CN208323400U - Power transmission line crusing robot and its auxiliary connecting device - Google Patents
Power transmission line crusing robot and its auxiliary connecting device Download PDFInfo
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- CN208323400U CN208323400U CN201820417870.2U CN201820417870U CN208323400U CN 208323400 U CN208323400 U CN 208323400U CN 201820417870 U CN201820417870 U CN 201820417870U CN 208323400 U CN208323400 U CN 208323400U
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- power transmission
- transmission line
- fitting
- moving member
- crusing robot
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Abstract
The utility model discloses a kind of power transmission line crusing robot and its auxiliary connecting device, the auxiliary connecting device of power transmission line crusing robot includes: bracket；Guiding mechanism, the guiding mechanism include moving member, and the moving member is arranged on the bracket, and the moving member and power transmission line guiding cooperate；And abutting agency, the abutting agency include fitting and actuator, one end of the actuator is fixedly arranged on the bracket, and the other end and the fitting are rotatablely connected；When the fitting is in first state, the fitting and the moving member misaligned interval are arranged；When the fitting is in the second state, the fitting and the moving member interval are arranged and cooperatively form the clamping part for clamping the power transmission line.The power transmission line crusing robot and its auxiliary connecting device of the utility model are able to carry out working uphill using clamping part to the clamping action of power transmission line, normally complete patrol task.
Description
Technical field
The utility model relates to electric power detection device technical fields, and in particular to a kind of power transmission line crusing robot and its auxiliary
Help attachment device.
Background technique
Power transmission line crusing robot because its can " travelled along high-tension line, make an inspection tour and store positioning after tour image,
The defect or security risk that route is differentiated by the automatic or manual analysis of daemon software, then carry out repair and maintenance ", power transmission line
Crusing robot plays an important role in terms of power transmission lines overhauling.
Traditional power transmission line crusing robot is commonly running on wheels robot, is suspended on power transmission line simultaneously using traveling wheel
Walking, when power transmission line crusing robot needs to climb, especially when the gradient is larger, the phenomenon that usually will appear " skidding " without
It can continue to move ahead, be unable to complete normal patrol task.
Summary of the invention
Based on this, it is necessary to provide a kind of power transmission line crusing robot and its auxiliary connecting device, be able to carry out climbing and make
Industry normally completes patrol task.
Its technical solution is as follows:
A kind of auxiliary connecting device of power transmission line crusing robot, comprising: bracket；Guiding mechanism, the guiding mechanism packet
Moving member is included, the moving member is arranged on the bracket, and the moving member and power transmission line guiding cooperate；And abutting agency,
The abutting agency includes fitting and actuator, and one end of the actuator is fixedly arranged on the bracket, the other end with it is described
Fitting rotation connection；When the fitting is in first state, the fitting and the moving member misaligned interval are arranged；
When the fitting is in the second state, the fitting is arranged with the moving member interval and cooperatively forms for clamping
The clamping part of the power transmission line.
The auxiliary connecting device of above-mentioned power transmission line crusing robot, in use, by the guiding mechanism being set on bracket
Moving member carry is on power transmission line, to realize that entire power transmission line crusing robot is hung on power transmission line, by moving member with
The guiding of power transmission line cooperates, so that entire power transmission line crusing robot can be moved along the length direction of power transmission line, when not
When needing to climb, the fitting for being set to the abutting agency below moving member is in first state, at this point, fitting and moving member
The setting of mutual dislocation interval, the gap between fitting and moving member is larger, can make entire power transmission line inspection using moving member
Robot is smoothly moved along the length direction of power transmission line, and when being climbed, actuator drives fitting rotation, so that
Fitting and moving member interval is arranged with respect to holder pivots to the second state in fitting, perpendicular between fitting and moving member
The upward gap of histogram is less than the diameter of power transmission line, and fitting and moving member have cooperatively formed the clamping that can clamp power transmission line
Portion, the clamping by clamping part to power transmission line are avoided the occurrence of and " are beaten so that the frictional force between moving member and power transmission line increases
It is sliding ", so that entire power transmission line crusing robot be enable smoothly to carry out working uphill, enable power transmission line crusing robot
Normally complete patrol task.
Technical solution is illustrated further below:
One end of the moving member is equipped with the first flange in one of the embodiments, and the other end is equipped with the second flange, institute
It states the first flange and second flange cooperatively forms the first guide part for guiding the moving member mobile.It is led by first
Make moving member that double swerve will not occur during moving along power transmission line to the guiding role in portion, ensure that power transmission line patrols
Examine the stability of robot work.
The contact site of first guide part and the power transmission line is set as the first arc in one of the embodiments,
Groove.The setting of first arc groove, so that the way of contact between entire moving member and power transmission line is contacted from line and becomes face and connect
It touches and the rotation of moving member is oriented to, so that moving member rolls more steady along power transmission line length direction.
In one of the embodiments, further include lock piece, the lock piece is arranged on the bracket, for locking or
Unclamp the fitting.By lock piece to the locking of fitting, so that fitting is locked in the second state, enable clamping part
It is enough stable that power transmission line is clamped, it not will receive extraneous interference.
It in one of the embodiments, further include locating part, the locating part is arranged on the bracket, for limiting
State the shift position of fitting.By the position-limiting action of locating part, opposite with moving member folder can be formed when fitting turns to
When holding the position in portion, fitting can not be continued to rotate, and clamping part is smoothly formed.
The abutting agency further includes connector in one of the embodiments, one end of the connector and the drive
Moving part rotation connection, the other end are connect with the fitting.Changed between fitting and moving member by the linkage of connector
Relative position and distance.
It in one of the embodiments, further include the control device and pressure sensor being electrically connected with each other, the pressure
Sensor is set on the fitting, and the pressure sensor is used to detect the chucking power of the clamping part, the control dress
It sets and is electrically connected with the actuator, for controlling the spacing between the fitting and the moving member.Pressure sensor
It, can be according to the chucking power of actual use demand adjustment clamping part with the synergistic effect of control device.
It is recessed to be set as the second arc for the abutting portion of the fitting and the power transmission line in one of the embodiments,
Slot.The setting of second arc groove, so that the way of contact between entire fitting and power transmission line is contacted from line becomes face contact
And the rotation of fitting is oriented to, so that moving member rolls more steady along power transmission line length direction.
The clamping part is equipped with elastic layer in one of the embodiments,.Clamping part uses elastic material not only can be with
It prevents power transmission line crusing robot from double swerve occurs during moving along power transmission line, rigid contact can also be become bullet
Property contact, prevent clamping part from scratching power transmission line, while it is also ensured that frictional force between moving member and power transmission line, guarantees transmission of electricity
Line crusing robot can smoothly climb.
A kind of power transmission line crusing robot is connected including the auxiliary of robot body and above-mentioned power transmission line crusing robot and is filled
It sets, the robot body is connect with one end of the bracket.
Above-mentioned power transmission line crusing robot, in use, by the moving member carry for the guiding mechanism being set on bracket defeated
On electric wire, to realize that robot body is hung on power transmission line, cooperated by the guiding of moving member and power transmission line, so that
Robot body can be moved along the length direction of power transmission line, when not needing climbing, the abutting machine that is set to below moving member
The fitting of structure is in first state, at this point, fitting and moving member mutual dislocation interval are arranged, between fitting and moving member
Gap it is larger, robot body can be made smoothly to move along the length direction of power transmission line using moving member, when needing to carry out
When climbing, actuator drive fitting rotation so that fitting with respect to holder pivots to the second state, make fitting and moving member
Interval setting, the gap between fitting and moving member in the vertical direction are less than the diameter of power transmission line, fitting and moving member
The clamping part that can clamp power transmission line is cooperatively formed, the clamping by clamping part to power transmission line, so that moving member and power transmission line
Between frictional force increase, " skidding " is avoided the occurrence of, to enable robot body smoothly to carry out working uphill, so that defeated
Electric wire crusing robot can normally complete patrol task.
Detailed description of the invention
Fig. 1 is the structural schematic diagram under one visual angle of auxiliary connecting device of the power transmission line crusing robot of one embodiment；
Fig. 2 is the structural schematic diagram under another visual angle of auxiliary connecting device of the power transmission line crusing robot of Fig. 1.
Description of symbols:
100, bracket, 200, guiding mechanism, 210, moving member, the 211, first flange, the 212, second flange, 300, abutting machine
Structure, 310, fitting, 320, actuator, 330, connector, 400, power transmission line, 500, clamping part, 600, robot body.
Specific embodiment
It is below in conjunction with attached drawing and specifically real for the purpose of this utility model, technical solution and advantage is more clearly understood
Mode is applied, the utility model is described in further detail.It should be understood that the specific embodiments described herein
Only to explain the utility model, the protection scope of the utility model is not limited.
It should be noted that it can be directly another when element is referred to as " being set to ", " being fixedly arranged on " another element
On a element or there may also be elements placed in the middle.When element is referred to as " being fixedly arranged on " another element, or with another yuan
Part " is fixedly connected ", and can be the mode of being detachably fixed between them is also possible to non-removable fixed form.When a member
Part is considered as " connection ", " rotation connection " another element, it can be directly to another element or may be same
When there are centering elements.Term as used herein "vertical", "horizontal", "left" and "right", "upper", "lower" and similar
Statement for illustrative purposes only, be not meant to be the only embodiment.
Unless otherwise defined, all technical and scientific terms used herein are led with the technology for belonging to the utility model
The normally understood meaning of the technical staff in domain is identical.Terminology used in the description of the utility model herein only be
The purpose of description specific embodiment, it is not intended that in constraint the utility model.Term " and or " used herein packet
Include any and all combinations of one or more related listed items.
The similar term such as " first " described in the utility model, " second ", " third " does not represent specific quantity and sequence,
It is only used for the differentiation of title.
As shown in Figures 1 and 2, the auxiliary that the utility model one embodiment discloses a kind of power transmission line crusing robot connects
Connection device, comprising: bracket 100；Guiding mechanism 200, guiding mechanism 200 include moving member 210, and moving member 210 is set to bracket
On 100, and moving member 210 and the guiding of power transmission line 400 cooperate；And abutting agency 300, abutting agency 300 include 310 He of fitting
Actuator 320, one end of actuator 320 are fixedly arranged on bracket 100, and the other end and fitting 310 are rotatablely connected；Work as fitting
310 when being in first state, and fitting 310 and 210 misaligned interval of moving member are arranged；When fitting 310 is in the second state,
Fitting 310 and the interval of moving member 210 are arranged and cooperatively form the clamping part 500 for clamping power transmission line 400.
The auxiliary connecting device of the power transmission line crusing robot of above-described embodiment, in use, will be set on bracket 100
Guiding mechanism 200 210 carry of moving member on power transmission line 400, to realize that entire power transmission line crusing robot is hung on
On power transmission line 400, cooperated by the guiding of moving member 210 and power transmission line 400, so that entire power transmission line crusing robot energy
Enough length directions along power transmission line 400 move, and when not needing climbing, are set to the abutting agency 300 of 210 lower section of moving member
Fitting 310 is in first state, at this point, fitting 310 and 210 mutual dislocation interval of moving member are arranged, fitting 310 and shifting
Gap between moving part 210 is larger, entire power transmission line crusing robot can be made smoothly along power transmission line using moving member 210
400 length direction is mobile, and when being climbed, actuator 320 drives fitting 310 to rotate, so that 310 phase of fitting
Second state is turned to bracket 100, fitting 310 and moving member 210 is spaced and is arranged, fitting 310 and moving member 210 it
Between gap in the vertical direction be less than the diameter of power transmission line 400, fitting 310 has been cooperatively formed with moving member 210 and can have been pressed from both sides
The clamping part 500 of tight power transmission line 400, the clamping by clamping part 500 to power transmission line 400, so that moving member 210 and power transmission line
Frictional force between 400 increases, and " skidding " is avoided the occurrence of, so that entire power transmission line crusing robot be enable smoothly to be climbed
Slope operation enables power transmission line crusing robot to normally complete patrol task.
It needs to be illustrated, when fitting 310 turns to the second state with respect to bracket 100, due to rigging error etc.
The influence of factor, fitting 310 can also only need to meet with moving member 210 with vertical direction shifting to install at an angle
Fitting 310 and moving member 210 cooperate, and gap in the vertical direction enables to clamping part 500 to press from both sides power transmission line 400
It holds to increase the frictional force between moving member 210 and power transmission line 400.Moving member 210 can be the tool such as movable pulley or sliding block
There are the element or component of locomotive function, need to only meet and be able to drive bracket 100 under the driving of external motive device along power transmission line
400 length direction is mobile.Fitting 310 can be cam, tensioning wheel, telescopic rod etc. have abut function element or
Component only need to meet and can cooperatively form clamping part 500 with moving member 210.The actuator 320 can be motor or motor
Etc. the element or component that fitting 310 can be driven to rotate relative to bracket 100.
As shown in Fig. 2, one end of moving member 210 be equipped with the first flange 211, the other end be equipped with the second flange 212, first
Flange 211 and the second flange 212 cooperatively form the first guide part for guiding moving member 210 to roll.The setting of first flange 211
In the side of power transmission line 400, the second flange 212 is set to the other side of power transmission line 400, is made by the guiding of the first guide part
With making moving member 210 that double swerve will not occur during moving along power transmission line 400, power transmission line inspection machine ensure that
The stability manually made.Especially when encountering strong wind in the power transmission line crusing robot course of work, it can guarantee power transmission line inspection
Robot smoothly moves, and ensure that the reliability of work.
Further, the contact site of the first guide part and power transmission line 400 is set as the first arc groove (not shown).The
The setting of one arc groove, so that the way of contact between moving member 210 and power transmission line 400 is contacted from line becomes face contact and right
The movement of moving member 210 is oriented to, so that moving member 210 moves more steady along 400 length direction of power transmission line.
It based on any of the above embodiments, further include lock piece (not shown), the lock piece is set to bracket 100
On, for locking or unclamp fitting 310.By lock piece to the locking of fitting 310, so that fitting 310 is locked in
Two-state enables clamping part 500 is stable to clamp to power transmission line 400, not will receive extraneous interference.
It based on any of the above embodiments, further include locating part (not shown), locating part is set on bracket 100,
For limiting the shift position of fitting 310.By the position-limiting action of locating part, when fitting 310 turns to can be with movement
When the opposite position for forming clamping part 500 of part 210, fitting 310 can not be continued to rotate, enable clamping part 500 smoothly
It is formed.
As shown, further, abutting agency 300 further includes connector 330, one end of connector 330 and actuator
320 rotation connections, the other end are connect with fitting 310.When actuator 320 rotates, is changed by the linkage of connector 330 and abutted
Relative position and distance between part 310 and moving member 210, to change the friction between moving member 210 and power transmission line 400
Power, so that power transmission line crusing robot can adapt to horizontality and climbing state.The connector 330 can use connecting rod machine
Structure can also use telescopic rod, only need to meet and can transmit to movement.
It in one embodiment, further include that the control device (not shown) being electrically connected with each other and pressure sensor (do not show
Out), pressure sensor is set on fitting 310, and pressure sensor is used to detect the chucking power of clamping part 500, control device
It is electrically connected with actuator 320, for controlling the spacing between fitting 310 and moving member 210.Fitting 310 is opposite
During bracket 100 rotates, the pressure sensor on fitting 310 is able to detect clamping of the clamping part 500 to power transmission line 400
Power, and will test result and be sent to control device, control device is handled and is judged to coherent signal, judged needed for climbing
The frictional force wanted, when judging that chucking power is not enough to that power transmission line crusing robot is supported to be climbed, so that control second is driven
Moving part 320 further works, so that the gap between fitting 310 and moving member 210 is further reduced to increase chucking power, adds
Frictional force between strong moving member 210 and power transmission line 400 is to smoothly complete climbing, when judging that chucking power patrols more than power transmission line
Inspection robot climb required chucking power when, control the second actuator 320 work, so that fitting 310 and moving member 210
Between gap in the vertical direction become larger to reduce chucking power so that clamping part 500 will not weigh power transmission line 400 wounded.The control
Device can be the device or element that single-chip microcontroller, computer etc. have information processing capability, which, which can be, passes through number
The electric connection being directly realized by according to line can also be connected by adding the electrical property of the intermediary elements such as sending device and reception device realization
It connects.
Based on any of the above embodiments, the abutting portion of fitting 310 and power transmission line 400 is set as the second arc
Groove (not shown).The setting of second arc groove so that the way of contact between entire fitting 310 and power transmission line 400 by
Line contact becomes face contact and is oriented to the rotation of fitting 310, so that moving member 210 is along 400 length direction of power transmission line
Roll more steady.When the first arc groove and the second arc groove cooperate, clamping part 500 can to power transmission line 400 into
Row clamping and package, so that power transmission line crusing robot runs more steady.
Based on any of the above embodiments, clamping part 500 is equipped with elastic layer.Elastic layer is set on clamping part 500,
When clamping part 500 clamps power transmission line 400, flexible deformation occurs for elastic layer so that power transmission line 400 falls into elasticity
In layer, it can not only prevent moving member 210 and fitting 310 from double swerve occurs during moving along power transmission line 400, also
Rigid contact can be become into Elastic Contact, prevent clamping part 500 from scratching power transmission line 400, while it is also ensured that moving member 210
With the frictional force between power transmission line 400, guarantee that power transmission line crusing robot can smoothly climb.The elastic layer can be separately provided
On fitting 310 or moving member 210, it can also be arranged in simultaneously on fitting 310 and moving member 210, which can be with
It is the material properties possessed by fitting 310 or moving member 210 itself, is also possible to the elastic layer added up, the elasticity
Layer can be using the material of the specific elastic reaction such as rubber, resin.
The invention also discloses a kind of power transmission line crusing robots, including robot body 600 and any of the above-described reality
The auxiliary connecting device of the power transmission line crusing robot of example is applied, robot body 600 is connect with one end of bracket 100.
The power transmission line crusing robot of above-described embodiment, in use, the guiding mechanism on bracket 100 200 will be set to
210 carry of moving member, to realize that robot body 600 is hung on power transmission line 400, passes through moving member on power transmission line 400
210 cooperate with the guiding of power transmission line 400, so that robot body 600 can be moved along the length direction of power transmission line 400,
When not needing climbing, the fitting 310 for being set to the abutting agency 300 of 210 lower section of moving member is in first state, at this point,
Fitting 310 and 210 mutual dislocation interval of moving member are arranged, and the gap between fitting 310 and moving member 210 is larger, utilize
Moving member 210 can be such that robot body 600 smoothly moves along the length direction of power transmission line 400, when climbing
When, actuator 320 drives fitting 310 to rotate, so that fitting 310 turns to the second state with respect to bracket 100, makes fitting
310 are arranged with the interval of moving member 210, and the gap between fitting 310 and moving member 210 in the vertical direction is less than power transmission line
400 diameter, fitting 310 and moving member 210 have cooperatively formed the clamping part 500 that can clamp power transmission line 400, pass through clamping
Clamping of the portion 500 to power transmission line 400 is avoided the occurrence of and " is beaten so that the frictional force between moving member 210 and power transmission line 400 increases
It is sliding ", so that robot body 600 be enable smoothly to carry out working uphill, enable power transmission line crusing robot normal complete
At patrol task.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed,
But it cannot be understood as the constraints to utility model patent range.It should be pointed out that for the common skill of this field
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The protection scope of the utility model.Therefore, the scope of protection shall be subject to the appended claims for the utility model patent.
Claims (10)
1. a kind of auxiliary connecting device of power transmission line crusing robot characterized by comprising
Bracket；
Guiding mechanism, the guiding mechanism include moving member, and the moving member is arranged on the bracket, and the moving member with
Power transmission line guiding cooperation；And
Abutting agency, the abutting agency include fitting and actuator, and one end of the actuator is fixedly arranged on the bracket,
The other end and the fitting are rotatablely connected；
When the fitting is in first state, the fitting and the moving member misaligned interval are arranged；
When the fitting is in the second state, the fitting, which is arranged and cooperatively forms with the moving member interval, to be used for
Clamp the clamping part of the power transmission line.
2. the auxiliary connecting device of power transmission line crusing robot according to claim 1, which is characterized in that the moving member
One end be equipped with the first flange, the other end be equipped with the second flange, first flange and second flange are cooperatively formed and are used for
The first guide part for guiding the moving member mobile.
3. the auxiliary connecting device of power transmission line crusing robot according to claim 2, which is characterized in that described first leads
The first arc groove is set as to the contact site of portion and the power transmission line.
4. the auxiliary connecting device of power transmission line crusing robot according to claim 1, which is characterized in that further include locking
Part, the lock piece are arranged on the bracket, and for locking or unclamp the fitting.
5. the auxiliary connecting device of power transmission line crusing robot according to claim 4, which is characterized in that further include limit
Part, the locating part are arranged on the bracket, for limiting the shift position of the fitting.
6. the auxiliary connecting device of power transmission line crusing robot according to claim 1, which is characterized in that the abutting machine
Structure further includes connector, and one end of the connector and the actuator are rotatablely connected, and the other end is connect with the fitting.
7. the auxiliary connecting device of power transmission line crusing robot according to claim 1, which is characterized in that further include mutual
The control device and pressure sensor of electric connection, the pressure sensor are set on the fitting, the pressure sensing
Device is used to detect the chucking power of the clamping part, and the control device is electrically connected with the actuator, described for controlling
Spacing between fitting and the moving member.
8. the auxiliary connecting device of power transmission line crusing robot according to claim 1, which is characterized in that the fitting
The second arc groove is set as with the abutting portion of the power transmission line.
9. the auxiliary connecting device of power transmission line crusing robot according to claim 1, which is characterized in that the clamping part
It is equipped with elastic layer.
10. a kind of power transmission line crusing robot, which is characterized in that including robot body and such as any one of claim 1 to 9 institute
The auxiliary connecting device of power transmission line crusing robot is stated, the robot body is connect with one end of the bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820417870.2U CN208323400U (en) | 2018-03-26 | 2018-03-26 | Power transmission line crusing robot and its auxiliary connecting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820417870.2U CN208323400U (en) | 2018-03-26 | 2018-03-26 | Power transmission line crusing robot and its auxiliary connecting device |
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| Publication Number | Publication Date |
|---|---|
| CN208323400U true CN208323400U (en) | 2019-01-04 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201820417870.2U Active CN208323400U (en) | 2018-03-26 | 2018-03-26 | Power transmission line crusing robot and its auxiliary connecting device |
Country Status (1)
| Country | Link |
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| CN (1) | CN208323400U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110921227A (en) * | 2019-11-08 | 2020-03-27 | 中国科学院自动化研究所 | Carrying mechanism for on-line walking |
| CN115655086A (en) * | 2022-12-27 | 2023-01-31 | 北京智网物联科技有限公司 | Cable diameter measuring mechanism and cable running gear with same |
-
2018
- 2018-03-26 CN CN201820417870.2U patent/CN208323400U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110921227A (en) * | 2019-11-08 | 2020-03-27 | 中国科学院自动化研究所 | Carrying mechanism for on-line walking |
| CN110921227B (en) * | 2019-11-08 | 2020-10-16 | 中国科学院自动化研究所 | Carrying mechanism for on-line walking |
| US11283247B2 (en) | 2019-11-08 | 2022-03-22 | Institute Of Automation, Chinese Academy Of Sciences | Carrier mechanism for walking on line |
| CN115655086A (en) * | 2022-12-27 | 2023-01-31 | 北京智网物联科技有限公司 | Cable diameter measuring mechanism and cable running gear with same |
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Effective date of registration: 20200924 Address after: 510620 Tianhe District, Guangzhou, Tianhe South Road, No. two, No. 2, No. Patentee after: Guangzhou Power Supply Bureau of Guangdong Power Grid Co.,Ltd. Address before: 510620 Tianhe District, Guangzhou, Tianhe South Road, No. two, No. 2, No. Patentee before: GUANGZHOU POWER SUPPLY Co.,Ltd. |