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

A kind of ultra-high-tension power transmission line inspection robot compression driving forearm Download PDF

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Publication number
CN207967776U
CN207967776U CN201721834232.2U CN201721834232U CN207967776U CN 207967776 U CN207967776 U CN 207967776U CN 201721834232 U CN201721834232 U CN 201721834232U CN 207967776 U CN207967776 U CN 207967776U
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CN
China
Prior art keywords
lifting
module
contact roller
driving wheel
inspection robot
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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.)
Expired - Fee Related
Application number
CN201721834232.2U
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Chinese (zh)
Inventor
熊捷
刘国平
郭志
雷振华
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Nanchang University
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Nanchang University
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Priority to CN201721834232.2U priority Critical patent/CN207967776U/en
Application granted granted Critical
Publication of CN207967776U publication Critical patent/CN207967776U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

A kind of ultra-high-tension power transmission line inspection robot provided by the utility model compresses driving forearm, including fore-stock, lifting module, lifting platform, driving wheel module and contact roller module, lifting module is connect with lifting platform, driving wheel module is mounted on lifting platform, contact roller module is mounted below driving wheel module and above electric wire, and contact roller module forms the space of clamping electric wire with driving wheel module;Fore-stock both sides are equipped with lifting mobile jib, and lifting module is slided on lifting mobile jib.A kind of ultra-high-tension power transmission line inspection robot disclosed by the utility model compresses driving forearm, using modularized design, it is simple in structure, interchangeability is strong, it is light-weight, small, facilitate repair, cross inspection robot and swing and be detached from circuit, circuit is clamped after surmounting obstacles again, realizes fast obstacle.

Description

A kind of ultra-high-tension power transmission line inspection robot compression driving forearm
Technical field
The utility model belongs to HV Transmission Line Routing Inspection technical field, and in particular to a kind of ultra-high-tension power transmission line line walking machine Device people compresses driving forearm.
Background technology
Ultra-high-tension power transmission line is the major way of long distance powedr transmission, and polling transmission line is to ensure that ultra-high-tension power transmission line is normal Inspection robot is applied to the inspection of high-tension line by the requisite measure of operation, with certain speed along track creeping, and can be across More stockbridge damper, strain clamp, suspension clamp, the barriers such as shaft tower.Using the instrument of carrying to shaft tower, conducting wire and lightning conducter, absolutely The implementations such as edge, circuit furniture monitor, and can not only mitigate the labor force of worker, reduce cost, and can improve inspection Efficiency.High-voltage maintenance robot has the strong market demand and vast potential for future development, therefore obtains domestic and international scientific research personnel Concern.
Inspection robot used at present, using the wheeled robotic arm creeped, motor driving, which is realized, creeps.Lack clamping machine Structure and motor load excessive, and fuselage weight is big, cause to click and drive climbing capacity poor, creep slow, complicated and not easily-controllable System.
Invention content
The utility model is in order to solve the above technical problems, provide before a kind of ultra-high-tension power transmission line inspection robot compresses driving Arm can provide compression, disengagement and driving function simultaneously, and number of motors is few, simple in structure, and grade climbing performance is good, and walking is stablized, control Precision is high.
The technical issues of in order to solve the utility model, the utility model are achieved through the following technical solutions:It is a kind of Ultra-high-tension power transmission line inspection robot compresses driving forearm, including fore-stock 11, lifting module 12, lifting platform 13, driving wheel model Block 14 and contact roller module 15, the lifting module 12 are connect with the lifting platform 13, and the driving wheel module 14 is mounted on institute It states on lifting platform 13, the contact roller module 15 is mounted on above 14 lower section of the driving wheel module and electric wire, the contact roller Module 15 forms the space of clamping electric wire with the driving wheel module 14;11 both sides of the fore-stock are equipped with lifting mobile jib 111, institute Lifting module 12 is stated to slide on the lifting mobile jib 111.
Preferably, the lifting module 12 includes 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 and forearm pedestal 127, the upper lifting synchronize Belt wheel 121 is fixed on 11 lower section of the fore-stock, and the upper lifting synchronous pulley 121 passes through the lifting synchronous pulley fixed frame 122 are fixed on 11 lower section of the fore-stock;The lifting synchronous belt 123 is wound on the upper lifting synchronous pulley 121 and lower lifting On synchronous pulley 124, the lifting synchronous belt 123 is connect with lifting platform 13, and the lifting platform 13 is driven to lift;The fixing piece 126 connect with the contact roller module 15, and the fixing piece 126 is arranged on the lifting platform 13;The lifting motor 125 with The lower lifting synchronous pulley 124 connects;The lifting module 12 is connect by the forearm pedestal 127 with inspection robot.
Preferably, the lifting platform 13 includes lifting platform holder 131, cantilevered axle 132 and lifting pulley component 133, described Cantilevered axle 132 is fixed on the lifting platform holder 131, and the lifting pulley component 133 is connect with the cantilevered axle 132, institute It states lifting pulley component 133 and is placed in the lifting mobile jib 111 and slided.
Preferably, the driving wheel module 14 includes the groove profile driving wheel 141 walked on electric wire, drive shaft 142, drives Driving wheel holder 143, movable motor 144, walking gear 145 and walking gear band 146, the groove profile driving wheel 141 pass through driving Wheel shaft 142 is fixed in the drive wheel bracket 143;The movable motor 144 is fixed in the drive wheel bracket 143, institute Stating movable motor 144 drives the groove profile driving wheel 141 to walk;The walking gear band 146 is wound on a pair of of walking gear 145 On, the movable motor 144 is connect with a pair of of walking gear 145, and the drive shaft is driven by the walking gear band 146 142 rotations, realize walking.
Preferably, contact roller module 15 includes clamping motor 151, contact roller 152, compresses wheel support 153, cradle head 154, wheel seat 155, axis pin 156, spring 157 and ball-screw 158, the clamping motor 151 and the ball-screw 158 are compressed Connection, the ball-screw 158 are equipped with ball nut 159, and the ball nut 159 is fixed on the fixing piece 126;Institute It states ball-screw 158 to connect with the compression wheel seat 155, is gone here and there cradle head 154 and compression wheel support 153 by axis pin 156 It rises;The compression wheel seat 155 is connect by spring 157 with the compression wheel support 153;The contact roller 152 is fixed on described It compresses on wheel support 153, the contact roller 152 is located at below electric wire, the contact roller 152 and 141 shape of groove profile driving wheel At the space of clamping electric wire.
Compared with prior art, the advantageous effect of the utility model acquisition is:
A kind of ultra-high-tension power transmission line inspection robot disclosed by the utility model compresses driving forearm, using lifting platform and liter The design of module drops, it is autonomous complete forearm reach the standard grade and offline action.
A kind of ultra-high-tension power transmission line inspection robot disclosed by the utility model compresses driving forearm, and driving wheel uses V-type Rubber tire is suitable for the electric wire of different line footpaths, has very strong adaptability, while ensureing rigidity, and increases and electric wire Frictional force.
A kind of ultra-high-tension power transmission line inspection robot disclosed by the utility model compresses driving forearm, is set using modularization Meter, it is simple in structure, interchangeability is strong, it is light-weight, small, facilitate repair, cross inspection robot and swing disengaging circuit, surmount obstacles It clamps circuit again afterwards, realizes fast obstacle.
Description of the drawings
Fig. 1 is that a kind of ultra-high-tension power transmission line inspection robot compresses driving forearm stereogram.
Fig. 2 is lifting module stereogram.
Fig. 3 is lifting platform stereogram.
Fig. 4 is driving wheel module stereogram.
Fig. 5 is contact roller module stereogram.
Fig. 6 is a kind of ultra-high-tension power transmission line inspection robot, the offline stereoscopic schematic diagram of forearm.
Fig. 7 is a kind of ultra-high-tension power transmission line inspection robot, and forearm surmounts obstacles stereoscopic schematic diagram.
Fig. 8 is a kind of ultra-high-tension power transmission line inspection robot, and forearm is reached the standard grade stereoscopic schematic diagram.
Fig. 9 is a kind of ultra-high-tension power transmission line inspection robot, and middle arm and postbrachium surmount obstacles stereoscopic schematic diagram.
Figure 10 is a kind of ultra-high-tension power transmission line inspection robot, and middle arm and postbrachium are reached the standard grade stereoscopic schematic diagram.
Reference numeral:11, fore-stock;111, mobile jib is lifted;12, module is lifted;121, upper lifting synchronous pulley;122, it rises Synchronous pulley fixed frame drops;123, synchronous belt is lifted;124, lower lifting synchronous pulley;125, lifting motor;126, fixing piece; 127, forearm pedestal;13, lifting platform;131, lifting platform holder;132, cantilevered axle;133, lifting pulley component;14, wheel model is driven Block;141, groove profile driving wheel;142, drive shaft;143, drive wheel bracket;144, walking camera;145, walking gear;146、 Walking gear band;15, contact roller module;151, clamping motor;152, contact roller;153, wheel support is compressed;154, cradle head; 155, wheel seat is compressed;156, axis pin;157, spring;158, ball-screw;159, ball nut.
Specific implementation mode
Below in conjunction with the accompanying drawings, embodiment is described in detail.
Referring to attached drawing 1, a kind of ultra-high-tension power transmission line inspection robot compression driving forearm, including fore-stock 11, lifting mould Block 12, lifting platform 13, driving wheel module 14 and contact roller module 15, the lifting module 12 are connect with the lifting platform 13, institute Driving wheel module 14 is stated on the lifting platform 13, the contact roller module 15 is mounted on 14 lower section of the driving wheel module And above electric wire, the contact roller module 15 forms the space of clamping electric wire with the driving wheel module 14;The fore-stock 11 Both sides are equipped with lifting mobile jib 111, and the lifting module 12 is slided on the lifting mobile jib 111.The lifting mobile jib 111, when It plays a supportive role as supporting rod, and as guide groove used in lifting.
Referring to attached drawing 2, the lifting module 12 includes upper lifting synchronous pulley 121, lift synchronous pulley fixed frame 122, Lift synchronous belt 123, lower lifting synchronous pulley 124, lifting motor 125, fixing piece 126 and forearm pedestal 127, the upper lifting Synchronous pulley 121 is fixed on 11 lower section of the fore-stock, and the upper lifting synchronous pulley 121 is solid by the lifting synchronous pulley Determine frame 122 and is fixed on 11 lower section of the fore-stock;The lifting synchronous belt 123 is wound on the upper lifting synchronous pulley 121 under It lifts on synchronous pulley 124, the lifting synchronous belt 123 is connect with lifting platform 13, and the lifting platform 13 is driven to lift;It is described solid Determine part 126 to connect with the contact roller module 15, the fixing piece 126 is arranged on the lifting platform 13;The lifting motor 125 are connect by motor fixture with the lifting mobile jib 111, the lifting motor 125 and the lower lifting synchronous pulley 124 Connection;The lifting module 12 is connect by the forearm pedestal 127 with inspection robot.
Referring to attached drawing 3, the lifting platform 13 includes lifting platform holder 131, cantilevered axle 132 and lifting pulley component 133, institute Cantilevered axle 132 to be stated to be fixed on the lifting platform holder 131, the lifting pulley component 133 is connect with the cantilevered axle 132, The lifting pulley component 133 is placed in the lifting mobile jib 111 and is slided.The lifting platform 13 is by 14 He of driving wheel module Contact roller module 15 and lifting synchronous belt 123, lifting pulley component 133 link together, and are risen when being driven by lifting motor 125 When drop synchronous belt 123 is driven, underdrive in the entire module on lifting platform 13 can be completed the liter of groove profile driving wheel 141 Function drops, it can be achieved that reaching the standard grade and the auxiliary movement during offline and obstacle detouring.
Referring to attached drawing 4, the driving wheel module 14 includes groove profile driving wheel 141, drive shaft of the walking on electric wire 142, drive wheel bracket 143, movable motor 144, walking gear 145 and walking gear band 146, the groove profile driving wheel 141 are logical Wheel shaft 142 of overdriving is fixed in the drive wheel bracket 143, and the groove profile driving wheel 141 is used and closed by r c aluminium Gold is constituted, and while ensureing rigidity, and increases the frictional force with electric wire;The movable motor 144 is fixed on the driving On wheel support 143, the movable motor 144 drives the groove profile driving wheel 141 to walk;The walking gear band 146 is wound on one To on walking gear 145, the movable motor 144 is connect with a pair of of walking gear 145, passes through 146 band of walking gear band The dynamic drive shaft 142 rotates, and realizes walking.
Further, the movable motor 144 can realize heavy grade moving obstacle-crossing using large torque.
Referring to attached drawing 5, contact roller module 15 includes clamping motor 151, contact roller 152, compresses wheel support 153, rotation pass Section 154 compresses wheel seat 155, axis pin 156, spring 157 and ball-screw 158, the clamping motor 151 and the ball-screw 158 connections, the ball-screw 158 are equipped with ball nut 159, and the ball nut 159 is fixed on the fixing piece 126 On;The ball-screw 158 is connect with the compression wheel seat 155, and by cradle head 154 and wheel support is compressed by axis pin 156 153 string;The compression wheel seat 155 is connect by spring 157 with the compression wheel support 153;The contact roller 152 is fixed on On the compression wheel support 153, the contact roller 152 is located at below electric wire, the contact roller 152 and the groove profile driving wheel 141 form the space of clamping electric wire.
Referring to attached drawing 6 to attached drawing 10, a kind of ultra-high-tension power transmission line inspection robot compression driving forearm, operation principle:
When detecting that there is obstacle in front, when preceding object is aluminium hydraulic pressed connecting pipe or stockbridge damper, it can directly make contact roller 152 It is maked somebody a mere figurehead among groove profile driving wheel 141, direct telescopic joint is crossed.
When preceding object is not aluminium hydraulic pressed connecting pipe or stockbridge damper, the contact roller 152 of forearm discharges, while robot fuselage turns A dynamic proper angle carries out offline.
After forearm completes offline action, while robot makes forearm complete an elliptical movement under automatic control Track, over obstacle.
After forearm surmounts obstacles, robot is swung herein, while rotating traffic cycle and driving telescopic joint, makes electric wire position Between contact roller 152 and groove profile driving wheel 141, then adjust forearm lifting and contact roller 152 lifting complete front-wheel it is upper Line.
Listed above is only one of specific embodiment of the utility model.Obviously, the utility model is not limited to the above reality Example is applied, it can also be there are many similar reshaping.Those skilled in the art can be direct from content disclosed by the utility model All deformations for exporting or associating, are considered as the utility model scope of the claimed.

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.
CN201721834232.2U 2017-12-25 2017-12-25 A kind of ultra-high-tension power transmission line inspection robot compression driving forearm Expired - Fee Related CN207967776U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201721834232.2U CN207967776U (en) 2017-12-25 2017-12-25 A kind of ultra-high-tension power transmission line inspection robot compression driving forearm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201721834232.2U CN207967776U (en) 2017-12-25 2017-12-25 A kind of ultra-high-tension power transmission line inspection robot compression driving forearm

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CN207967776U true CN207967776U (en) 2018-10-12

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109932491A (en) * 2019-04-04 2019-06-25 河北地质大学 Smoke pollution monitors toter and smoke pollution monitoring device
CN109941366A (en) * 2019-03-30 2019-06-28 浙江清华长三角研究院 Novel hanging wire robot upper and lower obstacle avoiding type walking mechanism and its traveling method

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109941366A (en) * 2019-03-30 2019-06-28 浙江清华长三角研究院 Novel hanging wire robot upper and lower obstacle avoiding type walking mechanism and its traveling method
CN109932491A (en) * 2019-04-04 2019-06-25 河北地质大学 Smoke pollution monitors toter and smoke pollution monitoring device
CN109932491B (en) * 2019-04-04 2020-05-12 河北地质大学 Flue gas pollution monitoring and carrying device and flue gas pollution monitoring equipment

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CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20181012

Termination date: 20181225

CF01 Termination of patent right due to non-payment of annual fee