CN207967776U - A kind of ultra-high-tension power transmission line inspection robot compression driving forearm - Google Patents

Abstract

The utility model provides a high-voltage transmission line patrol robot pressing and driving the forearm, including a front bracket, a lifting module, a lifting platform, a driving wheel module and a pressing wheel module. The lifting module is connected with the lifting platform, and the driving wheel module is installed on the lifting platform. On the platform, the pinch wheel module is installed under the drive wheel module and above the wires, and the pinch wheel module and the drive wheel module form a space for clamping the wires; there are lifting main rods on both sides of the front bracket, and the lifting module slides on the lifting main rod . The utility model discloses a high-voltage transmission line patrol robot that presses and drives the forearm, adopts a modular design, has a simple structure, strong interchangeability, light weight, small size, and is convenient for maintenance. The patrol robot swings away from the line and crosses obstacles Then clamp the line to achieve fast obstacle surmounting.

Description

A high-voltage transmission line inspection robot presses and drives the forearm

technical field

The utility model belongs to the technical field of high-voltage transmission line patrol inspection, and in particular relates to a pressing and driving forearm of a high-voltage transmission line patrol robot.

Background technique

High-voltage transmission lines are the main way of long-distance power transmission. Transmission line inspection is a necessary measure to ensure the normal operation of high-voltage transmission lines. The line inspection robot is used in the inspection of high-voltage lines, crawling along the line at a certain speed, and can cross the anti-vibration hammer , Tension clamps, suspension clamps, towers and other obstacles. Using the portable instruments to monitor towers, conductors and lightning conductors, insulators, line furniture, etc. can not only reduce the labor intensity of workers, reduce costs, but also improve the inspection efficiency. High-voltage line inspection robots have strong market demand and broad development prospects, so they have attracted the attention of researchers at home and abroad.

The currently used line inspection robot adopts a wheeled crawling robot arm, which is driven by a motor to crawl. The lack of a clamping mechanism and the excessive loading of the motor, and the heavy body weight lead to poor climbing ability of the click drive, slow crawling, complex structure and difficult control.

Contents of the invention

In order to solve the above-mentioned technical problems, the utility model provides a high-voltage transmission line inspection robot to press and drive the forearm, which can simultaneously provide functions of pressing, uncoupling and driving. The number of motors is small, the structure is simple, the climbing performance is good, and the walking is stable. High control precision.

In order to solve the technical problems of the utility model, the utility model is realized through the following technical solutions: a high-voltage transmission line patrol robot presses and drives the forearm, including a front bracket 11, a lifting module 12, a lifting platform 13, and a driving wheel module 14 And the pressing wheel module 15, the lifting module 12 is connected with the lifting platform 13, the driving wheel module 14 is installed on the lifting platform 13, and the pressing wheel module 15 is installed on the driving wheel module 14 Below and above the electric wires, the pressing wheel module 15 and the driving wheel module 14 form a space for clamping electric wires; the two sides of the front bracket 11 are provided with lifting main rods 111, and the lifting module 12 is positioned on the lifting main rods. Slide on rod 111.

Preferably, the lifting module 12 includes an upper lifting synchronous pulley 121, a lifting synchronous pulley fixing frame 122, a lifting synchronous belt 123, a lower lifting synchronous pulley 124, a lifting motor 125, a fixing member 126 and a forearm base 127, the The upper lifting synchronous pulley 121 is fixed below the front support 11, and the upper lifting synchronous pulley 121 is fixed below the front support 11 through the lifting synchronous pulley fixing bracket 122; the lifting synchronous belt 123 is wound around On the upper lifting synchronous pulley 121 and the lower lifting synchronous pulley 124, the lifting synchronous belt 123 is connected with the lifting platform 13 to drive the lifting platform 13 up and down; the fixing member 126 is connected with the pressing wheel module 15 The fixing part 126 is arranged on the lifting table 13; the lifting motor 125 is connected to the lower lifting synchronous pulley 124; the lifting module 12 is connected to the line patrol robot through the forearm base 127.

Preferably, the lifting platform 13 includes a lifting platform support 131, a cantilever shaft 132 and a lifting pulley assembly 133, the cantilever shaft 132 is fixed on the lifting platform support 131, and the lifting pulley assembly 133 is connected to the cantilever shaft 132 connected, the lifting pulley assembly 133 is sleeved in the lifting main rod 111 to slide.

Preferably, the driving wheel module 14 includes a grooved driving wheel 141 walking on the electric wire, a driving wheel shaft 142, a driving wheel bracket 143, a traveling motor 144, a traveling gear 145 and a traveling gear belt 146, and the grooved driving wheel 141 The drive wheel shaft 142 is fixed on the drive wheel bracket 143; the travel motor 144 is fixed on the drive wheel bracket 143, and the travel motor 144 drives the grooved drive wheel 141 to walk; the travel gear belt 146 Winding on a pair of travel gears 145, the travel motor 144 is connected with a pair of travel gears 145, and the drive wheel shaft 142 is driven to rotate by the travel gear belt 146 to realize walking.

Preferably, the compression wheel module 15 includes a compression motor 151, a compression wheel 152, a compression wheel bracket 153, a rotary joint 154, a compression wheel seat 155, a pin shaft 156, a spring 157 and a ball screw 158. Tightening motor 151 is connected with described ball screw 158, and described ball screw 158 is provided with ball nut 159, and described ball nut 159 is fixed on the described fixture 126; Described ball screw 158 and described compressing The wheel seat 155 is connected, and the rotating joint 154 and the pressing wheel support 153 are connected in series by the pin shaft 156; the pressing wheel seat 155 is connected with the pressing wheel support 153 by a spring 157; the pressing wheel 152 is fixed on On the pressing wheel bracket 153 , the pressing wheel 152 is located below the electric wire, and the pressing wheel 152 and the grooved driving wheel 141 form a space for clamping the electric wire.

Compared with the prior art, the beneficial effects obtained by the utility model are:

The utility model discloses a high-voltage transmission line inspection robot that presses and drives the forearm, adopts the design of a lifting platform and a lifting module, and independently completes the on-line and off-line actions of the forearm.

The utility model discloses a high-voltage transmission line inspection robot that presses and drives the forearm. The driving wheel adopts V-shaped rubber wheels, which can adapt to wires with different wire diameters and has strong adaptability. While ensuring the rigidity, it also increases Friction with the wire.

The utility model discloses a high-voltage transmission line patrol robot that presses and drives the forearm, adopts a modular design, has a simple structure, strong interchangeability, light weight, small size, and is convenient for maintenance. Then clamp the line to achieve rapid obstacle surmounting.

Description of drawings

Fig. 1 is a three-dimensional view of a pressing and driving forearm of a high-voltage transmission line inspection robot.

Fig. 2 is a perspective view of the lifting module.

Fig. 3 is a perspective view of the lifting platform.

Fig. 4 is a perspective view of the driving wheel module.

Fig. 5 is a perspective view of the pressing wheel module.

Fig. 6 is a three-dimensional schematic diagram of a high-voltage transmission line inspection robot with the forearm off the line.

Fig. 7 is a three-dimensional schematic diagram of a high-voltage transmission line inspection robot with its forearm overcoming obstacles.

Fig. 8 is a three-dimensional schematic diagram of a high-voltage transmission line inspection robot with its forearm on the line.

Fig. 9 is a three-dimensional schematic diagram of a high-voltage transmission line inspection robot, the middle arm and the rear arm crossing obstacles.

Fig. 10 is a three-dimensional schematic diagram of a high-voltage transmission line inspection robot, with the middle arm and rear arm going online.

Reference signs: 11, front bracket; 111, lifting main rod; 12, lifting module; 121, upper lifting synchronous pulley; 122, lifting synchronous pulley fixed frame; 123, lifting synchronous belt; 124, lower lifting synchronous pulley ; 125, lifting motor; 126, fixing piece; 127, forearm base; 13, lifting platform; 131, lifting platform support; 132, cantilever shaft; 133, lifting pulley assembly; 14, driving wheel module; 141, groove type driving wheel ; 142, driving wheel shaft; 143, driving wheel bracket; 144, walking camera; 145, walking gear; 146, walking gear belt; 15, pressing wheel module; 151, pressing motor; 152, pressing wheel; 153, pressing 154, rotating joint; 155, pressing wheel seat; 156, bearing pin; 157, spring; 158, ball screw; 159, ball nut.

Detailed ways

The embodiments will be described in detail below in conjunction with the accompanying drawings.

Referring to accompanying drawing 1, a kind of high-voltage transmission line patrol robot presses and drives the forearm, comprises front bracket 11, lifting module 12, lifting table 13, driving wheel module 14 and pressing wheel module 15, and described lifting module 12 and described The lifting platform 13 is connected, the driving wheel module 14 is installed on the lifting platform 13, the pressing wheel module 15 is installed below the driving wheel module 14 and above the wires, the pressing wheel module 15 is connected to the The driving wheel module 14 forms a space for clamping wires; the two sides of the front bracket 11 are provided with lifting main rods 111 , and the lifting module 12 slides on the lifting main rods 111 . The lifting main rod 111 is used as a support rod to support, and also as a guide groove used for lifting.

Referring to accompanying drawing 2, described lifting module 12 comprises upper lifting synchronous pulley 121, lifting synchronous pulley fixed frame 122, lifting synchronous belt 123, lower lifting synchronous belt pulley 124, lifting motor 125, fixture 126 and forearm base 127, The upper lifting synchronous pulley 121 is fixed below the front support 11, and the upper lifting synchronous pulley 121 is fixed below the front support 11 through the lifting synchronous pulley fixing frame 122; the lifting synchronous belt 123 Winding on the upper lifting synchronous pulley 121 and the lower lifting synchronous pulley 124, the lifting synchronous belt 123 is connected with the lifting platform 13 to drive the lifting platform 13 up and down; the fixing member 126 is connected with the pressing wheel The module 15 is connected, and the fixing part 126 is arranged on the lifting table 13; the lifting motor 125 is connected with the lifting main rod 111 through the motor fixing part, and the lifting motor 125 is connected with the lower lifting synchronous pulley 124 Connection; the lifting module 12 is connected with the line patrol robot through the forearm base 127 .

Referring to accompanying drawing 3, described lifting platform 13 comprises lifting platform support 131, cantilever shaft 132 and lifting pulley assembly 133, and described cantilever shaft 132 is fixed on the described lifting platform support 131, and described lifting pulley assembly 133 and described cantilever The shaft 132 is connected, and the lifting pulley assembly 133 is sleeved in the lifting main rod 111 to slide. The lifting table 13 links the driving wheel module 14 and the pressing wheel module 15, the lifting synchronous belt 123, and the lifting pulley assembly 133 together. When the lifting motor 125 drives the lifting synchronous belt 123 for transmission, the lifting platform 13 can The entire module is driven up and down to complete the lifting function of the grooved driving wheel 141, which can realize auxiliary actions in the process of going online and offline and over obstacles.

Referring to accompanying drawing 4, described drive wheel module 14 comprises the trough drive wheel 141 that walks on the electric wire, drive axle 142, drive wheel support 143, travel motor 144, travel gear 145 and travel gear belt 146, described trough drive The wheel 141 is fixed on the drive wheel bracket 143 through the drive wheel shaft 142, and the grooved drive wheel 141 is made of aluminum alloy wrapped by rubber, which increases the friction with the electric wire while ensuring rigidity; The motor 144 is fixed on the drive wheel support 143, and the travel motor 144 drives the grooved drive wheel 141 to walk; the travel gear belt 146 is wound on a pair of travel gears 145, and the travel motor 144 and a pair The traveling gear 145 is connected, and the driving wheel shaft 142 is driven to rotate by the traveling gear belt 146 to realize walking.

Further, the traveling motor 144 adopts a high-torque motor, which can realize walking and overcoming obstacles on a large slope.

Referring to accompanying drawing 5, the pinch wheel module 15 comprises pinch motor 151, pinch wheel 152, pinch wheel support 153, rotating joint 154, pinch wheel seat 155, pin shaft 156, spring 157 and ball screw 158, so The pressing motor 151 is connected with the ball screw 158, the ball screw 158 is provided with a ball nut 159, and the ball nut 159 is fixed on the fixing part 126; the ball screw 158 is connected with the The pressing wheel seat 155 is connected, and the rotating joint 154 and the pressing wheel support 153 are connected in series by the pin shaft 156; the pressing wheel seat 155 is connected with the pressing wheel support 153 by a spring 157; the pressing wheel 152 It is fixed on the pressing wheel bracket 153 , the pressing wheel 152 is located under the electric wire, and the pressing wheel 152 and the grooved driving wheel 141 form a space for clamping the electric wire.

Referring to accompanying drawings 6 to 10, a high-voltage transmission line inspection robot presses and drives the forearm, the working principle:

When an obstacle is detected ahead, if the obstacle in front is a crimping tube or an anti-vibration hammer, the middle of the pressing wheel 152 and the grooved drive wheel 141 can be directly elevated, and the telescopic joint can be directly crossed.

When the front obstacle is not a crimping pipe or a shockproof hammer, the pressing wheel 152 of the forearm is released, and the robot body rotates at a suitable angle to go off the assembly line.

After the forearm completes the off-line movement, at the same time, under automatic control, the robot makes the forearm complete an ellipse-like motion trajectory to make it cross obstacles.

After the forearm has crossed the obstacle, the robot swings here, and at the same time rotates the large turntable and drives the telescopic joint, so that the electric wire is located between the pressing wheel 152 and the grooved driving wheel 141, and then adjusts the lifting of the forearm and the lifting of the pressing wheel 152 before completing The wheel is online.

What is enumerated above is only one of the specific embodiments of the present utility model. Apparently, the utility model is not limited to the above embodiments, and many similar modifications are also possible. All deformations that can be directly derived or associated by those skilled in the art from the content disclosed in the utility model should be considered as the protection scope of the utility model.

Claims (5)

1. a kind of ultra-high-tension power transmission line inspection robot compresses driving forearm, it is characterised in that：Including fore-stock（11）, lifting mould Block（12）, lifting platform（13）, driving wheel module（14）With contact roller module（15）, the lifting module（12）With the lifting platform （13）Connection, the driving wheel module（14）Mounted on the lifting platform（13）On, the contact roller module（15）Mounted on institute State driving wheel module（14）Above lower section and electric wire, the contact roller module（15）With the driving wheel module（14）Form clamping The space of electric wire；The fore-stock（11）Both sides are equipped with lifting mobile jib（111）, the lifting module（12）In the lifting mobile jib （111）Upper sliding.

2. a kind of ultra-high-tension power transmission line inspection robot as described in claim 1 compresses driving forearm, it is characterised in that：It is described Lift module（12）Including upper lifting synchronous pulley（121）, lifting synchronous pulley fixed frame（122）, lifting synchronous belt（123）、 Lower lifting synchronous pulley（124）, lifting motor（125）, fixing piece（126）With forearm pedestal（127）, the upper lifting synchronous belt Wheel（121）It is fixed on the fore-stock（11）Lower section, the upper lifting synchronous pulley（121）It is solid by the lifting synchronous pulley Determine frame（122）It is fixed on the fore-stock（11）Lower section；The lifting synchronous belt（123）It is wound on the upper lifting synchronous pulley （121）With lower lifting synchronous pulley（124）On, the lifting synchronous belt（123）With lifting platform（13）Connection, drives the lifting Platform（13）Lifting；The fixing piece（126）With the contact roller module（15）Connection, the fixing piece（126）It is arranged described Lifting platform（13）On；The lifting motor（125）With the lower lifting synchronous pulley（124）Connection；The lifting module（12） Pass through the forearm pedestal（127）It is connect with inspection robot.

3. a kind of ultra-high-tension power transmission line inspection robot as described in claim 1 compresses driving forearm, it is characterised in that：It is described Lifting platform（13）Including lifting platform holder（131）, cantilevered axle（132）With lifting pulley component（133）, the cantilevered axle（132） It is fixed on the lifting platform holder（131）On, the lifting pulley component（133）With the cantilevered axle（132）Connection, the liter Pulley assembly drops（133）It is placed on the lifting mobile jib（111）Inside slided.

4. a kind of ultra-high-tension power transmission line inspection robot as claimed in claim 2 compresses driving forearm, it is characterised in that：It is described Driving wheel module（14）Including the groove profile driving wheel on electric wire of walking（141）, drive shaft（142）, drive wheel bracket （143）, movable motor（144）, walking gear（145）With walking gear band（146）, the groove profile driving wheel（141）Pass through drive Driving wheel axis（142）It is fixed on the drive wheel bracket（143）On；The movable motor（144）It is fixed on the drive wheel bracket （143）On, the movable motor（144）Drive the groove profile driving wheel（141）Walking；The walking gear band（146）It is wound on A pair of of walking gear（145）On, the movable motor（144）With a pair of of walking gear（145）Connection, passes through the walking gear Band（146）Drive the drive shaft（142）Walking is realized in rotation.

5. a kind of ultra-high-tension power transmission line inspection robot as claimed in claim 4 compresses driving forearm, it is characterised in that：It compresses Take turns module（15）Including clamping motor（151）, contact roller（152）, compress wheel support（153）, cradle head（154）, contact roller Seat（155）, axis pin（156）, spring（157）And ball-screw（158）, the clamping motor（151）With the ball-screw （158）Connection, the ball-screw（158）It is equipped with ball nut（159）, the ball nut（159）It is fixed on described solid Determine part（126）On；The ball-screw（158）With the compression wheel seat（155）Connection, passes through axis pin（156）By cradle head （154）With compression wheel support（153）It strings；The compression wheel seat（155）Pass through spring（157）With the compression wheel support （153）Connection；The contact roller（152）It is fixed on the compression wheel support（153）On, the contact roller（152）Positioned at electric wire Lower section, the contact roller（152）With the groove profile driving wheel（141）Form the space of clamping electric wire.