacle above or below by power transmission line is allowed the robot to.
In conclusion by adopting the above-described technical solution, the beneficial effects of the utility model are：The utility model it is defeated
Electric wire crusing robot can freely adjust height, pass through the obstacle above or below power transmission line convenient for it.Obstacle detouring mode is simple,
Do not have to shut down during obstacle detouring, convenient for the continuous inspection of robot, routing inspection efficiency is high.
Description of the drawings
Fig. 1 is the front view of the utility model；
Fig. 2 is the support arm displacement mouth view of the utility model；
Fig. 3 is the left view of the utility model.
Specific embodiment
Below in conjunction with the accompanying drawings, the utility model is described in detail.
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention is further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
A kind of adjustable for height power transmission line crusing robot, it includes body 2 and walking mechanism, and the body 2 passes through row
The support for walking mechanism is arranged on power transmission line, the walking mechanism include support arm 1 and traveling wheel 5,1 upper end of support arm with
Body 2 is connected, and the traveling wheel 5 is arranged on the side of support arm 1, and opposite position can occur in the vertical direction with support arm 1
It moves, the traveling wheel 5 is arranged on power transmission line, and body 2 is driven to be moved along power transmission line.
In present embodiment, which is provided with front and rear two groups of walking mechanisms, several are included in every group of walking mechanism
Traveling wheel 5, the quantity of traveling wheel 5 are matched with the radical of power transmission line.In present embodiment, power transmission line is two, then preceding vehicle with walking machine
Structure and rear walking mechanism include two traveling wheels 5, and each traveling wheel 5 is connected by a support arm 1 with body 2, and row
Walking wheel 5 can in the vertical direction relatively move with support arm 1.
Traveling wheel 5 can be arranged on the outside or inside of support arm 1, and in present embodiment, traveling wheel 5 is located in support arm
1 inside.When robot is mounted on power transmission line, support arm 1 can just wrap up power transmission line, can improve machine in this way
People is mounted on the stability on power transmission line.When robot ambulation is walked, traveling wheel 5 is located at the top of support arm 1, can make in this way
The center of gravity of robot reduces, while support arm 1 is made to wrap up power transmission line, ensures the stability during robot ambulation.
It is cavity inside each support arm 1, the liter that traveling wheel 5 is driven to move up and down is both provided in each support arm 1
Descending mechanism.
The elevating mechanism includes the screw 7 that is mutually matched and sliding block 6, and the screw 7 is along 1 length direction cloth of support arm
It puts；The traveling wheel 5 is arranged on by 5 mounting bracket 3 of traveling wheel on sliding block 6；Screw drive motor is provided in the support arm 1
9, screw drive motor 9 is arranged on upper end or lower end in support arm 1, is connected with the upper end of screw 7 or lower end, when screw drives
When motor 9 drives the rotation of screw 7, sliding block 6 drives traveling wheel 5 to move in the vertical direction.
The support arm 1 is equipped with displacement mouth 8 close to 5 side of traveling wheel, and the displacement mouth 8 is set along 1 length direction of support arm
It puts；The sliding block 6 by the way that the connector of displacement mouth 8 is passed through to be connected with 5 supporting rack of traveling wheel, along displacement mouth 8 slide by the connector
It is dynamic.
5 mounting bracket 3 of traveling wheel is in " door " font, and traveling wheel 5 is mounted on by shaft in door word frame, door word frame side
It is connected by connector with the sliding block 6 in support arm 1, opposite side is equipped with traction drive motor 4；The traction drive electricity
Machine 4 drives traveling wheel 5 to rotate.
Power transmission line status monitoring sensor, surrounding environment monitoring sensor are provided on the body 2；The transmission of electricity is linear
State monitoring sensor, surrounding environment monitoring sensor, traction drive motor 4 and screw drive motor 9 with the control on body 2
Device processed is connected；Power supply is additionally provided on the body 2, which is power transmission line status monitoring sensor, surrounding environment monitoring passes
Sensor, traction drive motor 4 and screw drive motor 9 are powered.The power transmission line status monitoring sensor can install body 2
Front or lower section；Surrounding environment monitoring sensor is then mounted on the surrounding of body 2 or top or bottom, for detecting robot
The environment of surrounding.
During work, adjustment traveling wheel 5 is located at the top of support arm 1, and body 2 is made to be suspended on power transmission line, reduces body 2
Center of gravity ensures operation stability.When the surrounding environment monitoring sensor positioned at 2 front of body detects power transmission line on preceding line direction
There is an obstacle in lower section, at the same supported underneath arm 1 cannot by when, controller control screw drive motor 9 rotates, and moves down sliding block 6,
Support arm 1 is made to be moved up relative to traveling wheel 5 and power transmission line, support arm 1 is enable to pass through power transmission line；When positioned at 2 rear of body
Surrounding detection sensor detects the obstacle that has below power transmission line, and the surrounding obstacle detecting sensor in 2 front of body is not examined
There is obstacle below power transmission line on line direction before measuring, then controller control screw drive motor 9 rotates, and is that sliding block 6 moves up, makes branch
Brace 1 is moved down relative to traveling wheel 5 and power transmission line, reduces by 2 center of gravity of body, ensures the stability of operation.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
All any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in the utility model
Protection domain within.
Claims (6)
1. a kind of adjustable for height power transmission line crusing robot, it is characterised in that：It includes body（2）And walking mechanism, it is described
Body（2）It is arranged on power transmission line by the support of walking mechanism, the walking mechanism includes support arm（1）And traveling wheel（5）,
The support arm（1）Upper end and body（2）It is connected, the traveling wheel（5）It is arranged on support arm（1）Side, can be with support
Arm（1）Relative displacement, the traveling wheel occur in the vertical direction（5）It is arranged on power transmission line, drives body（2）Along power transmission line
It is mobile.
2. adjustable for height power transmission line crusing robot according to claim 1, it is characterised in that：The support arm（1）
Inside is cavity, and drive traveling wheel is arranged inside（5）The elevating mechanism moved up and down.
3. adjustable for height power transmission line crusing robot according to claim 2, it is characterised in that：The elevating mechanism packet
Include the screw being mutually matched（7）And sliding block（6）, the screw（7）Along support arm（1）Length direction is arranged；The traveling wheel（5）
Pass through traveling wheel（5）Mounting bracket（3）It is arranged on sliding block（6）On；The support arm（1）Inside it is provided with screw drive motor（9）, when
Screw drive motor（9）Drive screw（7）During rotation, sliding block（6）Drive traveling wheel（5）It moves in the vertical direction.
4. adjustable for height power transmission line crusing robot according to claim 3, it is characterised in that：The support arm（1）
Close to traveling wheel（5）Side is equipped with displacement mouth（8）, the displacement mouth（8）Along support arm（1）Length direction is set；The sliding block
（6）By passing through displacement mouth（8）Connector and traveling wheel（5）Supporting rack is connected, and the connector is along displacement mouth（8）It slides.
5. adjustable for height power transmission line crusing robot according to claim 4, it is characterised in that：The traveling wheel（5）
Mounting bracket（3）In " door " font, traveling wheel（5）It is mounted in door word frame by shaft, door word frame side passes through connector and branch
Brace（1）Interior sliding block（6）It is connected, opposite side is equipped with traction drive motor（4）；The traction drive motor（4）Band
Dynamic traveling wheel（5）Rotation.
6. adjustable for height power transmission line crusing robot according to claim 5, it is characterised in that：The body（2）On
It is provided with power transmission line status monitoring sensor, surrounding environment monitoring sensor；The power transmission line status monitoring sensor, four chow rings
Border monitoring sensor, traction drive motor（4）And screw drive motor（9）And body（2）On controller be connected；It is described
Body（2）On be additionally provided with power supply, the power supply for power transmission line status monitoring sensor, surrounding environment monitor sensor, traveling wheel
Driving motor（4）And screw drive motor（9）Power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721419430.2U CN207588347U (en) | 2017-10-31 | 2017-10-31 | A kind of adjustable for height power transmission line crusing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721419430.2U CN207588347U (en) | 2017-10-31 | 2017-10-31 | A kind of adjustable for height power transmission line crusing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207588347U true CN207588347U (en) | 2018-07-06 |
Family
ID=62729834
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721419430.2U Expired - Fee Related CN207588347U (en) | 2017-10-31 | 2017-10-31 | A kind of adjustable for height power transmission line crusing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207588347U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109066464A (en) * | 2018-08-31 | 2018-12-21 | 国网河北省电力有限公司沧州供电分公司 | Inspection robot obstacle crossing device |
-
2017
- 2017-10-31 CN CN201721419430.2U patent/CN207588347U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109066464A (en) * | 2018-08-31 | 2018-12-21 | 国网河北省电力有限公司沧州供电分公司 | Inspection robot obstacle crossing device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180706 Termination date: 20181031 |